User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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4 Manufacturer specific Area
The manufacturer segment contains manufacturer specific objects. These objects control the special
features of the Trinamic Motion Control device TMCM-6212.
Info
This section of the manual only shows the object indices for motor #0. Of course
the same objects are also available for the other motors. For the other motors,
add an offset of motor_number· 200
h
to the object index. So for example the
microstep resolution (object 2000
h
for motor #0) can be accessed as object 2200
h
for motor #1 and as object 2400
h
for motor #2. Please see also section 2.4.1.
Multi-axis Object Indices
Motor Object Index Range
Motor #0 2000
h
– 21FF
h
Motor #1 2200
h
– 23FF
h
Motor #2 2400
h
– 25FF
h
Motor #3 2600
h
– 27FF
h
Motor #4 2800
h
– 29FF
h
Motor #5 2A00
h
– 2BFF
h
Table 54: Multi-axis Object Indices (Manufacturer specific Area)
4.1 Objects related to CoolStep™
Figure 7 shows an overview of the CoolStep ™ related objects for motor #0. Please bear in mind that
the figure only shows one example for a drive. There are objects which concern the configuration of
the current. Other objects are for velocity regulation and for time adjustment. The CoolStep ™ feature is
sometimes also called SmartEnergy.
The following adjustments have to be made:
• Thresholds for current and velocity have to be identified and set.
• The StallGuard2™ feature has to be adjusted and enabled.
• The reduction or increasing of the current in the CoolStep ™ area (depending on the load) has to be
configured.
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