User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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13 Figures Index
1 stallGuard2 Load Measurement as a
Function of Load . . . . . . . . . . . . 9
2 Energy Efficiency Example with CoolStep 10
3 Closed-Loop Control Scheme . . . . . 12
4 Load Angle Control Parameter . . . . 12
5 Current Level Control . . . . . . . . . . 13
6 Field Weakening . . . . . . . . . . . . . 14
7 Position Catch up . . . . . . . . . . . . 14
8 NMT State Machine . . . . . . . . . . . 17
9 Communication Architecture . . . . . 18
10 Device Model . . . . . . . . . . . . . . 19
11 CoolStep Adjustment Points and
Thresholds . . . . . . . . . . . . . . . . 37
12 Brake Output Timing . . . . . . . . . . 40
13 DS402 Finite State Machine . . . . . . 81
14 Homing Mode Function . . . . . . . . 104
15 Homing Method 1 . . . . . . . . . . . . 105
16 Homing Method 2 . . . . . . . . . . . . 106
17 Homing Method 3 . . . . . . . . . . . . 106
18 Homing Method 5 . . . . . . . . . . . . 107
19 Homing Method 17 . . . . . . . . . . . 107
20 Homing Method 18 . . . . . . . . . . . 107
21 Homing Method 19 . . . . . . . . . . . 108
22 Homing Method 21 . . . . . . . . . . . 108
23 Homing Methods 33 and 34 . . . . . . 109
24 Home Offset . . . . . . . . . . . . . . . 113
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