PD86-1180 CANopen FW Manual (.pdf) - Trinamic

TMCM-1180 / PD86-1180 CANopen Firmware Manual (V1.01 / 2011-AUG-01) 4
7.1.16 Object 2090 h: Step interpolation enable ............................................................................................... 60
7.1.17 Object 2091 h: Double step enable .......................................................................................................... 60
7.1.18 Object 2092 h: Chopper blank time .......................................................................................................... 61
7.1.19 Object 2093 h: Chopper mode ................................................................................................................... 61
7.1.20 Object 2094 h: Chopper hysteresis decrement ...................................................................................... 61
7.1.21 Object 2095 h: Chopper hysteresis end ................................................................................................... 62
7.1.22 Object 2096 h: Chopper hysteresis start ................................................................................................. 62
7.1.23 Object 2097 h: Chopper off time ............................................................................................................... 62
7.1.24 Object 2098 h: Smart energy current minimum ................................................................................... 63
7.1.25 Object 2099 h: Smart energy current down step ................................................................................. 63
7.1.26 Object 209A h: Smart energy hysteresis ................................................................................................. 63
7.1.27 Object 209B h: Smart energy current up step ....................................................................................... 64
7.1.28 Object 209C h: Smart energy hysteresis start ....................................................................................... 64
7.1.29 Object 209D h: stallGuard2 filter enable ............................................................................................. 64
7.1.30 Object 209E h: stallGuard2 threshold ................................................................................................... 65
7.1.31 Object 209F h: Slope control high side ................................................................................................... 65
7.1.32 Object 20A0 h: Slope control low side .................................................................................................... 65
7.1.33 Object 20A1 h: Short protection disable ................................................................................................. 66
7.1.34 Object 20A2 h: Short detection timer ...................................................................................................... 66
7.1.35 Object 20A3 h: Vsense .................................................................................................................................. 66
7.1.36 Object 20A4 h: Stop on stall ....................................................................................................................... 67
7.1.37 Object 20A5 h: Smart energy threshold speed ..................................................................................... 67
7.1.38 Object 20A6 h: Smart energy slow run current .................................................................................... 67
7.1.39 Object 2100 h: Home offset display ......................................................................................................... 67
7.1.40 Object 2101 h: Actual stallGuard2 load value .................................................................................... 68
7.1.41 Object 2102 h: Driver error flags ............................................................................................................... 68
7.1.42 Object 2103 h: Pulse divisor display ........................................................................................................ 68
7.1.43 Object 2104 h: Maximum velocity display .............................................................................................. 69
7.1.44 Object 2105 h: Ramp divisor display ........................................................................................................ 69
7.1.45 Object 2106 h: Maximum acceleration display ...................................................................................... 69
7.1.46 Object 2107 h: Microstep resolution display .......................................................................................... 69
7.1.47 Object 2700 h: TMCL direct communication ....................................................................................... 70
7.1.48 Object 2701 h: Manufacturer specific mode ........................................................................................... 70
7.1.49 Object 2702 h: Digital inputs ...................................................................................................................... 70
7.1.50 Object 2703 h: Digital outputs ................................................................................................................... 71
7.1.51 Object 2704 h: CAN bit rate ........................................................................................................................ 71
7.1.52 Object 2705 h: Node ID ................................................................................................................................ 71
7.1.53 Object 2706 h: Store ...................................................................................................................................... 72
7.1.54 Object 2707 h: CAN bit rate load ............................................................................................................... 72
7.1.55 Object 2708 h: Node ID load ...................................................................................................................... 72
7.1.56 Object 2709 h: Encoder interface ............................................................................................................... 72
7.1.57 Object 270A h: Encoder interface display ............................................................................................... 73
7.1.58 Object 270E h: Device analogue inputs ................................................................................................... 73
8 Emergency messages ................................................................................................................................................ 74
9 Revision history .......................................................................................................................................................... 76
9.1 Firmware revision .............................................................................................................................................. 76
9.2 Document revision ............................................................................................................................................ 76
10 References..................................................................................................................................................................... 77
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