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) 75<br />
8.1.12 Object 200C h, 220C h, and 240C h: Brake current feed<br />
This object configures how much current has to be fed into the brake to apply and to release it. 0<br />
means 0%, 255 means 100% of the maximum current (this depends on the module). In most cases it<br />
is needed to feed current into the brake to release it. The default configuration is made for this case.<br />
Setting both values to 0 disables the automatic brake control. This object is only writable in<br />
SWITCHED_ON_DISABLED state.<br />
Please note that on the three axis modules only 0 (brake output switched off) and 255 (brake<br />
output switched on) can be used. Set both values to zero if no brake is used. In such a case the<br />
brake output can be used as a normal digital output.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
200C h (motor 0)<br />
220C h (motor 1)<br />
240C h (motor 2)<br />
Brake current feed ARRAY UNSIGNED8<br />
ENTRY DESCRIPTION<br />
Sub-Index Description Access PDO Mapping Value Range Default Value<br />
01 h Apply current rw no UNSIGNED8 0<br />
02 h Release current rw no UNSIGNED8 255<br />
8.1.13 Object 2085 h, 2285 h, and 2485 h: Ramp divisor<br />
Use this object to define the ramp divisor when internal units are selected for velocity and<br />
acceleration. Please see the TMCL manual and the hardware manual of the drive for more<br />
information about this value. This object can only be written in the SWITCHED_ON_DISABLE state (but<br />
is always readable).<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2085 h (motor 0)<br />
2285 h (motor 1)<br />
2485 h (motor 2)<br />
Ramp divisor Variable UNSIGNED8<br />
ENTRY DESCRIPTION<br />
Sub-Index Access<br />
rw<br />
PDO Mapping Value Range Default Value<br />
00h not writable if user<br />
units are selected<br />
no 0… 13 7<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG