User Manual

TMCM-3212 CANopen
®
Firmware Manual • Firmware Version V3.20 | Document Revision V1.03 • 2017-JUN-09
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Object Description
Index Name Object Type Data Type
20B4
h
dcStep Time Variable UNSIGNED16
Table 130: Object Description (20B4
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 1023 0
Table 131: Entry Description (20B4
h
)
4.2.40 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 132: Object Description (20B5
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 255 0
Table 133: Entry Description (20B5
h
)
4.2.41 Object 20B6
h
: Fullstep Threshold Speed
Depending on the settings of objects 20B7
h
and 20B8
h
(see sections 4.2.42 and 4.2.43) the driver switches
to fullstep mode and/or to a different chopper mode when the speed set by this object is exceeded.
Object Description
Index Name Object Type Data Type
20B6
h
Fullstep Threshold Speed Variable UNSIGNED32
Table 134: Object Description (20B6
h
)
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