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) 72<br />
8.1.5 Object 2004 h, 2204 h, and 2404 h: Standby current<br />
This object defines the current used when the motor is standing (two seconds after the last move). A<br />
value of 255 means 100% of the maximum current of the drive.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2004 h (motor 0)<br />
2204 h (motor 1)<br />
2404 h (motor 2)<br />
Standby current Variable UNSIGNED8<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw no 0… 255 20<br />
8.1.6 Object 2005 h, 2205 h, and 2405 h: Limit switches<br />
This object defines which limit switches are to be used. Bit 0 stands for the left and bit 1 stands for<br />
the right limit switch. If a bit is set, the corresponding limit switch will not be used. So this object<br />
has to be set to the value 3 if limit switches are not connected. The object can only be written when<br />
the drive is in the SWITCHED_ON_DISABLED state (but is always readable).<br />
From firmware version 3.01 on<br />
The limit switches can also be inverted using bit 2 and bit 3:<br />
Bit 2 inverts the left limit switch<br />
Bit 3 inverts the right limit switch<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2005 h (motor 0)<br />
2205 h (motor 1)<br />
2405 h (motor 2)<br />
Limit switches Variable UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw no 0… 7 0<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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