User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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12 Figures Index
1 StallGuard2 Load Measurement as a
Function of Load . . . . . . . . . . . . 10
2 Energy Efficiency Example with CoolStep 10
3 Typical motion profile with TRINAMIC’s
SixPoint™ motion controller . . . . . . 11
4 NMT State Machine . . . . . . . . . . . 15
5 Communication Architecture . . . . . 16
6 Device Model . . . . . . . . . . . . . . 17
7 CoolStep Adjustment Points and
Thresholds . . . . . . . . . . . . . . . . 36
8 Brake Output Timing . . . . . . . . . . 39
9 DS402 Finite State Machine . . . . . . 77
10 Homing Mode Function . . . . . . . . 97
11 Homing Method 1 . . . . . . . . . . . . 98
12 Homing Method 2 . . . . . . . . . . . . 99
13 Homing Method 3 . . . . . . . . . . . . 99
14 Homing Method 5 . . . . . . . . . . . . 100
15 Homing Method 17 . . . . . . . . . . . 100
16 Homing Method 18 . . . . . . . . . . . 100
17 Homing Method 19 . . . . . . . . . . . 101
18 Homing Method 21 . . . . . . . . . . . 101
19 Homing Methods 33 and 34 . . . . . . 102
20 Home Offset . . . . . . . . . . . . . . . 106
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