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) 78<br />
8.1.19 Object 2100 h, 2300 h, and 2500 h: Home offset display<br />
The value is given in microsteps.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2100 h (motor 0)<br />
2300 h (motor 1)<br />
2500 h (motor 2)<br />
Home offset display Variable SIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro no Refer to home offset 0<br />
8.1.20 Object 2101 h, 2301 h, and 2501 h: Actual stallGuard load value<br />
This object shows the actual stallGuard load value. It is needed for configuring the stallGuard<br />
feature, to find the optimal velocity (please see the TMCL manual for more about using<br />
stallGuard.)<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2101 h (motor 0)<br />
2301 h (motor 1)<br />
2501 h (motor 2)<br />
Actual stallGuard load value Variable UNSIGNED8<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro no 0… 7 0<br />
8.1.21 Object 2102 h, 2302 h, and 2502 h: Driver error flags<br />
This object shows the hardware error flags of the motor driver IC.<br />
THERE ARE THE FOLLOWING ERROR BITS:<br />
Bit Name Function Remark<br />
7 OT Overtemperature 1 = chip of due to overtemperature<br />
6 OTPW Temperature prewarning 1= prewarning temperature exceeded<br />
5 UV Driver undervoltage 1 = undervoltage on VS<br />
4 OCHS Overcurrent high side 3 PWM cycles with overcurrent within 63 PWM cycles<br />
3 OLB Open load bridge B No PWM switch off for 14 oscillator cycles<br />
2 OLA Open load bridge A No PWM switch off for 14 oscillator cycles<br />
1 OCB Overcurrent bridge B low side 3 PWM cycles with overcurrent within 63 PWM cycles<br />
0 OCA Overcurrent bridge A low side 3 PWM cycles with overcurrent within 63 PWM cycles<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2102 h (motor 0)<br />
2302 h (motor 1)<br />
2502 h (motor 2)<br />
Driver error flags Variable UNSIGNED8<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro no 0… 255 0<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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