User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 16777215 0
Table 134: Entry Description (20B3
h
)
4.2.40 Object 20B4
h
: DcStep Time
This setting controls the reference pulse width for DcStep load measurement. It must be optimized for
robust operation with maximum motor torque. A higher value allows higher torque and higher velocity, a
lower value allows operation down to a lower velocity as set by the minimum DcStep speed (object 20B3
h
,
see section 4.2.39).
Object Description
Index Name Object Type Data Type
20B4
h
DcStep Time Variable UNSIGNED16
Table 135: Object Description (20B4
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 1023 0
Table 136: Entry Description (20B4
h
)
4.2.41 Object 20B5
h
: DcStep StallGuard
This setting controls stall detection in DcStep mode. Increase this value for higher sensitivity.
Object Description
Index Name Object Type Data Type
20B5
h
DcStep StallGuard Variable UNSIGNED8
Table 137: Object Description (20B5
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 255 0
Table 138: Entry Description (20B5
h
)
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