Trinamic CANopen - Motor Run Current

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Trinamic CANopen quickstart guide • Guide • Document Revision V1.00 • 2021-Sept-10

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Figure 4

Usually an .eds needs to be added to the CANopen Master. However, this is not necessary for

Trinamic modules in TMCM-CANopen. For adding other .eds ﬁles to TMCM-CANopen refer to

the TMCM-CANopen tool manual V1.5.0.0 chapter 4.3.

4.2 Motor run current

In this section the motor run current will be adjusted. It should be made sure that the motor run current

is within the rated current of the stepper motor. The current setting (and other module settings) can be

changed by using CANopen service data objects (SDO) as following:

1. Open the Object Browser toolbox

2. Scroll to object 0x2003 (Absolute Max Current 1).

3. Click on Read button to read out the motor run current setting. In the example (ﬁgure 5) the motor

run current is 128 (equals 1A rms). A value of 255 means 100% of the maximum current of the drive.

4. Enter a new current value and Write to update the setting. In the example the new motor run current

is 64 (equals 0.5A rms).

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