Trinamic CANopen TMCM-351 Manual
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Trinamic CANopen TMCM-351 Manual

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CANopen MODULES FOR STEPPER MOTORS
CANopen Firmware Version V3.20
CANopen MANUAL
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-351
3-axis stepper
controller/driver board
2.8A RMS / 24V DC
Encoder interface
TMCM-341
3-axis
controller board
for SPI drivers
V
5V DC
logic
TMCM-342
3-axis
controller board
for step/dir drivers
V
5V DC
logic
TMCM-343
3-axis stepper
controller/driver board
V
8...34 V DC / V
nom
logic
1.1A RMS
MODULES
5V DC

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Summary of Contents for Trinamic CANopen TMCM-351

  • Page 1 SPI drivers 5V DC logic TMCM-342 3-axis controller board for step/dir drivers 5V DC logic TMCM-343 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

    : Max Deceleration ................. 36 4.1.13 Object 60FD , 68FD , and 70FD : Digital Inputs ................36 4.1.14 Object 6502 , 6D02 , and 7502 : Supported Drive Modes ............. 37 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 3 : Velocity Actual Value ............67 4.5.1.8 Object 607D , 687D , and 707D : Software Position Limit ..........67 4.5.1.9 Object 6083 , 6883 , and 7083 : Profile Acceleration ............67 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 4 : Pull-up Resistors (TMCM-351 only) ................83 Emergency Messages ............................. 84 Life Support Policy ..............................86 Revision History ............................... 87 Firmware revision ............................87 Document Revision ............................88 References ................................. 89 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 5 Figure 4.11 Homing on index pulse ........................... 53 Figure 4.12 Home offset definition ..........................56 Figure 4.13 Transfer characteristic of the velocity acceleration ................. 62 Figure 5.1 Brake output timing ............................ 70 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 6: Preface

    TMCM-341/342/343/351 CANopen V3.20 Manual (V2.01 / 2017-JUL-26) 1 Preface This document specifies objects and modes of operation of the TRINAMIC modules TMCM-341, TMCM-342, TMCM-343, and TMCM-351 with CANopen firmware. As these products are stepper motor controller and driver modules the use of the CiA DSP402 protocol (described in the CiA CANopen drives and motion control device profile, Part 2) is fundamental.

  • Page 7: Abbreviations

    The software running on the microprocessor 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 untouched throughout the whole lifetime, the CANopen firmware can easily be updated by the user.

  • Page 8: Communication

    Involves only the local service object. The service object (being the service initiated service provider) detects an event not solicited by a requested service. This event is then indicated to the application. Table 2.2 Service types Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 9: 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 10: Figure 2.2 Communication Architecture

    TMCM-341/342/343/351 CANopen V3.20 Manual (V2.01 / 2017-JUL-26) The Figure 2.2 shows the situation of the state machine in this device profile. Figure 2.2 Communication architecture Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 11: Device Model

    The application comprises the functionality of the device with respect to the Application interaction with the process environment. Figure 2.3 Device model Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 12: 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 special features of the TRINAMIC TMCM-34x resp. TMCM-351 modules. 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 13: Communication Objects

    TRUCTURE OF THE ERROR REGISTER M/O 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 14: Object 1005 : Cob-Id Sync Message

    BJECT DESCRIPTION Index Name Object Code Data Type Manufacturer software version Variable visible string 100A NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Const. according to software version Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 15: Object 100C

    On reception of the correct signature in the appropriate sub-index the device stores the parameter and then confirms the SDO transmission (initiate download response). If the storing failed, the device responds with an Abort SDO transfer (abort code: 0606 0000 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 16: Object 1011 : Restore Default Parameters

    : restores motor axis 0 parameters Sub-index 5 : restores motor axis 1 parameters Sub-index 6 : restores motor axis 2 parameters Sub-index 7 : restores device parameters / TRINAMIC specific parameters (2000 … 270E Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 17: Figure 3.1 Restore Procedure

    Restore motor axis 2 parameters UNSIGNED32 Restore device parameters UNSIGNED32 (TRINAMIC specific parameters) Please mind the figures above which explain the value ranges of the write access and the read access for the sub-indices. Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 18: Object 1014 : Cob-Id Emergency Object

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 19: Object 1018 : Identity Object

    NTRY DESCRIPTION Sub-Index Description Access PDO Mapping Value Range Default Value Number of error classes Communication error UNSIGNED8 0 (enter stopped state) Application error UNSIGNED8 1 (remain in current state) Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 20: Objects 1400 : Receive Pdo Communication Parameter

    UNSIGNED32 Index 1442 Index 1443 Index 1445 Index 1440 : Ff Index 1441 : Ff Transmission type UNSIGNED8 Index 1442 : Ff Index 1443 : Ff Index 1445 : Ff Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 21: Objects 1480

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 22: 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 23 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 24 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 25: Objects 1800 -1805 : 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 26: Objects 1840

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 27: 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 28: Objects 1A00 H -1A05 H : 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 29: Objects 1A40

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 30: Objects 1A80 -1A85 : 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 31: Device Profile Objects (Cia402) And Modes Of Operation

    (motor 0) Quick stop option code Variable SIGNED16 685A (motor 1) 705A (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 See value definition above Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 32: Object 605D , 685D : Halt Option Code

    (motor 0) Halt option code Variable UNSIGNED16 685D (motor 1) 705D (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 See value definition above. Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 33: Object 605E

    (motor 0) Modes of operation Variable SIGNED8 6860 (motor 1) 7060 (motor 2 NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 See value definition above Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 34 (motor 0) Sensor selection code Variable SIGNED16 686A (motor 1) 706A (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 See value definition above. Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 35 (motor 0) Max acceleration Variable UNSIGNED32 68C5 (motor 1) 70C5 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 UNSIGNED32 Depends on the units Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 36: Object 60C6

    Data Type 60FD (motor 0) Digital inputs Variable UNSIGNED32 68FD (motor 1) 70FD (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 UNSIGNED32 0000 0000 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 37: Object 6502 , And 7502 : Supported Drive Modes

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 38: 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 39: Object 6040 , And 7040 : Controlword

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 40: 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 41 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 42: Object 6067 , 6867 : Position Window

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 43: Object 6068 , And 7068 : Position Window Time

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 44: Object 607D , 687D , And 707D : Software Position Limit

    Data Type 6081 (motor 0) Profile velocity Variable UNSIGNED32 6881 (motor 1) 7081 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 UNSIGNED32 1000 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 45: Object 6083 , 6883 : Profile Acceleration

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 46: How To Move A Motor In Pp Mode

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 47: Homing Mode

    Please refer to objects 6060 /6860 /7060 (section 4.1.6) for information about how to choose an operation mode. Objects 6061 /6861 /7061 (section 4.1.7) show the operation modes that are set for each motor. Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 48: 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 49: 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 50: 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 51: Homing Methods

    (here: low). The position of home shall be at the first index pulse to the left of the position where the positive limit switch becomes inactive. Figure 4.7 Homing on positive limit switch and index pulse Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 52: Figure 4.8 Homing On Positive Home Switch And Index Pulse

    Figure 4.9 Homing on negative home switch and index pulse Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 53: Figure 4.10 Homing Without Index Pulse

    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. Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 54: Detailed Object Definitions

    Variable UNSIGNED16 6840 (motor 1) 7040 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 See command coding above Device and operation mode specific Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 55 BJECT DESCRIPTION Index Name Object Code Data Type 606C Velocity actual value Variable INTEGER32 686C 706C NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 INTEGER32 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 56: Object 607C , And 707C : Home Offset

    (motor 1) 7098 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 0, 1, 2, 3, 5, 17, 18, 19, 21, 33, 34, 35 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 57: Object 2100 : Home Offset Display

    (found during homing). The value is given in microsteps. BJECT DESCRIPTION Index Name Object Code Data Type Home offset display Variable SIGNED32 2100 NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to home offset Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 58: How To Start A Homing In Hm Mode

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 59: Velocity Mode

    (motor 0) Controlword Variable UNSIGNED16 6840 (motor 1) 7040 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 See command coding above Operation mode specific Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 60 (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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 61: Object 6043

    Access PDO Mapping Value Range Default Value Highest sub-index supported Refer to CiA402-3 Minimum velocity amount rw/ro Refer to CiA402-3 UNSIGNED32 Maximum velocity amount rw/ro Refer to CiA402-3 UNSIGNED32 2047 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 62: Figure 4.13 Transfer Characteristic Of The Velocity Acceleration

    NTRY DESCRIPTION Sub-Index Description Access PDO Mapping Value Range Default Value Highest sub-index supported Refer to CiA402-3 Delta speed Refer to CiA402-3 UNSIGNED32 1000 Delta time Refer to CiA402-3 UNSIGNED16 1msec Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 63: How To Move A Motor In Vl Mode

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 64: Profile 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 65 Data Type 6062 (motor 0) Position demand value Variable SIGNED32 6862 (motor 1) 7062 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 SIGNED32 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 66: Object 6063

    6065 (motor 0) Following error Variable UNSIGNED32 6865 (motor 1) window 7065 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 UNSIGNED32 0… 8388607 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 67: Object 606C H , 686C H , And 706C H : Velocity Actual Value

    (motor 0) Profile acceleration Variable UNSIGNED32 6883 (motor 1) 7083 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Refer to CiA402-3 UNSIGNED32 Depends on the units Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 68: How To Move A Motor In Pv Mode

    OPERATION_ENABLED state. Write the desired target speed (e.g. 1500) to object 60FF . The motor now accelerates to that speed. Stop the motor by writing 0 to object 60FF Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 69: Manufacturer Specific Area

    TMCM-341/342/343/351 CANopen V3.20 Manual (V2.01 / 2017-JUL-26) 5 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. Detailed Object Specifications 5.1.1 Object 2000 , 2200...

  • Page 70: Object 2003 , 2203 : Maximum Current

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 71: Object 2004 , 2204 : Standby Current

    Left limit switch deactivated, if set. Right limit switch deactivated, if set. Left limit switch inverted, if set. Right limit switch inverted, if set. Home switch deactivated, if set. Home switch inverted, if set. Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 72 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 73: Object 200A

    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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 74: Object 200C

    (motor 0) Ramp divisor Variable UNSIGNED8 2285 (motor 1) 2485 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 0… 13 not writable if user units are selected Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 75: Object 2086 , 2286 , And 2486 : Pulse Divisor

    (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) 499755 (pps) 2047 resp. 2047 (internal) Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 76: Object 2088 , 2288 : Maximum Acceleration

    Sub-Index Access PDO Mapping Value Range Default Value 0, 164, 181 When using PPS units the full velocity range cannot be used in velocity mode. Use profile velocity mode instead. Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 77: Object 208E

    Object Code Data Type 2101 (motor 0) Actual stallGuard™ load value Variable UNSIGNED8 2301 (motor 1) 2501 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 0… 7 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 78: Object 2102 , 2302 : Driver Error Flags

    Object Code Data Type 2104 (motor 0) Maximum velocity display Variable UNSIGNED32 2304 (motor 1) 2504 (motor 2) NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 0… 2047 2047 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 79: Object 2105

    The drive has to be reset (using the DS-301 reset application command) to return to normal CANopen functionality. Then, the parameters of the manufacturer specific profile area and of the standardized device profile area are set to their power-on values. Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 80: 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 81: Object 2704 : Can Bit Rate

    Value Range Default Value 1… 127 OW TO CHANGE THE NODE Write new node ID in object 2705 Write save signature 65766173 in sub-index 01 of object 2706 Reset module. Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 82: Object 2706 : Store

    BJECT DESCRIPTION Index Name Object Code Data Type Encoder interface Variable UNSIGNED8 2709 NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 83: Object 270A : Encoder Interface Display

    TMCM--351). BJECT DESCRIPTION Index Name Object Code Data Type Pull-up resistors Variable UNSIGNED8 2710 NTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 0..255 Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 84: Emergency Messages

    Undervoltage 0xff00 0/1/2 The supply voltage is too low to drive a motor. Positive software limit 0xff01 0/1/2 The actual position is outside the range defined by object 0x607d. Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...
  • Page 85 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 86: Life Support Policy

    TMCM-341/342/343/351 CANopen V3.20 Manual (V2.01 / 2017-JUL-26) 7 Life Support Policy TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.

  • Page 87: Revision History

    6098 homing methods 6098 position encoder resolution 6098 encoder prescaler 2005 , 2205 , 2405 updated 3.20 9.6.2017 Fixed save/restore function. New object 0x2710 (TMCM-351 only). Table 8.1 Firmware revisions Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 88: Document Revision

    Information about features and order codes of the modules erased. Please refer to the hardware manuals. 2.01 2017-JUL-26 Firmware revision 3.20 included. Table 8.2 Document revisions Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG...

  • Page 89: 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 © 2017, TRINAMIC Motion Control GmbH & Co. KG...

This manual is also suitable for:

Canopen tmcm-341Canopen tmcm-342Canopen tmcm-343

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