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) 73<br />
8.1.7 Object 2006 h, 2206 h, and 2406 h: Mixed decay threshold<br />
This object defines the behavior of the mixed decay feature of the drive. When it is set to the value<br />
-1, fast decay is always used. When it is set to a value between 0… 2047, fast decay will only be used<br />
when the internal velocity is higher or equal to that value. When set to 2048, fast decay will never be<br />
used.<br />
It is recommended to use -1. Only when stallGuard is to be used this value has to be set to 2048<br />
first.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2006 h (motor 0)<br />
2206 h (motor 1)<br />
2406 h (motor 2)<br />
Mixed decay threshold Variable UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw no -1… 2048 -1<br />
8.1.8 Object 2007 h, 2207 h, and 2407 h: Stall detection threshold<br />
This object defines if stallGuard is to be used. When set to 0, stallGuard will not be used. When<br />
set to 1… 7, the motor will be stopped and an emergency message will be generated if the stall value<br />
is the same or higher than the value set here. Switch off mixed decay (object 2006 h ) before using<br />
stallGuard.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2007 h (motor 0)<br />
2207 h (motor 1)<br />
2407 h (motor 2)<br />
Stall detection threshold Variable UNSIGNED8<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw no 0… 7 0<br />
8.1.9 Object 2009 h, 2209 h, and 2409 h: Fullstep threshold<br />
When the internal velocity gets higher than the value defined here the motor will be switched to<br />
fullstep operation. A value of 0 or 2048 turns off this feature. Normally only needed for getting more<br />
force in higher speeds.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2009 h (motor 0)<br />
2209 h (motor 1)<br />
2409 h (motor 2)<br />
Fullstep threshold Variable UNSIGNED8<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro no 0… 2048 0<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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