Trinamic TMCM-351 Manual
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Trinamic TMCM-351 Manual

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MODULES FOR STEPPER MOTORS
V 1.04
CANopen MANUAL
+
+
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
351
TMCM-
+
3-axis stepper
controller/driver board
2.8A RMS / 24V DC
Encoder interface
341
TMCM-
3-axis
controller board
for SPI drivers
V
5V DC
logic
342
TMCM-
3-axis
controller board
for step/dir drivers
V
5V DC
logic
343
TMCM-
3-axis stepper
controller/driver board
V
8... 34 V DC / V
nom
1.1A RMS
+
MODULES
5V DC
logic

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Summary of Contents for Trinamic TMCM-351

  • Page 1 SPI drivers 5V DC logic TMCM- 3-axis controller board for step/dir drivers 5V DC logic TMCM- 3-axis stepper controller/driver board 8… 34 V DC / V 5V DC logic 1.1A RMS TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com...

  • Page 2: Table Of Contents

    : Sensor selection code ..............41 7.1.9 Object 60C5 , 68C5 , and 70C5 : Max acceleration ................41 7.1.10 Object 60C6 , 68C6 , and 70C6 : Max deceleration ................41 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 3 : Profile deceleration .............. 68 7.4.1.16 Object 6085 , 6885 , and 7085 : Quick stop deceleration ............69 7.4.2 How to move a motor in vl mode ......................69 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 4 8.1.38 Object 270E : Analog inputs ........................83 Emergency messages ..............................85 10 Revision history ................................87 10.1 Firmware revision .............................. 87 10.2 Document revision ............................87 11 References..................................88 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 5 Figure 7.6: Homing on negative home switch and index pulse ................57 Figure 7.7: Home offset definition ..........................60 Figure 7.8: Transfer characteristic of the velocity acceleration ................65 Figure 8.1: Brake output timing ............................71 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 6: Life Support Policy

    Specifications are subject to change without notice. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 7: About This Document

    As with most TRINAMIC modules the software running on the microprocessor of the TMCM-341, TMCM-342, TMCM-343, and TMCM-351 consists of two parts, a boot loader and the CANopen firmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC and remains –...

  • Page 8: Features

    TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 3 Features The following text gives an overview of the four TRINAMIC products which are discussed in this manual. 3.1 Features of TMCM-341 The TMCM-341 is a triple axis stepper motor controller module for external power drivers with SPI interface (e.g.

  • Page 9: Features Of The Tmcm-342

    TMCL™ is fully supported by TMCL-IDE (PC based integrated development environment). Other 68 pin connector carries all signals (2*34 pins, 2mm pitch) RoHS compliant Size: 80 x 50 mm² Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 10: Features Of The Tmcm-343

    TMCL™ is fully supported by TMCL-IDE (PC based integrated development environment). Other 68 pin connector carries all signals (2*34 pins, 2mm pitch) RoHS compliant Size: 80 x 50 mm² Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 11: Features Of The Tmcm-351

    TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 3.4 Features of the TMCM-351 The TMCM-351 is a powerful three axes bipolar stepper motor controller/driver board with optional encoder interface for all three axes and a large number of general purpose digital and analogue input/outputs.

  • Page 12: General Features Of This Canopen Implementation

    Dynamic mapping with max. 3 mapping entries Default mappings: according to CiA-402 for PDO 1, 2, 3 and 6, manufacturer specific for PDO SYNC: consumer (TPDO3 and TPDO6 are synchronous PDOs) Emergency: producer RTR: not supported Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 13: Order Codes

    Description Dimensions QSH-5718 57mm/NEMA23, 1.8˚ step angle 57.2 x 57.2 x 41/55/ 78.5 mm QSH-6018 60mm/NEMA24, 1.8˚ step angle 60.5 x 60.5 x 45/56/ 65/86 mm Table 4.1: Order codes Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 14: Communication

    The service object (being the service provider) detects an event not solicited by a requested service. This event is then indicated to the application. Unconfirmed and confirmed services are collectively called remote services. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 15: Nmt State Machine

    The Heartbeat message of a CANopen device contains the device status of the NMT state machine and is sent cyclically by the CANopen device. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 16: Figure 5.2: Communication Architecture

    [used in this manual / according to CiA DSP 402] Homing mode Profile position mode Velocity mode Device control state machine CANopen Communication Profile CiA DS301 Figure 5.2: Communication architecture Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 17: Device Model

    State machine Application object Entry 1 Entry 2 Communication object Communication Application object object Communication Application object object Entry n Communication Application object object Bus system Process Figure 5.3: Device model Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 18: Object Dictionary

    CAN network. These entries are common to all devices. The manufacturer segment at indices 2000 through 5FFF contains manufacturer specific objects. These objects control the special features of the TRINAMIC motion control devices TMCM-351 and TMCM341/342/343. The standardized device profile area at indices 6000 through 9FFF contains all data objects common to a class of devices that can be read or written via the network.

  • Page 19: Communication Objects

    TRUCTURE OF THE ERROR REGISTER Description Generic error Current Voltage Temperature Communication error Device profile specific Reserved (always 0) Manufacturer specific If a bit is set to 1, the specific error has occurred. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 20: Object 1005 : Cob-Id Sync Message

    BJECT DESCRIPTION Index Name Object Code Data Type Manufacturer hardware version Variable Visible string 1009 NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Const. Depends on device, e.g. 1.0 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 21: Store Parameters

    Autonomous saving means that a device stores the storable parameters in a non-volatile manner without user request. BJECT DESCRIPTION Index Name Object Code Data Type Store parameters ARRAY UNSIGNED 32 1010 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 22: Object 1011 : Restore Default Parameters

    The default values are set valid after the device is reset (reset node for sub-index 1h – 7Fh, reset communication for sub-index 2 ) or power cycled. restore default reset / power cycle default values valid Figure 6.1: Restore procedure Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 23: Object 100A : Manufacturer Software Version

    This object defines the COB-ID of the emergency object (EMCY). BJECT DESCRIPTION Index Name Object Code Data Type COB-ID emergency object Variable UNSIGNED32 1014 NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value UNSIGNED32 + NODE ID Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 24: Object 1015 : Inhibit Time Emcy

    The time has to be a multiple of 1ms. BJECT DESCRIPTION Index Name Object Code Data Type Producer heartbeat time Variable UNSIGNED16 1017 NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value UNSIGNED16 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 25: Object 1018 : Identity Object

    3 (for direct TMCL™ supported entries communication) Command (TMCL™ Octet string command) Status (error code of a TMCL™ UNSIGNED8 command) Reply (reply of a Octet string TMCL™ command) Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 26: Object 1029 : Error Behavior

    Index 1403 : 500 + Node-ID Index 1405 Index 1400 : Ff Index 1401 : Ff Transmission type UNSIGNED8 Index 1402 : Ff Index 1403 : Ff Index 1405 : Ff Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 27: Objects 1440

    UNSIGNED32 Index 1482 Index 1483 Index 1485 Index 1480 : Ff Index 1481 : Ff Transmission type UNSIGNED8 Index 1482 : Ff Index 1483 : Ff Index 1485 : Ff Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 28: Objects 1600

    Mapping entry 2 UNSIGNED32 Index 1602 : 607A0020 Index 1603 : 60FF0020 Index 1605 : 60420010 Index 1600 Index 1601 Mapping entry 3 UNSIGNED32 Index 1602 Index 1603 Index 1605 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 29 Mapping entry 2 UNSIGNED32 Index 1642 : 687A0020 Index 1643 : 68FF0020 Index 1645 : 68420010 Index 1640 Index 1641 Mapping entry 3 UNSIGNED32 Index 1642 Index 1643 Index 1645 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 30 Mapping entry 2 UNSIGNED32 Index 1682 : 707A0020 Index 1683 : 70FF0020 Index 1685 : 70420010 Index 1680 Index 1681 Mapping entry 3 UNSIGNED32 Index 1682 Index 1683 Index 1685 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 31: Objects 1800 : Transmit Pdo Communication Parameter

    Index 1805 Index 1800 : ff Index 1801 : ff Transmission type UNSIGNED8 Index 1802 Index 1803 Index 1805 Inhibit time UNSIGNED16 Compatibility entry UNSIGNED8 0 not used Event timer UNSIGNED16 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 32: Transmit Pdo Communication Parameter

    Index 1845 Index 1840 : ff Index 1841 : ff Transmission type UNSIGNED8 Index 1842 Index 1843 Index 1845 Inhibit time UNSIGNED16 Compatibility entry UNSIGNED8 0 not used Event timer UNSIGNED16 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 33: Objects 1880

    Index 1885 Index 1880 : ff Index 1881 : ff Transmission type UNSIGNED8 Index 1882 Index 1883 Index 1885 Inhibit time UNSIGNED16 Compatibility entry UNSIGNED8 0 not used Event timer UNSIGNED16 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 34: Objects 1A00 -1A05 : Transmit Pdo Mapping Parameter

    Mapping entry 2 UNSIGNED32 Index 1A02 : 60640020 Index 1A03 : 606c0020 Index 1A05 : 60440010 Index 1A00 Index 1A01 Mapping entry 3 UNSIGNED32 Index 1A02 Index 1A03 Index 1A05 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 35: Objects 1A40 : Transmit Pdo Mapping Parameter

    Mapping entry 2 UNSIGNED32 Index 1A42 : 68640020 Index 1A43 : 686c0020 Index 1A45 : 68440010 Index 1A40 Index 1A41 Mapping entry 3 UNSIGNED32 Index 1A42 Index 1A43 Index 1A45 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 36: Objects 1A80 : Transmit Pdo Mapping Parameter

    Mapping entry 2 UNSIGNED32 Index 1A82 : 70640020 Index 1A83 : 706c0020 Index 1A85 : 70440010 Index 1A80 Index 1A81 Mapping entry 3 UNSIGNED32 Index 1A82 Index 1A83 Index 1A85 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 37: Device Profile Objects (Cia402) And Modes Of Operation

    (motor 0) Quick stop option Variable SIGNED16 685A (motor 1) code 705A (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 See value definition above Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 38: Object 605B , 685B , And 705B : Shutdown Option Code

    (motor 0) Disable operation Variable UNSIGNED16 685C (motor 1) option code 705C (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 See value definition above Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 39: Object 605D , 685D , And 705D : Halt Option Code

    (motor 0) Fault reaction option Variable UNSIGNED16 685E (motor 1) code 705E (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 See value definition above Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 40: Object 6060

    (motor 0) Modes of operation Variable SIGNED8 6861 (motor 1) display 7061 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 See value definition above Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 41: Object 606A , 686A , And 706A : Sensor Selection Code

    (motor 0) Max deceleration Variable UNSIGNED32 68C6 (motor 1) 70C6 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 UNSIGNED32 Depends on the units Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 42: Object 60Fd

    6502 (motor 0) Supported drive modes Variable UNSIGNED32 6D02 (motor 1) 7502 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 See above 00000025 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 43: Profile Position Mode

    Drive function disabled indicates that no current is being supplied to the motor. Drive function enabled indicates that current is available for the motor and profile position and profile velocity reference values may be processed. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 44: Object 6040

    Variable UNSIGNED16 6840 (motor 1) 7040 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value See command Refer to CiA402-3 Device and operation mode specific coding above Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 45: Object 6041

    Data Type 6041 (motor 0) Statusword Variable UNSIGNED16 6841 (motor 1) 7041 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value See state coding Refer to CiA402-3 above Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 46: Object 6062

    Data Type 6064 (motor 0) Position actual value Variable SIGNED32 6864 (motor 1) 7064 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 SIGNED32 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 47: Object 6065

    Data Type 6067 (motor 0) Position window Variable UNSIGNED32 6867 (motor 1) 7067 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 UNSIGNED32 0… 8388607 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 48: Object 6068

    Data Type 607A (motor 0) Target position Variable SIGNED32 687A (motor 1) 707A (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 SIGNED32 -2147483647… +2147483647 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 49: Object 607D , 687D , And 707D : Software Position Limit

    (motor 0) Maximum profile velocity Variable UNSIGNED32 687F (motor 1) 707F (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 UNSIGNED32 Depends on the units Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 50: Object 6081 , And 7081 : Profile Velocity

    (motor 0) Profile deceleration Variable UNSIGNED32 6884 (motor 1) 7084 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 UNSIGNED32 Depends on the units Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 51: Object 6085

    Object Code Data Type 6086 (motor 0) Motion profile type Variable UNSIGNED16 6886 (motor 1) 7086 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 52: Object 608F , 688F , And 708F : Position Encoder Resolution

    Mark the new target position as active by writing 31 to object 6040 . The motor starts moving now. Reset the activation by writing 15 to object 6040 (this can be done while the motor is still moving). Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 53: Homing Mode

    Since for cost reasons, drives often do not have an absolute encoder, a homing operation is necessary. There are several application specific methods. The homing method is used for selection. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 54: Connecting Home Switch, Left Switch, And Right Switch

    Left stop switch input for motor 1 HOME Input 1 for motor 1 REF_R Right stop switch input for motor 2 REF_L Left stop switch input for motor 2 HOME Input 2 for motor 2 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 55: Tmcm-351

    REF_1_R Right stop switch input REF_1_L Left stop switch input HOME_1 Input 1, 24V compatible REF_2_R Right stop switch input REF_2_L Left stop switch input HOME_2 Input 2, 24V compatible Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 56: Connecting A Brake

    Please connect the brakes with the I/O connector of the module as follows: ONNECTING BRAKES Name Function OUT_0 Connector for brake of motor o OUT_1 Connector for brake of motor 1 OUT_2 Connector for brake of motor 2 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 57: Homing Methods: Homing On Negative Home Switch And Index Pulse

    Index pulse Home switch Figure 7.6: Homing on negative home switch and index pulse Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 58: Detailed Object Definitions

    Variable UNSIGNED16 6840 (motor 1) 7040 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value See command Refer to CiA402-3 Device and operation mode specific coding above Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 59: Object 6041 , 6841 , And 7041 : Statusword

    Data Type 6041 (motor 0) Statusword Variable UNSIGNED16 6841 (motor 1) 7041 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value See state coding Refer to CiA402-3 above Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 60: Object 607C , 687C , And 707C : Home Offset

    Homing method Variable SIGNED8 6898 (motor 1) 7098 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 0, 3, 5, 19, 21, 33, 34, 35 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 61: Object 6099 , And 7099 : Homing Speeds

    6099 sub index 2. Write 31 to object 6040 to start the homing process. Press and release the home switch. When homing has finished, write 15 to object 6040 again. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 62: Velocity Mode

    Variable UNSIGNED16 6840 (motor 1) 7040 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value See command Refer to CiA402-3 Device and operation mode specific coding above Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 63: Object 6041

    (motor 0) vl target velocity Variable SIGNED16 6842 (motor 1) 7042 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 SIGNED32 Depends on the units. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 64: Object 6043

    PDO Mapping Value Range Default Value Minimum velocity amount rw/ro Refer to CiA402-3 UNSIGNED32 Depends on the units Maximum velocity amount rw/ro Refer to CiA402-3 UNSIGNED32 Depends on the units Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 65: Object 6048

    (motor 2) NTRY DESCRIPTION Sub-Index Description Access PDO Mapping Value Range Default Value Delta speed Refer to CiA402-3 UNSIGNED32 Depends on the units Delta time Refer to CiA402-3 UNSIGNED16 10msec Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 66: Object 6062 , Demand 7062 : Position Demdemand Value

    Data Type 6064 (motor 0) Position actual value Variable SIGNED32 6864 (motor 1) 7064 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 SIGNED32 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 67: Object 6065

    (motor 2) NTRY DESCRIPTION Sub-Index Description Access PDO Mapping Value Range Default Value Min position limit Refer to CiA402-3 SIGNED32 -2147483647… +2147483647 Max position limit Refer to CiA402-3 SIGNED32 -2147483647… +2147483647 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 68: Object 6083 , And 7083 : Profile Acceleration

    (motor 0) Profile deceleration Variable UNSIGNED32 6884 (motor 1) 7084 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 UNSIGNED32 Depends on the units Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 69: Object 6085

    OPERATION_ENABLED state. Write the desired target speed (e.g. 500) to object 6042 . The motor now accelerates to that speed. Stop the motor by writing 0 to object 6042 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 70: Manufacturer Specific Area

    TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 8 Manufacturer specific area The manufacturer segment contains manufacturer specific objects. These objects control the special features of the TRINAMIC motion control devices TMCM-341/342/343 and TMCM-351. 8.1 Detailed object specifications 8.1.1 Object 2000...

  • Page 71: Object 2002

    Name Object Code Data Type 2003 (motor 0) Maximum current Variable UNSIGNED8 2203 (motor 1) 2403 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 0… 255 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 72: Object 2004

    Name Object Code Data Type 2005 (motor 0) Limit switches Variable UNSIGNED32 2205 (motor 1) 2405 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 0… 7 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 73: Object 2006

    Name Object Code Data Type 2009 (motor 0) Fullstep threshold Variable UNSIGNED8 2209 (motor 1) 2409 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 0… 2048 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 74: Object 200A , And 240A : Enable Drive Delay Time

    Bit 1: polarity of channel B on index pulse (0=low, 1=high). Bit 2: polarity of channel N on index pulse (0=low, 1=high). Bit 3: ignore channel A/B polarity on index pulse. This object is only writable in SWITCHED_ON_DISABLED state. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 75: Object 200C , 220C , And 240C : Brake Current Feed

    (motor 0) Ramp divisor Variable UNSIGNED8 2285 (motor 1) 2485 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value not writable if user 0… 13 units are selected Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 76: Object 2086 , And 2486 : Pulse Divisor

    2087 (motor 0) Maximum velocity Variable UNSIGNED32 2287 (motor 1) 2487 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 143… 293 (rpm) 2047 resp. 2047 (internal) Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 77: Object 2088 , 2288 , And 2488 : Maximum Acceleration

    Object Code Data Type 208E (motor 0) Acceleration dimension Variable UNSIGNED8 228E (motor 1) index 248E (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 0 or 177 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 78: Object 2100

    Object Code Data Type 2102 (motor 0) Driver error flags Variable UNSIGNED8 2302 (motor 1) 2502 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 0… 255 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 79: Object 2103

    Object Code Data Type 2105 (motor 0) Ramp divisor display Variable UNSIGNED8 2305 (motor 1) 2505 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 0… 13 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 80: Object 2106 , 2306 , And 2506 : Maximum Acceleration Display

    The drive has to be reset (using the DS-301 reset application command) to return to normal CANopen functionality. BJECT DESCRIPTION Index Name Object Code Data Type Microstep resolution display Variable UNSIGNED32 2700 NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Make signature 656b616d Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 81: Object 2701 : Manufacturer Specific Mode

    The number of available digital outputs depends on the module type. BJECT DESCRIPTION Index Name Object Code Data Type Digital outputs Array 2703 NTRY DESCRIPTION Sub-Index Description Access PDO Mapping Value Range Default Value Physical outputs UNSIGNED32 Output mask UNSIGNED32 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 82: Object 2704 : Can Bit Rate

    The save signature is 65766173 BJECT DESCRIPTION Index Name Object Code Data Type Store Variable UNSIGNED32 2706 NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Highest sub-index supported Save signature Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 83: Object 2707 : Can Bit Rate Load

    Value Range Default Value 8.1.38 Object 270E : Analog inputs This object provides the values of the analog inputs of the device (if the device is equipped with analogue inputs). Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 84 Object Code Data Type Device Analog Inputs Variable UNSIGNED32 270E NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Highest sub-index 0..1023 0..1023 0..1023 0..1023 0..1023 0..1023 0.1023 0..1023 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 85: Emergency Messages

    0/1/2 The deviation between motor position counter and encoder position counter has exceeded the following error window. Undervoltage 0xff00 0/1/2 The supply voltage is too low to drive a motor. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 86 0/1/2 The positive limit switch has been touched outside of the homing function. Negative limit switch 0xff01 0/1/2 The negative limit switch has been touched outside of the homing function. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 87: Revision History

    6098 corrected, minor 1.02 2010-JUN-15 changes 1.03 2010-JUN-21 Value range of object 2005 corrected 1.04 2011-AUG-01 New front, new objects: 1010 , 1011 , and 1016 Table 10.2: Document revision Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 88: References

    [BB-323-02] BB-323-02 Manual [BB-323-03] BB-323-03 Manual [TMCM-035] TMCM-035 Manual [TMCM-323] TMCM-323 Manual [TMCM-EVAL] TMCM-EVAL Manual [TMCM-023] TMCM-023 Manual [TMCM-078] TMCM-078 Manual [PD-013-42]] PD-013-42 Manual [QSH5718] QSH5718 Manual [QSH6018] QSH6018 Manual Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG...

This manual is also suitable for:

Tmcm-341Tmcm-342Tmcm-343

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