User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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4.2.42 Object 20B6
h
: Fullstep Threshold Speed
Depending on the settings of objects 20B7
h
and 20B8
h
(see sections 4.2.43 and 4.2.44) the driver switches
to fullstep mode and/or to a different chopper mode when the speed set by this object is exceeded.
Object Description
Index Name Object Type Data Type
20B6
h
Fullstep Threshold Speed Variable UNSIGNED32
Table 139: Object Description (20B6
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 16777215 0
Table 140: Entry Description (20B6
h
)
4.2.43 Object 20B7
h
: High Speed Chopper Mode
The motor driver will switch to a different chopper mode when this object is set to 1 and the measured
speed is greater than the threshold speed set by object 20B6
h
(see section 4.2.42).
Object Description
Index Name Object Type Data Type
20B7
h
High Speed Chopper Mode Variable UNSIGNED8
Table 141: Object Description (20B7
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/1 0
Table 142: Entry Description (20B7
h
)
4.2.44 Object 20B8
h
: High Speed Fullstep Mode
The motor driver will switch to fullstep mode when this object is set to 1 and the measured speed is greater
than the threshold speed set by object 20B6
h
(see section 4.2.42).
Object Description
Index Name Object Type Data Type
20B8
h
High Speed Chopper Mode Variable UNSIGNED8
Table 143: Object Description (20B8
h
)
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