TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
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<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 70<br />
8 Manufacturer specific area<br />
The manufacturer segment contains manufacturer specific objects. These objects control the special<br />
features of the TRINAMIC motion control devices <strong>TMCM</strong>-341/342/343 and <strong>TMCM</strong>-<strong>351</strong>.<br />
8.1 Detailed object specifications<br />
8.1.1 Object 2000 h, 2200 h, and 2400 h: Microstep resolution<br />
This object sets the microstep resolution of the drive. A value of 6 means 64 microsteps (2 6 ). It is only<br />
writeable in the SWITCHED_ON_DISABLED state, but always readable.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2000 h (motor 0)<br />
2200 h (motor 1)<br />
2400 h (motor 2)<br />
Microstep resolution Variable UNSIGNED8<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw no 0… 6 6<br />
8.1.2 Object 2001 h, 2201 h, and 2401 h: Fullstep resolution<br />
This object shows the fullstep resolution of the motor shipped with a PANdrive. It is normally 200<br />
(1.8° motor).<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2001 h (motor 0)<br />
2201 h (motor 1)<br />
2401 h (motor 2)<br />
Fullstep resolution Variable UNSIGNED16<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro no 200 200<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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