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Trinamic TMCM-1160 Manual

Canopen firmware
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Module for Stepper
TMCM-1160 CANopen® Firmware Manual
Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04
The TMCM-1160 is a single axis controller/driver module for 2-phase bipolar stepper motors. The
TMCM-1160 CANopen® rmware allows to control the module using the CANopen® protocol, mak-
ing use of the Trinamic TMC429 motion controller and TMC262 motor driver. Dynamic current con-
trol, and quiet, smooth and e
features.
Applications
• Laboratory Automation
• Manufacturing
• Semiconductor Handling
Simpli ed Block Diagram
TMCL™
Memory
Encoder a/b/n
USB
CAN
Cortex-M3
microcontroller
RS485
7
I/Os
S/D
9... 28V DC
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at:
www.trinamic.com
Read entire documentation.
cient operation are combined with StallGuard2™ and CoolStep™
• Robotics
• Factory Automation
• Test & Measurement
SPI
ARM
TM
SPI
TMC262
Energy Efficient
Pre-Driver
S/D
Driver
with
stallGuard2
TMC262
SPI
coolStep™
TMC429
Motion
Controller
SPI
Features
• Single Axis Stepper motor control
• Supply voltage up to 48V DC
• CANopen® CiA-402 Drive Pro le
• CoolStep™
• StallGuard2™
• SensOstep™ encoder
• Additional inputs and outputs
• Life Science
• Biotechnology
• Liquid Handling
TMCM-1160
MOSFET
Driver
Stage
Motor
TM
+5V
sensOstep™
Encoder
MODULE
Step
Stop
switches

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Summary of Contents for Trinamic TMCM-1160

  • Page 1 TMCM-1160 CANopen® Firmware Manual Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 The TMCM-1160 is a single axis controller/driver module for 2-phase bipolar stepper motors. The TMCM-1160 CANopen® rmware allows to control the module using the CANopen® protocol, mak- ing use of the Trinamic TMC429 motion controller and TMC262 motor driver.

  • Page 2: Table Of Contents

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 2 / 110 Contents Preface General Features of this CANopen Implementation ......
  • Page 3 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 3 / 110 4.2.11 Object 2086 : Pulse Divisor ........37 4.2.12 Object 2087...
  • Page 4 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 4 / 110 Pro le Position Mode Detailed Object Speci cations ........64 6.1.1...
  • Page 5 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 5 / 110 9.1.6 Homing Method 18: Homing on positive Limit Switch ....93 9.1.7...

  • Page 6: Preface

    CANopen protocol, de ned by the DS301 and DS402 standards of the CAN-CiA. If necessary it is always possible to turn the module into a TMCL module by loading the TMCM-1160 TMCL mware again through the USB interface, with the help of the rmware update function of the TMCL-IDE 3.0.

  • Page 7: Abbreviations Used In This Manual

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 7 / 110 Further Characteristics • SYNC: consumer (TPDOs 3 are synchronous PDOs) • Emergency: producer • RTR: supported only for node guarding/life guarding • Heartbeat: consumer and producer 1.2 Abbreviations used in this Manual...

  • Page 8: Trinamic's Unique Features Easy To Use With Canopen

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 8 / 110 1.4 Trinamic’s unique Features easy to use with CANopen® 1.4.1 StallGuard2™ StallGuard2™ is a high-precision sensorless load measurement using the back EMF of the coils. It can be used for stall detection as well as other uses at loads below those which stall the motor.
  • Page 9 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 9 / 110 Efficiency with coolStep Efficiency with 50v torque reserve Efficiency Velocity [RPM] Figure 2: Energy E ciency Example with CoolStep ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.

  • Page 10: Communication

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 10 / 110 2 Communication 2.1 Reference Model The application layer comprises a concept to con gure and communicate real-time-data as well as the mechanisms for synchronization between devices. The functionality which the application layer offers to an application is logically divided over different service data objects (SDO) in the application layer.

  • Page 11: Object

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 11 / 110 Service Types Type De nition Local service Involves only the local service object. The application issues a request to its local service object that executes the requested service without communi- cating with peer service object(s).

  • Page 12: Nmt State Machine

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 12 / 110 2.2 NMT State Machine The nite state machine (FSM) or simply state machine is a model of behavior composed of a nite number of states, transitions between those states, and actions.

  • Page 13: Device Model

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 13 / 110 CANopen device profile CiA DSP 402 Modes of operation: Profile Position (pp) Profile Velocity (pv) Homing (hm) Device control state machine CANopen Communication Profile CiA DS301...

  • Page 14: Object Dictionary

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 14 / 110 Application Communication Object dictionary State machine Application object Entry 1 Entry 2 Communication object Communication Application object object Application Communication object object Entry n...
  • Page 15 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 15 / 110 The communication pro le area at indices 1000 through 1FFF contains the communication speci c parameters for the CAN network. These entries are common to all devices.

  • Page 16: Communication Area

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 16 / 110 3 Communication Area The communication area contains all objects that de ne the communication parameters of the CANopen device according to the DS301 standard.

  • Page 17: Object 1005 : Cob-Id Sync Message

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 17 / 110 Error Register Bits De nition Generic error Current Voltage Temperature Communication error Device pro le speci c Reserved (always 0) Manufacturer speci c Table 9: Error Register Bits 3.1.3 Object 1005...

  • Page 18: Object 1008

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 18 / 110 3.1.4 Object 1008 : Manufacturer Device Name This object contains the name of the device as given by the manufacturer. Object Description Index...

  • Page 19: Object 100C : Guard Time

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 19 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value Depends on device, e.g. 1.0. Table 18: Entry Description (100A 3.1.7 Object 100C...

  • Page 20: Objects

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 20 / 110 There are several parameter groups: • Sub-index 0 : contains the largest sub-index that is supported. • Sub-index 1 : saves all parameters.

  • Page 21: Object 1011

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 21 / 110 3.1.10 Object 1011 : Restore Parameters With this object the default values of parameters according to the communication or device pro le are restored.

  • Page 22: Object 1014

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 22 / 110 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value Restore all parameters UNSIGNED32 Restore communication parameters UNSIGNED32 Restore device pro le parameters...

  • Page 23: Object 1016

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 23 / 110 3.1.13 Object 1016 : Consumer Heartbeat Time The consumer heartbeat time de nes the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time con gured on the module producing this heartbeat.

  • Page 24: Object 1018

    , this object can be used to send TMCL commands to the TMCM-1160 module. A TMCL command can be written to sub-index 1. After the command has been executed, the status code and the TMCL reply can be read from sub-index 2 and sub-index 3.

  • Page 25: Object 1029 : Error Behaviour

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 25 / 110 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value Number of entries TMCL command Octet string (7 bytes) Reply UNSIGNED8 TMCL reply...
  • Page 26 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 26 / 110 Sub-Index 02 contains the transmission type of the RPDO. This can be FF or FE for event-driven, or 00 for synchronous. Object Description...

  • Page 27: Object

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 27 / 110 Object Description Index Name Object Type Data Type 1600 – 1603 Receive PDO mapping parameter RECORD PDO Mapping 1600 RPDO 1 RECORD PDO Mapping...

  • Page 28: Object

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 28 / 110 de nition, set this bit to inactivate the PDO. Sub-index 02 contains the transmission type of the RPDO. This can be FF or FE...

  • Page 29: Object

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 29 / 110 3.1.21 Objects 1A00 – 1A03 : Transmit PDO Mapping Parameter These objects contain the mapping parameters for the TPDOs the device is able to transmit. The sub-index contains the number of valid entries within the mapping record.

  • Page 30: Manufacturer Speci C Area

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 30 / 110 4 Manufacturer speci c Area The manufacturer segment contains manufacturer speci c objects. These objects control the special features of the Trinamic Motion Control device TMCM-1160.
  • Page 31 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 31 / 110 CoolStep Adjustment Objects Object Name Description 2003 Absolute maximum current The maximum value is 255. This value means 100% of the maximum current of the module. The current adjust- ment is within the range 0.

  • Page 32: Detailed Object Speci Cations

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 32 / 110 4.2 Detailed Object Speci cations 4.2.1 Object 2000 : Microstep Resolution This object sets the microstep resolution of the drive. A value of 8 selects 256 (2 ) microsteps per full step.

  • Page 33: Object 2003

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 33 / 110 Brake Bridge Operation Enable 200Ah 2002h 2002h sub index sub index Figure 7: Brake Output Timing Object Description Index Name Object Type Data Type...

  • Page 34: Object 2004

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 34 / 110 4.2.5 Object 2004 : Standby Current This object de nes 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.

  • Page 35: Object 200A

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 35 / 110 Bit De nitions De nition Left limit switch deactivated if set. Right limit switch deactivated if set. Left limit switch inverted if set.

  • Page 36: Object 200C : Brake Current Feed

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 36 / 110 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value Not used Direction of rotation (external encoders only) Initialize position Table 69: Entry Description (200B 4.2.9 Object 200C...

  • Page 37: Object 2086

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 37 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0. . . 13 Table 73: Entry Description (2085 4.2.11 Object 2086 : Pulse Divisor Use this object to de ne the pulse divisor when internal units are selected for velocity and acceleration.

  • Page 38: Object 2088

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 38 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0. . . 2047 Table 77: Entry Description (2087 4.2.13 Object 2088 : Maximum Acceleration...

  • Page 39: Object 208C

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 39 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0. . . 65535 Table 81: Entry Description (2089 4.2.15 Object 208C : Velocity Dimension Index With this object different units can be chosen:...

  • Page 40: Object 2092

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 40 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0/177/179 Table 85: Entry Description (208E 4.2.17 Object 2092 : Chopper Blank Time This object serves for selecting the comparator blank time.

  • Page 41: Object 2094

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 41 / 110 4.2.19 Object 2094 : Chopper Hysteresis Decrement This object serves for the hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time.

  • Page 42: Object 2096

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 42 / 110 4.2.21 Object 2096 : Chopper Hysteresis Start This object provides the hysteresis start setting. Please notice that this value is an offset to the hysteresis end value.

  • Page 43: Object 2099

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 43 / 110 Object Description Index Name Object Type Data Type 2098 Smart Energy Current Minimum Variable UNSIGNED8 Table 98: Object Description (2098 Entry Description Sub-index...

  • Page 44: Object 209B

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 44 / 110 Object Description Index Name Object Type Data Type 209A Smart Energy Hysteresis Variable UNSIGNED8 Table 102: Object Description (209A Entry Description Sub-index Access...

  • Page 45: Object 209D

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 45 / 110 Object Description Index Name Object Type Data Type 209C Smart Energy Hysteresis Start Variable UNSIGNED8 Table 106: Object Description (209C Entry Description Sub-index...

  • Page 46: Object 20A1

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 46 / 110 Object Description Index Name Object Type Data Type 209E StallGuard2 Threshold Variable SIGNED8 Table 110: Object Description (209E Entry Description Sub-index Access PDO Mapping...

  • Page 47: Object 20A5

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 47 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0. . . 2147483647 Table 115: Entry Description (20A4 4.2.32 Object 20A5 : Smart Energy Threshold Speed The CoolStep™...

  • Page 48: Object 2102

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 48 / 110 Object Description Index Name Object Type Data Type 2101 Actual Load Value Variable UNSIGNED16 Table 120: Object Description (2101 Entry Description Sub-index Access...

  • Page 49: Object 2107

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 49 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0. . . 255 Table 124: Entry Description (2102 4.2.36 Object 2107 : Microstep Resolution Display This object shows the microstep resolution, set by object 2000 (please see section 4.2.1).

  • Page 50: Object 2700

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 50 / 110 4.2.38 Object 2700 : TMCL Direct Communication After writing the make signature 656b616d 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 The drive can only be reset to normal CANopen functionality using the DS-301 reset application command.

  • Page 51: Object 2702

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 51 / 110 4.2.40 Object 2702 : Device Digital Inputs Bits 23. . . 16 of this object re ect the states of the general purpose inputs of the module. The number of available inputs depends on the module type.

  • Page 52: Object 2704

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 52 / 110 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value Physical outputs UNSIGNED32 Output mask UNSIGNED32 Table 138: Entry Description (2703 Output #0 can also be used for automatically controlling a brake that can be connected to the module via this output.

  • Page 53: Object 2706 : Store

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 53 / 110 Object Description Index Name Object Type Data Type 2705 Node ID Variable UNSIGNED8 Table 141: Object Description (2705 Entry Description Sub-index Access PDO Mapping...

  • Page 54: Object 2708

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 54 / 110 Object Description Index Name Object Type Data Type 2707 CAN Bit Rate Load Variable UNSIGNED8 Table 145: Object Description (2707 Entry Description Sub-index...

  • Page 55: Object 2710

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 55 / 110 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value Analog input 0 0. . . 4095 – Analog input 1 0. . . 4095 –...
  • Page 56 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 56 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0. . . 7 Table 153: Entry Description (2710 ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.

  • Page 57: Pro Le Speci C Area

    The pro le segment contains CiA-402 standard motion control objects. These objects control the motion control functions of the TMCM-1160. Since it is not possible to operate the modes in parallel, the user is able to activate the required function by selecting a mode of operation. The control device writes to the modes of operation object in order to select the operation mode.

  • Page 58: Object 605B

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 58 / 110 5.1.2 Object 605B : Shutdown Option Code This object indicates what action is performed if there is a transition from operation enabled state to ready to switch on state.

  • Page 59: Object 605D

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 59 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value Table 162: Entry Description (605C 5.1.4 Object 605D : Halt Option Code This object indicates what action is performed when the halt function is executed. The slow down ramp is the deceleration value of the used mode of operation.

  • Page 60: Object 6060

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 60 / 110 Object Description Index Name Object Type Data Type 605E Fault reaction option code Variable UNSIGNED16 Table 167: Object Description (605E Entry Description Sub-index...

  • Page 61: Object 6061

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 61 / 110 It is not allowed to write the same mode number twice to object 6060 . So before writing a new value to object 6060...

  • Page 62: Object 60Fd

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 62 / 110 Value De nition Value Mode Encoder used No encoder Table 175: Value Description (606A Object Description Index Name Object Type Data Type 606A...
  • Page 63 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 63 / 110 Value De nition Mode Pro le position mode (pp) Velocity mode (vl) Pro le velocity mode (pv) Torque mode (tq) Reserved Homing mode (hm)

  • Page 64: Pro Le Position Mode

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 64 / 110 6 Pro le Position Mode A target position is applied to the trajectory generator. It is generating a position demand value for the position control loop described in the position control function.

  • Page 65: Object 6040 : Control Word

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 65 / 110 6.1.1 Object 6040 : Control Word This object indicates the received command controlling the power drive system nite state automaton (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to gure detailed information.

  • Page 66: Object 6041 : Status Word

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 66 / 110 Object Description Index Name Object Type Data Type 6040 Controlword Variable UNSIGNED16 Table 186: Object Description (6040 in pp Mode) Entry Description Sub-index...

  • Page 67: Object 6062

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 67 / 110 Operation Mode speci c Bits in pp Mode Name De nition Target reached Set when the motor is within the position window. Set point acknowledged 0: Set point processed.

  • Page 68: Object 6063

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 68 / 110 Object Description Index Name Object Type Data Type 6062 Position Demand Value Variable SIGNED32 Table 194: Object Description (6062 Entry Description Sub-index Access...

  • Page 69: Object 6065

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 69 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value Refer to CiA402-3 SIGNED32 Table 199: Entry Description (6064 6.1.6 Object 6065 : Following Error Window This object indicates the con gured range of tolerated position values symmetrically to the position demand value.

  • Page 70: Object 6068

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 70 / 110 Object Description Index Name Object Type Data Type 6067 Position Window Variable UNSIGNED32 Table 202: Object Description (6067 Entry Description Sub-index Access PDO Mapping...

  • Page 71: Object 607A

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 71 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value Refer to CiA402-3 SIGNED32 Table 207: Entry Description (606C 6.1.10 Object 607A : Target Position...

  • Page 72: Object 6081

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 72 / 110 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value Mininmum Position Limit SIGNED32 -2147483648 Maximum Position Limit SIGNED32 2147483647 Table 211: Entry Description (607D 6.1.12 Object 6081...

  • Page 73: Object 6083

    6.1.15 Object 6084 : Pro le Deceleration This object indicates the con gured deceleration. On the TMCM-1160 module the deceleration ramp is always the same as the acceleration ramp. For this reason this object is a read-only object and always...

  • Page 74: How To Move A Motor In Pp Mode

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 74 / 110 Object Description Index Name Object Type Data Type 6085 Quick stop deceleration Variable UNSIGNED32 Table 220: Object Description (6085 Entry Description Sub-index Access...

  • Page 75: Velocity Mode

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 75 / 110 7 Velocity Mode The velocity mode is used to control the velocity of the drive without a special regard of the position. It contains limit functions.

  • Page 76: Object 6041 : Status Word

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 76 / 110 Command Coding Command Bits of Control Word Transitions Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Shutdown 2,6,8 Switch on Switch on & enable operation...
  • Page 77 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 77 / 110 Trinamic Speci c Bits Name De nition Motor activity 0: Motor stands still. 1: Motor rotates. Direction of rotation This bit shows the direction of rotation.

  • Page 78: Object 6042

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 78 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value see CiA402-3 See state coding above Table 231: Entry Description (6041 in vl Mode) 7.1.3 Object 6042...

  • Page 79: Object 6044

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 79 / 110 7.1.5 Object 6044 : vl Velocity Actual Value This object shows the actual velocity of the motor when the motor is in velocity mode. The value is given...

  • Page 80: Object 6049

    This object indicates the con gured delta speed and delta time of the slope of the deceleration ramp. As on the TMCM-1160 module the deceleration ramp is always the same as the acceleration ramp this object is a read-only object and always reads the same values as object...
  • Page 81 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 81 / 110 • Write 15 to object 6040 to switch to OPERATION_ENABLED state. • Write the desired target speed (e.g. 500) to object 6042 . The motor now accelerates to that speed.

  • Page 82: Pro Le Velocity Mode

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 82 / 110 8 Pro le Velocity Mode The pro le velocity mode is used to control the velocity of the drive without a special regard of the position.

  • Page 83: Object 6041 : Status Word

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 83 / 110 Command Coding Command Bits of Control Word Transitions Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Shutdown 2,6,8 Switch on Switch on & enable operation...
  • Page 84 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 84 / 110 Trinamic Speci c Bits Name De nition Motor activity 0: Motor stands still. 1: Motor rotates. Direction of rotation This bit shows the direction of rotation.

  • Page 85: Object 6062

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 85 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value see CiA402-3 See state coding above Table 253: Entry Description (6041 in pv Mode) 8.1.3 Object 6062...

  • Page 86: Object 6065

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 86 / 110 Object Description Index Name Object Type Data Type 6064 Position Actual Value Variable SIGNED32 Table 258: Object Description (6064 Entry Description Sub-index Access...

  • Page 87: Object 607D

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 87 / 110 Object Description Index Name Object Type Data Type 606C Velocity Actual Value Variable SIGNED32 Table 262: Object Description (606C Entry Description Sub-index Access...

  • Page 88: Object 6085

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 88 / 110 In pro le velocity mode, this object also sets the deceleration to be used (the deceleration ramp is always the same as the acceleration ramp in pv mode).

  • Page 89: How To Move A Motor In Pv Mode

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 89 / 110 Entry Description Sub-index Access PDO Mapping Value Range Default Value see CiA402-3 SIGNED32 Table 271: Entry Description (60FF 8.2 How to move a Motor in pv Mode Here is a little example that shows how to get a motor running in pv mode.

  • Page 90: Homing Mode

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 90 / 110 9 Homing Mode This chapter describes the method by which a drive seeks the home position (reference point). There are various methods of achieving this using limit switches at the ends of travel or a home switch in mid-travel.

  • Page 91: Homing Methods

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 91 / 110 9.1 Homing Methods The TMCM-1160 supports a subset of different standard CANopen homing methods. The homing method that is to be used can be choosen via object 6098 (section 9.2.5).

  • Page 92: Homing Method 2: Homing On Positive Limit Switch And Index Pulse

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 92 / 110 9.1.2 Homing Method 2: Homing on positive Limit Switch and Index Pulse Using this method, the initial direction of movement shall be rightward if the positive limit switch is inactive (here: low).

  • Page 93: Homing Method 17: Homing On Negative Limit Switch

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 93 / 110 Index pulse Home switch Figure 13: Homing Method 5 9.1.5 Homing Method 17: Homing on negative Limit Switch Using this method, the initial direction of movement shall be leftward if the negative limit switch is inactive (here: low).

  • Page 94: Homing Method 19: Homing On Positive Home Switch

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 94 / 110 9.1.7 Homing Method 19: Homing on positive Home Switch Using this method, the initial direction of movement shall be dependent on the state of the home switch.

  • Page 95: Homing Method 35: Current Position As Home Position

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 95 / 110 Index pulse Figure 18: Homing Methods 33 and 34 9.1.10 Homing Method 35: Current Position as Home Position In this method, the current position shall be taken to be the home position. This method does not require the drive device to be in operation enabled state.

  • Page 96: Detailed Object Speci Cations

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 96 / 110 9.2 Detailed Object Speci cations 9.2.1 Object 6040 : Control Word This object indicates the received command controlling the power drive system nite state automaton (PDS FSA).

  • Page 97: Object 6041

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 97 / 110 Object Description Index Name Object Type Data Type 6040 Controlword Variable UNSIGNED16 Table 276: Object Description (6040 in hm Mode) Entry Description Sub-index...

  • Page 98: Object 606C

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 98 / 110 Operation Mode speci c Bits in hm Mode Name De nition Target reached Set when the zero position has been found or homing has been stopped by setting controlword bit 4 to zero.

  • Page 99: Object 607C

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 99 / 110 Object Description Index Name Object Type Data Type 606C Velocity Actual Value Variable SIGNED32 Table 284: Object Description (606C Entry Description Sub-index Access...

  • Page 100: Object 6098

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 100 / 110 9.2.5 Object 6098 : Homing Method The homing method to be used can be selected by writing to this object. Please see table for a list of homing methods supported by the current version of the TMCM-1160 CANopen rmware.

  • Page 101: How To Start A Homing In Hm Mode

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 101 / 110 Object Description Index Name Object Type Data Type 609A Homing acceleration Variable UNSIGNED32 Table 292: Object Description (609A Entry Description Sub-index Access PDO Mapping...

  • Page 102: Emergency Messages (Emcy)

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 102 / 110 10 Emergency Messages (EMCY) The module sends an emergency message if an error occurs. The message contains information about the error type. The module can map internal errors and object 1001 (error register) is part of every emergency object.
  • Page 103 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 103 / 110 Error code Additional byte Description 8110 CAN controller over ow The receive message buffer of the CAN controller hardware is full and some CAN messages are lost.

  • Page 104: Figures Index

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 104 / 110 11 Figures Index stallGuard2 Load Measurement as a 10 Homing Method 1 ... .

  • Page 105: Tables Index

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 105 / 110 12 Tables Index Abbreviations used in this Manual Object Description (2000 ..Service Primitives ... .
  • Page 106 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 106 / 110 105 Entry Description (209B ..159 Entry Description (605B ..106 Object Description (209C .
  • Page 107 TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 107 / 110 212 Object Description (6081 ..256 Object Description (6063 ..213 Entry Description (6081 .

  • Page 108: Supplemental Directives

    13.5 Disclaimer: Life Support Systems TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the speci c written consent of TRINAMIC Motion Control GmbH & Co. KG.

  • Page 109: Collateral Documents & Tools

    In particular, this also applies to the stated possible applications or areas of applications of the product. TRINAMIC products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in signi cant personal injury or death (safety-Critical Applications) without TRINAMIC’s speci c written consent.

  • Page 110: Revision History

    TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 110 / 110 14 Revision History 14.1 Firmware Revision Version Date Author Description V3.05 2010-NOV-13 First release. V3.16 2013-APR-18 Several new features: • Save/restore parameters • Sensor selection code •...

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