User Manual

TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16
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12 Figures Index
1 StallGuard2 Load Measurement as a
Function of Load . . . . . . . . . . . . . 8
2 Energy Efficiency Example with CoolStep 9
3 Typical motion profile with TRINAMIC’s
SixPoint™ motion controller . . . . . . . 9
4 NMT State Machine . . . . . . . . . . . . 13
5 Device Model . . . . . . . . . . . . . . . 14
6 CoolStep Adjustment Points and
Thresholds . . . . . . . . . . . . . . . . . 26
7 Brake Output Timing . . . . . . . . . . . 29
8 DS402 Finite State Machine . . . . . . . 62
9 Homing Mode Function . . . . . . . . . 82
10 Homing Method 1 . . . . . . . . . . . . 83
11 Homing Method 2 . . . . . . . . . . . . 84
12 Homing Method 3 . . . . . . . . . . . . 84
13 Homing Method 5 . . . . . . . . . . . . 85
14 Homing Method 17 . . . . . . . . . . . . 85
15 Homing Method 18 . . . . . . . . . . . . 85
16 Homing Method 19 . . . . . . . . . . . . 86
17 Homing Method 21 . . . . . . . . . . . . 86
18 Homing Methods 33 and 34 . . . . . . . 87
19 Home Offset . . . . . . . . . . . . . . . . 91
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