User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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Object Description
Index Name Object Type Data Type
20B3
h
dcStep Minimum Speed Variable UNSIGNED32
Table 124: Object Description (20B3
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 16777215 0
Table 125: Entry Description (20B3
h
)
4.2.38 Object 20B4
h
: dcStep Time
This setting controls the reference pulse width for dcStep load measurement. It must be optimized for
robust operation with maximum motor torque. A higher value allows higher torque and higher velocity, a
lower value allows operation down to a lower velocity as set by the minimum dcStep speed (object 20B3
h
,
see section 4.2.37).
Object Description
Index Name Object Type Data Type
20B4
h
dcStep Time Variable UNSIGNED16
Table 126: Object Description (20B4
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 1023 0
Table 127: Entry Description (20B4
h
)
4.2.39 Object 20B5
h
: dcStep stallGuard
This setting controls stall detection in dcStep mode. Increase this value for higher sensitivity.
Object Description
Index Name Object Type Data Type
20B5
h
dcStep stallGuard Variable UNSIGNED8
Table 128: Object Description (20B5
h
)
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