User Manual

TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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4.2.35 Object 208C
h
: Velocity Dimension Index
With this object different units can be chosen:
• Writing 0 selects internal units.
• Writing 181 sets PPS for velocity and PPS/s for acceleration.
This can only be changed in SWITCHED_ON_DISABLED mode.
Object Description
Index Name Object Type Data Type
208C
h
Velocity Dimension Index Variable UNSIGNED8
Table 102: Object Description (208C
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/181 181
Table 103: Entry Description (208C
h
)
4.2.36 Object 208E
h
: Acceleration Dimension Index
With this object, the unit for acceleration can be read out. The unit can be set using object 208Ch. Object
208Eh reads 0 when internal units are selected and 179 when PPS/s is selected.
Object Description
Index Name Object Type Data Type
208E
h
Acceleration Dimension Index Variable UNSIGNED8
Table 104: Object Description (208E
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no 0/179 179
Table 105: Entry Description (208E
h
)
4.2.37 Object 2092
h
: Chopper Blank Time
This object serves for selecting the comparator blank time. This time needs to safely cover the switching
event and the duration of the ringing on the sense resistor. For low current drivers, a setting of 1 or 2 is
good. For higher current applications a setting of 2 or 3 will be required.
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