User Manual

TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 8 3
Table 115: Entry Description (2096
h
)
4.2.42 Object 2097
h
: Chopper Off Time
The off time setting controls the minimum chopper frequency. Under normal circumstances, an off time
within the range of 5 µ s to 20 µ s is used. Off time setting for constant t
OFF
chopper: N
CLK
= 12 + 32 ∗ t
OF F
.
Minimum is 64 clocks.
Setting this parameter to zero completely disables all driver transistors and so lets the motor free-wheel.
Object Description
Index Name Object Type Data Type
2097
h
Chopper Off Time Variable UNSIGNED8
Table 116: Object Description (2097
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0 / 2. . . 15 5
Table 117: Entry Description (2097
h
)
4.2.43 Object 2098
h
: Smart Energy Current Minimum
This object provides the setting of the lower motor current limit for coolStep operation by scaling the CS
value.
Possible values are:
• 0 – 1/2 of maximum motor current setting (section 4.2.4)
• 1 – 1/4 of maximum motor current setting (section 4.2.4)
Object Description
Index Name Object Type Data Type
2098
h
Smart Energy Current Minimum Variable UNSIGNED8
Table 118: Object Description (2098
h
)
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