TMCM-351 CANopen Firmware Manual - Trinamic

TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 76
8.1.14 Object 2086 h, 2286 h, and 2486 h: Pulse divisor
Use this object to define the pulse divisor when internal units are to be used 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_DISABLED state
(but is always readable).
OBJECT DESCRIPTION
Index Name Object Code Data Type
2086 h (motor 0)
2286 h (motor 1)
2486 h (motor 2)
Pulse 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 3
8.1.15 Object 2087 h, 2287 h, and 2487 h: Maximum velocity
The functionality of this object depends on the unit selection (object 208C h ):
­ If internal units are selected this object will be set to the fixed value of 2047 and cannot be
changed.
­ If user units are selected the maximum velocity (RPM) that is to be used must be set here. A
lower value in this object leads to a better accuracy of the unit conversion.
This value can only be changed when the drive is in the SWITCHED_ON_DISABLED state.
OBJECT DESCRIPTION
Index Name Object Code Data Type
2087 h (motor 0)
2287 h (motor 1)
2487 h (motor 2)
Maximum velocity Variable UNSIGNED32
ENTRY DESCRIPTION
Sub-Index Access PDO Mapping Value Range Default Value
00h rw no
143… 293 (rpm)
resp. 2047 (internal)
2047
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