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 0/1 0
Table 144: Entry Description (20B8
h
)
4.2.45 Object 20B9
h
: Power Down Ramp
The value set by this object controls the number of clock cycles for motor power down after a motion as
soon as the motor has stopped and the setting time (set by object 2089
h
, please see section 4.2.16) has
expired. The smooth transition avoids a motor jerk upon power down.
• 0=instant power down.
• 15=longest possible power down ramp.
Object Description
Index Name Object Type Data Type
20B9
h
Power Down Ramp Variable UNSIGNED8
Table 145: Object Description (20B9
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 15 7
Table 146: Entry Description (20B9
h
)
4.2.46 Object 2100
h
: Home Offset Display
This object shows the home offset. The value is given in microsteps.
Object Description
Index Name Object Type Data Type
2100
h
Home Offset Display Variable SIGNED32
Table 147: Object Description (2100
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no -2147483648. . . 2147483647 0
Table 148: Entry Description (2100
h
)
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