User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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Object Description
Index Name Object Type Data Type
2015
h
Ramp Wait Time Variable UNSIGNED16
Table 85: Object Description (2015
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 65535 [0.000032s] 0
Table 86: Entry Description (2015
h
)
4.2.16 Object 2089
h
: Setting Delay
This object has to be used for setting a standstill period before the current is changed down to standby
current.
Unit: 10msec
Object Description
Index Name Object Type Data Type
2089
h
Setting Delay Variable UNSIGNED16
Table 87: Object Description (2089
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 400 0
Table 88: Entry Description (2089
h
)
4.2.17 Object 208C
h
: Velocity Dimension Index
With this object different units can be chosen:
• Writing 0 selects internal units.
• Writing 181 sets PPS for velocity and PPS/s for acceleration.
This can only be changed in SWITCHED_ON_DISABLED mode.
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