TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 74<br />
8.1.10 Object 200A h, 220A h, and 240A h: Enable drive delay time<br />
This is an additional delay time (in milliseconds) between enabling the power stage and releasing the<br />
brake. It can be used to prevent the brake from being released too early (before the hold current in<br />
the motor has been reached). Please see also object 2002 h .<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
200A h (motor 0)<br />
220A h (motor 1)<br />
240A h (motor 2)<br />
Enable drive delay<br />
time<br />
Variable UNSIGNED16<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw no 0… 65535 0<br />
8.1.11 Object 200B h, 220B h, and 240B h: Encoder parameters<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
200B h (motor 0)<br />
220B h (motor 1)<br />
240B h (motor 2)<br />
Encoder parameters ARRAY UNSIGNED8<br />
ENTRY DESCRIPTION<br />
Sub-Index Description Access PDO Mapping Value Range Default Value<br />
01 h Null channel polarity rw no UNSIGNED8 7<br />
This object defines the polarity of the encoder null channel. The following options can be selected:<br />
Bit 0: polarity of channel A on index pulse (0=low, 1=high).<br />
Bit 1: polarity of channel B on index pulse (0=low, 1=high).<br />
Bit 2: polarity of channel N on index pulse (0=low, 1=high).<br />
Bit 3: ignore channel A/B polarity on index pulse.<br />
This object is only writable in SWITCHED_ON_DISABLED state.<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Change language