TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04
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4.2.5
Object 2004
h
: Standby Current
This object defines the current used when the motor is standing (two seconds after the last move). A value
of 255 means 100% of the maximum current of the drive.
Object Description
Index
Name
Object Type
Data Type
2004
h
Maximum current
Variable
UNSIGNED8
Table 61: Object Description (2004
h
)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 255
8
Table 62: Entry Description (2004
h
)
4.2.6
Object 2005
h
: Limit Switches
This object defines which limit switches are to be used. Bit 0 stands for the left and bit 1 stands for the
right limit switch. If a bit is set, the corresponding limit switch will not be used. So this object has to be set
to the value 3 if limit switches are not connected. The object can only be written when the drive is in the
SWITCHED_ON_DISABLED state (but is always readable).
The limit switches can also be inverted using bit 2 and bit 3:
• Bit 2 inverts the left limit switch
• Bit 3 inverts the right limit switch
The polarity of the home switch can be set using bit 5. Furthermore, the functionality of the shutdown
input can be controlled using bit 6. If this bit is set then the CiA-402 state machine also reacts on the
shutdown input (it will change to FAULT state if a shutdown is detected).
Object Description
Index
Name
Object Type
Data Type
2005
h
Limit switches
Variable
UNSIGNED32
Table 63: Object Description (2005
h
)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 127
0
Table 64: Entry Description (2005
h
)
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