User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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Minimum is 64 clocks.
Setting this parameter to zero completely disables all driver transistors and so lets the motor free-wheel.
Object Description
Index Name Object Type Data Type
2097
h
Chopper Off Time Variable UNSIGNED8
Table 103: Object Description (2097
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0 / 2. . . 15 5
Table 104: Entry Description (2097
h
)
4.2.25 Object 2098
h
: Smart Energy Current Minimum
This object provides the setting of the lower motor current limit for CoolStep ™ operation by scaling the CS
value.
Possible values are:
• 0 – 1/2 of maximum motor current setting (section 4.2.4)
• 1 – 1/4 of maximum motor current setting (section 4.2.4)
Object Description
Index Name Object Type Data Type
2098
h
Smart Energy Current Minimum Variable UNSIGNED8
Table 105: Object Description (2098
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/1 0
Table 106: Entry Description (2098
h
)
4.2.26 Object 2099
h
: Smart Energy Current Down Step
This object provides the setting of the number of StallGuard2 readings above the upper threshold necessary
for each current decrement of the motor current.
Possible values are:
• 0 – 32 measurements – slowest decrement
• 1 – 8 measurements
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