User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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4.2.22 Object 2095
h
: Chopper Hysteresis End
This object provides the setting of the hysteresis end value after a number of decrements. The decrement
interval time is controlled by object 2094
h
(section 4.2.21).
Possible values are:
• -3. . . -1 – negative hysteresis end setting
• 0 – zero hysteresis end setting
• 1. . . 12 – positive hysteresis end setting
Object Description
Index Name Object Type Data Type
2095
h
Chopper Hysteresis End Variable SIGNED8
Table 99: Object Description (2095
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no -3. . . 12 0
Table 100: Entry Description (2095
h
)
4.2.23 Object 2096
h
: Chopper Hysteresis Start
This object provides the hysteresis start setting. Please notice that this value is an offset to the hysteresis
end value.
Object Description
Index Name Object Type Data Type
2096
h
Chopper Hysteresis Start Variable UNSIGNED8
Table 101: Object Description (2096
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 8 3
Table 102: Entry Description (2096
h
)
4.2.24 Object 2097
h
: Chopper Off Time
The off time setting controls the minimum chopper frequency. Under normal circumstances, an off time
within the range of 5 µ s to 20 µ s is used. Off time setting for constant t
OFF
chopper: N
CLK
= 12 + 32 ∗ t
OF F
.
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