User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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• 2 – 2 measurements
• 3 – 1 measurements – fastest decrement
Object Description
Index Name Object Type Data Type
2099
h
Smart Energy Current Down Step Variable UNSIGNED8
Table 107: Object Description (2099
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 3 0
Table 108: Entry Description (2099
h
)
4.2.27 Object 209A
h
: Smart Energy Hysteresis
This object sets the distance between the lower and the upper threshold for StallGuard2 reading. Above
the upper threshold the motor current becomes decreased.
Hysteresis: (SmartEnergy hysteresis value + 1) ∗ 32
Upper StallGuard2 threshold: (SmartEnergy hysteresis start + SmartEnergy hysteresis + 1) ∗ 32
Object Description
Index Name Object Type Data Type
209A
h
Smart Energy Hysteresis Variable UNSIGNED8
Table 109: Object Description (209A
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 15 0
Table 110: Entry Description (209A
h
)
4.2.28 Object 209B
h
: Smart Energy Current Up Step
This object sets the current increment step. The current becomes incremented for each measured
StallGuard2 value below the lower threshold (see smart energy hysteresis start (object 209C
h
, section
4.2.29).
Possible values are:
• 0 – 1 step – slowest increment
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