User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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Efficiency
Velocity [RPM]
Efficiency with coolStep
Efficiency with 50% torque reserve
Figure 2: Energy Efficiency Example with CoolStep
1.5 Closed-Loop Operation
Together with an external ABN encoder it is possible to operate each axis of the TMCM-3351 as a closed-
loop stepper system. Before enabling this feature, some parameters have to be set. The following table
shows which objects should be set to which values in order to make closed-loop work. In this example we
assume that a 1.8 ° motor is used together with a 40000cpr (10000lpr) encoder. Before the encoder can be
used, the sensor selection code (object 606A
h
) has to be set to 0 (which means that a position encoder is
to be used) and the resolution of the encoder ([cpr]) has to be written to object 608F
h
sub-index 1.
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