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
20B1
h
PWM Gradient Variable UNSIGNED8
Table 129: Object Description (20B1
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 255 0
Table 130: Entry Description (20B1
h
)
4.2.38 Object 20B2
h
: PWM Amplitude
Maximum PWM amplitude when switching to StealthChop mode. Do not set too low. Values above 64 are
recommended.
Object Description
Index Name Object Type Data Type
20B2
h
PWM Amplitude Variable UNSIGNED8
Table 131: Object Description (20B2
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 255 0
Table 132: Entry Description (20B2
h
)
4.2.39 Object 20B3
h
: DcStep Minimum Speed
Minimum speed for switching to DcStep. The motor driver will not switch to DcStep mode when the actual
velocity is below this value. Setting this object to zero completely switches off DcStep.
Object Description
Index Name Object Type Data Type
20B3
h
DcStep Minimum Speed Variable UNSIGNED32
Table 133: Object Description (20B3
h
)
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