User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
46 / 145
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED32 0
Table 86: Entry Description (2014
h
)
4.2.16 Object 2015
h
: Bow Scaling Factor
The bow or jerk values (object 60A4
h
) will internally be multiplied by this value so that also bow values
higher than 2147483647 can be reached. This is only needed in rare cases where very steep S-shaped
ramps are required. In most cases this value can be left at its default setting of 1. The bow values multiplied
by this factor must not exceed 467.837·10
9
.
Object Description
Index Name Object Type Data Type
2015
h
Ramp Wait Time Variable UNSIGNED8
Table 87: Object Description (2015
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 1. . . 255 1
Table 88: Entry Description (2015
h
)
4.2.17 Object 2020
h
: Closed Loop Mode
Setting this object to 1 selects closed-loop mode, setting it to 0 (default value) selects open-loop mode.
Before activating closed-loop mode, all necessary parameters must have been set. After activating closed-
loop mode, check object 2120
h
until closed loop initialization has finished (please see also section 4.2.61).
Object Description
Index Name Object Type Data Type
2020
h
Closed-loop mode Variable UNSIGNED8
Table 89: Object Description (2020
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED8 0
Table 90: Entry Description (2020
h
)
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com