User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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4.2.51 Object 2121
h
: PWM Scale Value
Actual PWM scale value used when the motor driver is operaing in StealthChop mode.
Object Description
Index Name Object Type Data Type
2121
h
PWM Scale Value Variable UNSIGNED8
Table 158: Object Description (2121
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no 0. . . 255 —
Table 159: Entry Description (2121
h
)
4.2.52 Object 2122
h
: Measured Velocity
This object contains the velocity measured by the motor driver. This value is important only when the
motor driver is operating in DcStep mode.
Object Description
Index Name Object Type Data Type
2122
h
Measured Velocity Variable SIGNED32
Table 160: Object Description (2122
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no -16777215. . . 16777215 —
Table 161: Entry Description (2122
h
)
4.2.53 Object 3000
h
: TMCL Direct Communication
After writing the make signature 656b616d
h
to this object the drive switches to TMCL mode. The drive can
then only be controlled via TMCL commands written to the OS command object 1023/01
h
.
The drive can only be reset to normal CANopen functionality using the DS-301 reset application command.
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