User Manual

TMCM-3212 CANopen
®
Firmware Manual • Firmware Version V3.20 | Document Revision V1.03 • 2017-JUN-09
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Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 16777215 0
Table 135: Entry Description (20B6
h
)
4.2.42 Object 20B7
h
: High Speed Chopper Mode
The motor driver will switch to a different chopper mode when this object is set to 1 and the measured
speed is greater than the threshold speed set by object 20B6
h
(see section 4.2.41).
Object Description
Index Name Object Type Data Type
20B7
h
High Speed Chopper Mode Variable UNSIGNED8
Table 136: Object Description (20B7
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/1 0
Table 137: Entry Description (20B7
h
)
4.2.43 Object 20B8
h
: High Speed Fullstep Mode
The motor driver will switch to fullstep mode when this object is set to 1 and the measured speed is greater
than the threshold speed set by object 20B6
h
(see section 4.2.41).
Object Description
Index Name Object Type Data Type
20B8
h
High Speed Chopper Mode Variable UNSIGNED8
Table 138: Object Description (20B8
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/1 0
Table 139: Entry Description (20B8
h
)
4.2.44 Object 20B9
h
: Power Down Ramp
The value set by this object controls the number of clock cycles for motor power down after a motion as
soon as the motor has stopped and the setting time (set by object 2089
h
, please see section 4.2.15) has
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