User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
42 / 131
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Null channel polarity rw no 0/1 0
2 Direction of rotation rw no 0/1 0
3 Initialize position rw no 0/1 1
Table 72: Entry Description (200B
h
)
4.2.9 Object 200C
h
: Brake Current Feed
This object configures how much current has to be fed into the brake to apply and to release it. 0 means
0%, 255 means 100% of the maximum current (this depends on the module). In most cases it is needed to
feed current into the brake to release it. Setting both values to 0 disables the automatic brake control. This
object is only writable in SWITCHED_ON_DISABLED state.
Object Description
Index Name Object Type Data Type
200C
h
Brake current feed Array UNSIGNED8
Table 73: Object Description (200C
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Apply current rw no 0. . . 255 0
2 Release current rw no 0. . . 255 0
Table 74: Entry Description (200C
h
)
4.2.10 Object 200F
h
: Encoder N Channel Latch
With this object it is possible to make use of the encoder N channel latch capabilities of the motion
controller used on the TMCM-6212 module. Write 1 to sub-index 1 to activate the latch functionality. When
the encoder N channel has been passed, the internal position and the encoder position will automatically
be stored to sub-index 2 and sub-index 3 of this object, and sub-index 1 will be reset to zero to show that
the N channel event has occurred.
The encoder interface must have been configured properly in order to make this function work correctly.
Object Description
Index Name Object Type Data Type
200F
h
Encoder N Channel Latch Variable RECORD
Table 75: Object Description (200F
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