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) 80<br />
8.1.25 Object 2106 h, 2306 h, and 2506 h: Maximum acceleration display<br />
This object shows the value of object 2088 h .<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2106 h (motor 0)<br />
2306 h (motor 1)<br />
2506 h (motor 2)<br />
Maximum acceleration display Variable UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro no 0… 2047 2047<br />
8.1.26 Object 2107 h, 2307 h, and 2507 h: Microstep resolution display<br />
This object shows the microstep resolution (set by object 2000 h when internal units are selected or<br />
calculated when user units are selected).<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2107 h (motor 0)<br />
2307 h (motor 1)<br />
2507 h (motor 2)<br />
Microstep resolution display Variable UNSIGNED8<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro no 0… 6 6<br />
8.1.27 Object 2700 h: TMCL direct communication<br />
After writing the make signature 656b616d h to this object the drive switches to TMCL mode. The<br />
drive can then only be controlled via TMCL commands written to the OS command object 1023/01 h<br />
The drive has to be reset (using the DS-301 reset application command) to return to normal <strong>CANopen</strong><br />
functionality.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2700 h Microstep resolution display Variable UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00h ro no<br />
Make signature<br />
656b616dh 0<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG