User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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4.2.47 Object 2101
h
: Actual Load Value
This object shows the actual load value used for stall detection (StallGuard2™).
Object Description
Index Name Object Type Data Type
2101
h
Actual Load Value Variable UNSIGNED16
Table 149: Object Description (2101
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no 0. . . 1023 0
Table 150: Entry Description (2101
h
)
4.2.48 Object 2102
h
: Driver Error Flags
This object shows the error flags of the motor driver IC.
Error Flags
Bit Name Meaning
7 OT Overtemperature
6 OTPW Temperature pre-warning
5 UV Undervoltage
4 OCHS Overcurrent high side
3 OLB Open load on bridge B
2 OLA Open load on bridge A
1 OCB Overcurrent on bridge B
0 OCA Overcurrent on bridge A
Table 151: Driver Error Flags (2102
h
)
Object Description
Index Name Object Type Data Type
2102
h
Driver Error Flags Variable UNSIGNED8
Table 152: Object Description (2102
h
)
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