User Manual

TMCM-3212 CANopen
®
Firmware Manual • Firmware Version V3.20 | Document Revision V1.03 • 2017-JUN-09
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11 Figures Index
1 stallGuard2 Load Measurement as a
Function of Load . . . . . . . . . . . . 8
2 Energy Efficiency Example with coolStep 9
3 NMT State Machine . . . . . . . . . . . 12
4 Communication Architecture . . . . . 13
5 Device Model . . . . . . . . . . . . . . 14
6 coolStep Adjustment Points and
Thresholds . . . . . . . . . . . . . . . . 32
7 Brake Output Timing . . . . . . . . . . 35
8 DS402 Finite State Machine . . . . . . 71
9 Homing Mode Function . . . . . . . . 91
10 Homing Method 1 . . . . . . . . . . . . 92
11 Homing Method 2 . . . . . . . . . . . . 93
12 Homing Method 3 . . . . . . . . . . . . 93
13 Homing Method 5 . . . . . . . . . . . . 94
14 Homing Method 19 . . . . . . . . . . . 94
15 Homing Methods 33 and 34 . . . . . . 95
16 Home Offset . . . . . . . . . . . . . . . 99
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