Trinamic TMCM-1160 Manuals

Trinamic TMCM-1160 Manuals

Manuals and User Guides for Trinamic TMCM-1160. We have 1 Trinamic TMCM-1160 manual available for free PDF download: Manual

Trinamic TMCM-1160 Manual

Trinamic TMCM-1160 Manual (110 pages)

CANopen firmware

Brand: Trinamic | Category: Controller | Size: 1 MB

Table of Contents

Table of Contents
2
1 Preface

6
2 Communication

10
- Reference Model
  10
  - Object
    10
  - Object
    11
- NMT State Machine
  12
- Object
  12
- Device Model
  13
- Object
  13
- Object Dictionary
  14
3 Communication Area

16
- Detailed Object Speci Cations
  16
  - Object 1000
    16
- Device Type
  16
  - Object 1001
    16
- Error Register
  16
  - Object 1005 : COB-ID SYNC Message
    17
  - Object 1008
    18
- Manufacturer Device Name
  18
  - Object 1009
    18
- Manufacturer Hardware Version
  18
  - Object 100A
    18
- Manufacturer Software Version
  18
  - Object 100C : Guard Time
    19
  - Object 100D
    19
- Life Time Factor
  19
  - Object 1010
    19
- Store Parameters
  19
  - Objects
    19
  - Objects
    20
  - Object 1011
    21
- Restore Parameters
  21
  - Objects
    21
  - Object 1014
    22
- COB-ID Emergency Object
  22
  - Object 1015
    22
- Inhibit Time EMCY
  22
  - Object 1016
    23
- Consumer Heartbeat Time
  23
  - Object 1017
    23
- Producer Heartbeat Time
  23
  - Object 1018
    24
- Identity Object
  24
  - Object 1023
    24
- OS Command
  24
  - Object 1029 : Error Behaviour
    25
  - Objects 1400
    25
- H : Receive PDO Communication Parameter
  25
  - Object
    27
  - Object
    28
  - Object
    29
4 Manufacturer Speci C Area

30
- Objects Related to Coolstep
  30
- Detailed Object Speci Cations
  32
  - Object 2000
    32
- Microstep Resolution
  32
  - Object 2001
    32
- Fullstep Resolution
  32
  - Object 2002
    32
- H : Brake Delay Times
  32
  - Object 2003
    33
- Maximum Current
  33
  - Object 2004
    34
- Standby Current
  34
  - Object 2005
    34
- Limit Switches
  34
  - Object 200A
    35
- Enable Drive Delay Time
  35
  - Object 200B
    35
- Encoder Parameters
  35
  - Object 200C : Brake Current Feed
    36
  - Object 2085 : Ramp Divisor
    36
  - Object 2086
    37
- Pulse Divisor
  37
  - Object 2087
    37
- Maximum Velocity
  37
  - Object 2088
    38
- Maximum Acceleration
  38
  - Object 2089
    38
- Standby Delay
  38
  - Object 208C
    39
- Velocity Dimension Index
  39
  - Object 208E
    39
- Acceleration Dimension Index
  39
  - Object 2092
    40
- Chopper Blank Time
  40
  - Object 2093
    40
- Chopper Mode
  40
  - Object 2094
    41
- Chopper Hysteresis Decrement
  41
  - Object 2095
    41
- Chopper Hysteresis End
  41
  - Object 2096
    42
- Chopper Hysteresis Start
  42
  - Object 2097
    42
- Chopper Oﬀ Time
  42
  - Object 2098
    42
- Smart Energy Current Minimum
  42
  - Object 2099
    43
- Smart Energy Current down Step
  43
  - Object 209A
    43
- H : Smart Energy Hysteresis
  43
  - Object 209B
    44
- Smart Energy Current up Step
  44
  - Object 209C
    44
- Smart Energy Hysteresis Start
  44
  - Object 209D
    45
  - Smart Energy Filter Enable
    45
    
    Object 209E
    45
- Stallguard2 Threshold
  45
  - Object 20A1
    46
- Short Protection Disable
  46
  - Object 20A4
    46
- H : Stop on Stall
  46
  - Object 20A5
    47
- Smart Energy Threshold Speed
  47
  - Object 2100
    47
- Home Oﬀset Display
  47
  - Object 2101
    47
- Actual Load Value
  47
  - Object 2102
    48
- Driver Error Flags
  48
  - Object 2107
    49
- Microstep Resolution Display
  49
  - Object 210B
    49
- Step Counter
  49
  - Object 2700
    50
- TMCL Direct Communication
  50
  - Object 2701
    50
- Manufacturer Speci C Mode
  50
  - Object 2702
    51
- H : Device Digital Inputs
  51
  - Object 2703
    51
- H : Device Digital Outputs
  51
  - Object 2704
    52
- CAN Bit Rate
  52
- Node ID Load
  54
  - Object 270E
    54
- H : Device Analog Inputs
  54
  - Object 2710
    55
- Pull-Up Resistors
  55
5 Pro Le Speci C Area

57
- Detailed Object Speci Cations
  57
  - Object 605A : Quick Stop Option Code
    57
  - Object 605B
    58
- Shutdown Option Code
  58
  - Object 605C
    58
- Disable Operation Option Code
  58
  - Object 605D
    59
  - Halt Option Code
    59
    
    Object 605E
    59
- Fault Reaction Option Code
  59
  - Object 6060
    60
- H : Modes of Operation
  60
  - Object 6061
    61
- H : Modes of Operation Display
  61
  - Object 606A
    61
- H : Sensor Selection Code
  61
  - Object 60FD
    62
- Digital Inputs
  62
  - Object 6502
    62
- H : Supported Drive Modes
  62
6 Pro Le Position Mode

64
- Detailed Object Speci Cations
  64
  - Object 6040 : Control Word
    65
  - Object 6041 : Status Word
    66
  - Object 6062
    67
- H : Position Demand Value
  67
  - Object 6063
    68
- H : Position Actual Internal Value
  68
  - Object 6064
    68
- H : Position Actual Value
  68
  - Object 6065
    69
- H : Following Error Window
  69
  - Object 6067
    69
  - Position Window
    69
    
    Object 6068
    70
- H : Position Window Time
  70
  - Object 606C
    70
  - H : Velocity Actual Value
    70
    
    Object 607A
    71
  - Target Position
    71
    
    Object 607D
    71
    
    H : Software Position Limit
    71
    
    Object 6081
    72
  - H : Pro Le Velocity
    72
    
    Object 6082
    72
  - End Velocity
    72
    
    Object 6083
    73
  - H : Pro Le Acceleration
    73
    
    Object 6084
    73
  - H : Pro Le Deceleration
    73
    
    Object 6085
    73
  - H : Quick Stop Deceleration
    73
  - How to Move a Motor in Pp Mode
    74
7 Velocity Mode

75
- Detailed Object Speci Cations
  75
  - Object 6040 : Control Word
    75
  - Object 6041 : Status Word
    76
  - Object 6042
    78
- H : Vl Target Velocity
  78
  - Object 6043
    78
- H : Vl Velocity Demand
  78
  - Object 6044
    79
  - H : Vl Velocity Actual Value
    79
    
    Object 6046
    79
  - H : Vl Velocity Min Max Amount
    79
    
    Object 6048
    79
  - H : Vl Velocity Acceleration
    79
    
    Object 6049
    80
  - H : Vl Velocity Deceleration
    80
  - How to Move a Motor in Vl Mode
    80
8 Pro Le Velocity Mode

82
- Detailed Object Speci Cations
  82
  - Object 6040 : Control Word
    82
  - Object 6041 : Status Word
    83
  - Object 6062
    85
- H : Position Demand Value
  85
  - Object 6063
    85
- H : Position Actual Internal Value
  85
  - Object 6064
    85
- H : Position Actual Value
  85
  - Object 6065
    86
- H : Following Error Window
  86
  - Object 606C
    86
- H : Velocity Actual Value
  86
  - Object 607D
    87
- H : Software Position Limit
  87
  - Object 6083
    87
  - Pro Le Acceleration
    87
    
    Object 6085
    88
  - H : Quick Stop Deceleration
    88
    
    Object 60FF
    88
  - Target Velocity
    88
  - How to Move a Motor in Pv Mode
    89
9 Homing Mode

90
10 Emergency Messages (EMCY)

102
11 Figures Index

104
12 Tables Index

105
13 Supplemental Directives

108
- Producer Information
  108
- Copyright
  108
- Trademark Designations and Symbols
  108
- Target User
  108
- Disclaimer: Life Support Systems
  108
- Disclaimer: Intended Use
  108
- Collateral Documents & Tools
  109
14 Revision History

110
- Firmware Revision
  110
- Document Revision
  110

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