TMCM-351 CANopen Firmware Manual - Trinamic

TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 75
8.1.12 Object 200C h, 220C h, and 240C h: Brake current feed
This object configures how much current has to be fed into the brake to apply and to release it. 0
means 0%, 255 means 100% of the maximum current (this depends on the module). In most cases it
is needed to feed current into the brake to release it. The default configuration is made for this case.
Setting both values to 0 disables the automatic brake control. This object is only writable in
SWITCHED_ON_DISABLED state.
Please note that on the three axis modules only 0 (brake output switched off) and 255 (brake
output switched on) can be used. Set both values to zero if no brake is used. In such a case the
brake output can be used as a normal digital output.
OBJECT DESCRIPTION
Index Name Object Code Data Type
200C h (motor 0)
220C h (motor 1)
240C h (motor 2)
Brake current feed ARRAY UNSIGNED8
ENTRY DESCRIPTION
Sub-Index Description Access PDO Mapping Value Range Default Value
01 h Apply current rw no UNSIGNED8 0
02 h Release current rw no UNSIGNED8 255
8.1.13 Object 2085 h, 2285 h, and 2485 h: Ramp divisor
Use this object to define the ramp divisor when internal units are selected for velocity and
acceleration. Please see the TMCL manual and the hardware manual of the drive for more
information about this value. This object can only be written in the SWITCHED_ON_DISABLE state (but
is always readable).
OBJECT DESCRIPTION
Index Name Object Code Data Type
2085 h (motor 0)
2285 h (motor 1)
2485 h (motor 2)
Ramp divisor Variable UNSIGNED8
ENTRY DESCRIPTION
Sub-Index Access
rw
PDO Mapping Value Range Default Value
00h not writable if user
units are selected
no 0… 13 7
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