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) 71<br />
8.1.3 Object 2002 h, 2202 h, and 2402 h: Brake delay times<br />
With this object the delay times for applying and releasing an (optional) brake can be defined. Please<br />
see also object 200A h for an additional delay between enabling the power stage and releasing the<br />
brake. Both times are given in ms.<br />
Brake<br />
ON<br />
OFF<br />
ON<br />
Bridge<br />
OFF<br />
Operation Enable<br />
t1 t2 t3<br />
200Ah 2002h<br />
sub index<br />
2<br />
Figure 8.1: Brake output timing<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2002 h (motor 0)<br />
2202 h (motor 1)<br />
2402 h (motor 2)<br />
Brake delay times ARRAY UNSIGNED16<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG<br />
2002h<br />
sub index<br />
1<br />
ENTRY DESCRIPTION<br />
Sub-Index Description Access PDO Mapping Value Range Default Value<br />
01h Time between applying brake / disabling<br />
power stage<br />
rw no 0… 65535 0<br />
02h Time between releasing brake / switching<br />
the state machine to operational<br />
rw no 0… 65535 0<br />
8.1.4 Object 2003 h, 2203 h, and 2403 h: Maximum current<br />
This object defines the current used when the motor is moving. A value of 255 means 100% of the<br />
maximum current of the drive.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2003 h (motor 0)<br />
2203 h (motor 1)<br />
2403 h (motor 2)<br />
Maximum current Variable UNSIGNED8<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw no 0… 255 228
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