User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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• 1 – 2 steps
• 2 – 4 steps
• 3 – 8 steps – fastest increment
Object Description
Index Name Object Type Data Type
209B
h
Smart Energy Current Up Step Variable UNSIGNED8
Table 111: Object Description (209B
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 3 0
Table 112: Entry Description (209B
h
)
4.2.29 Object 209C
h
: Smart Energy Hysteresis Start
This object serves to set the lower threshold for the StallGuard2 value (see smart Energy current up step
(section 4.2.28). Setting this to 0 disables the CoolStep™ function.
Object Description
Index Name Object Type Data Type
209C
h
Smart Energy Hysteresis Start Variable UNSIGNED8
Table 113: Object Description (209C
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 15 0
Table 114: Entry Description (209C
h
)
4.2.30 Object 209D
h
: Smart Energy Filter Enable
This object is used to set the StallGuard2 filter for more precision of the measurement. It reduces the
measurement frequency to one measurement per four fullsteps if set.
In most cases it is expedient to set the filtered mode when using CoolStep ™ . Use the standard mode for
step loss detection.
Possible values are:
• 0 – standard mode
• 1 – filtered mode
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