User Manual

TMCM-3230 CANopen
®
Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10
37 / 118
Bit Definitions
Bit Definition
0 Left limit switch deactivated if set.
1 Right limit switch deactivated if set.
2 Left limit switch inverted if set.
3 Right limit switch inverted if set.
4 Home switch deactivated if set.
5 Home switch inverted if set.
Table 65: Bit Definitions (2005
h
)
4.2.7 Object 200A
h
: Enable Drive Delay Time
This is an additional delay time (in milliseconds) between enabling the power stage and releasing the brake.
It can be used to prevent the brake from being released too early (before the hold current in the motor
has been reached). Please see also object 4.2.3.
Object Description
Index Name Object Type Data Type
200A
h
Enable drive delay time Variable UNSIGNED16
Table 66: Object Description (200A
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 65535 0
Table 67: Entry Description (200A)
h
4.2.8 Object 200C
h
: Brake Current Feed
This object configures how much current has to be fed into the brake to apply and to release it. 0 means
0the module). In most cases it is needed to feed current into the brake to release it. Setting both val-
ues to 0 disables the automatic brake control. This object is only writable in SWITCHED_ON_DISABLED state.
Object Description
Index Name Object Type Data Type
200C
h
Brake current feed Array UNSIGNED8
Table 68: Object Description (200C
h
)
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com