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
208C
h
Velocity Dimension Index Variable UNSIGNED8
Table 89: Object Description (208C
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/181 181
Table 90: Entry Description (208C
h
)
4.2.18 Object 208E
h
: Acceleration Dimension Index
With this object, the unit for acceleration can be read out. The unit can be set using object 208C
h
. Object
208E
h
reads 0 when internal units are selected and 179 when PPS/s is selected.
Object Description
Index Name Object Type Data Type
208E
h
Acceleration Dimension Index Variable UNSIGNED8
Table 91: Object Description (208E
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no 0/179 179
Table 92: Entry Description (208E
h
)
4.2.19 Object 2092
h
: Chopper Blank Time
This object serves for selecting the comparator blank time. This time needs to safely cover the switching
event and the duration of the ringing on the sense resistor. For low current drivers, a setting of 1 or 2 is
good. For higher current applications a setting of 2 or 3 will be required.
Object Description
Index Name Object Type Data Type
2092
h
Chopper Blank Time Variable UNSIGNED8
Table 93: Object Description (2092
h
)
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