User Manual

TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
36 / 110
4.2.13 Object 2013
h
: Profile final deceleration
This object contains the deceleration value used for decelerating from the maximum positioning velocity
to the velocity V1 (object 2012
h
, see section 4.2.12).
Object Description
Index Name Object Type Data Type
2013
h
Profile D1 Variable UNSIGNED32
Table 58: Object Description (2013
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 16777215 0
Table 59: Entry Description (2013
h
)
4.2.14 Object 2014
h
: Profile stop Deceleration
This object sets the deceleration used to decelerate from the end velocity to zero velocity.
Object Description
Index Name Object Type Data Type
2014
h
Profile stop deceleration Variable UNSIGNED32
Table 60: Object Description (2014
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED32 0
Table 61: Entry Description (2014
h
)
4.2.15 Object 2020
h
: Closed-loop Mode
Setting this object to 1 selects closed-loop mode, setting it to 0 (default value) selects open-loop mode.
Before activating closed-loop mode, all necessary parameters must have been set. After activating closed-
loop mode, check object 2120
h
until closed loop initialization has finished (please see also section 4.2.59).
©2016 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Read entire documentation.