Trinamic TMCM-103 User guide

MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrives

V 1.05

CANopen MANUAL

+ +

mechatronic device controller / driver 24V DC / 2.8A RMS integrated encoder

PDx-116-60-SE

PDx-140-42-SE

mechatronic device controller / driver 24V DC / 2.0A RMS integrated encoder

+ +

TMCM-103

controller / driver 24V DC / 2.0A RMS incremental encoder feedback

TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany

www.trinamic.com

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 2

Table of contents

1 Life support policy ....................................................................................................................................................... 5

2 About this document .................................................................................................................................................. 6

3 Features ........................................................................................................................................................................... 7

3.1 Features of the PDx-116-60-SE ......................................................................................................................... 7

3.2 Features of the PDx-140-42-SE ......................................................................................................................... 9

3.3 Features of the TMCM-103 ............................................................................................................................... 10

3.4 General features of this CANopen implementation ................................................................................ 11

4 Communication ........................................................................................................................................................... 12

4.1 Reference model ................................................................................................................................................ 12

4.2 NMT state machine ............................................................................................................................................ 13

4.3 Device model ...................................................................................................................................................... 15

4.4 Object Dictionary ............................................................................................................................................... 16

5 Communication objects ............................................................................................................................................ 17

5.1 Detailed object specifications ........................................................................................................................ 17

5.1.1 Object 1000h: Device type.......................................................................................................................... 17

5.1.2 Object 1001h: Error register ....................................................................................................................... 17

5.1.3 Object 1005h: COB-ID SYNC Message ..................................................................................................... 18

5.1.4 Object 1008h: Manufacturer device name ............................................................................................. 18

5.1.5 Object 1009h: Manufacturer hardware version .................................................................................... 18

5.1.6 Object 1010h: Store parameters ............................................................................................................... 18

5.1.7 Object 1011h: Restore default parameters ............................................................................................ 19

5.1.8 Object 100Ah: Manufacturer software version ..................................................................................... 21

5.1.9 Object 1014h: COB-ID emergency object ............................................................................................... 21

5.1.10 Object 1015h: Inhibit time EMCY ............................................................................................................. 21

5.1.11 Object 1016h: Consumer heartbeat time ............................................................................................... 22

5.1.12 Object 1017h: Producer heartbeat time ................................................................................................. 22

5.1.13 Object 1018h: Identity object.................................................................................................................... 23

5.1.14 Object 1023h: OS command ...................................................................................................................... 23

5.1.15 Object 1029h: Error behavior .................................................................................................................... 24

5.1.16 Objects 1400h-1405h: Receive PDO communication parameter ....................................................... 24

5.1.17 Objects 1600h-1605h: Receive PDO mapping ........................................................................................ 25

5.1.18 Objects 1800h-1805h: Transmit PDO communication parameter .................................................... 26

5.1.19 Objects 1A00h-1A05h: Transmit PDO mapping parameter ................................................................ 27

6 Device profile objects (CiA402) and modes of operation .............................................................................. 28

6.1 Detailed object specifications ........................................................................................................................ 28

6.1.1 Object 605Ah: Quick stop option code .................................................................................................. 28

6.1.2 Object 605Bh: Shutdown option code ................................................................................................... 29

6.1.3 Object 605Ch: Disable operation option code ..................................................................................... 29

6.1.4 Object 605Dh: Halt option code ............................................................................................................... 29

6.1.5 Object 605Eh: Fault reaction option code ............................................................................................. 30

6.1.6 Object 6060h: Modes of operation .......................................................................................................... 30

6.1.7 Object 6061h: Modes of operation display ........................................................................................... 31

6.1.8 Object 606Ah: Sensor selection code ..................................................................................................... 31

6.1.9 Object 60C5h: Max acceleration ................................................................................................................ 31

6.1.10 Object 60C6h: Max deceleration ............................................................................................................... 32

6.1.11 Object 60FDh: Digital inputs ..................................................................................................................... 32

6.1.12 Object 6502h: Supported drive modes ................................................................................................... 32

6.2 Profile position mode ...................................................................................................................................... 33

6.2.1 Detailed object specifications .................................................................................................................. 33

6.2.1.1 Object 6040h: Controlword .............................................................................................................. 34

6.2.1.2 Object 6041h: Statusword ................................................................................................................ 35

6.2.1.3 Object 6062h: Position demand value ......................................................................................... 36

6.2.1.4 Object 6063h: Position actual internal value ............................................................................. 36

6.2.1.5 Object 6064h: Position actual value .............................................................................................. 36

6.2.1.6 Object 6065h: Following error window ....................................................................................... 37

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 3

6.2.1.7 Object 6067h: Position window ..................................................................................................... 37

6.2.1.8 Object 6068h: Position window time ........................................................................................... 38

6.2.1.9 Object 607Ah: Target position ........................................................................................................ 38

6.2.1.10 Object 607Dh: Software position limit ......................................................................................... 38

6.2.1.11 Object 607Fh: Maximum profile velocity ..................................................................................... 39

6.2.1.12 Object 6081h: Profile velocity ......................................................................................................... 39

6.2.1.13 Object 6083h: Profile acceleration ................................................................................................. 39

6.2.1.14 Object 6084h: Profile deceleration ................................................................................................ 40

6.2.1.15 Object 6085h: Quick stop deceleration......................................................................................... 40

6.2.1.16 Object 6086h: Motion profile type ................................................................................................. 40

6.2.2 How to move a motor in pp mode ....................................................................................................... 41

6.3 Homing mode ..................................................................................................................................................... 42

6.3.1 Connecting home switch, left switch, and right switch .................................................................. 43

6.3.1.1 PDx-116-60-SE ...................................................................................................................................... 43

6.3.1.2 PDx-140-42-SE ...................................................................................................................................... 44

6.3.1.3 TMCM-103 ............................................................................................................................................. 45

6.3.2 Homing methods: Homing on negative home switch and index pulse..................................... 46

6.3.3 Detailed object definitions ....................................................................................................................... 47

6.3.3.1 Object 6040h: Controlword .............................................................................................................. 47

6.3.4 Object 6041h: Statusword .......................................................................................................................... 48

6.3.4.1 Object 607Ch: Home offset .............................................................................................................. 49

6.3.4.2 Object 6098h: Homing method ...................................................................................................... 49

6.3.4.3 Object 6099h: Homing speeds ........................................................................................................ 50

6.3.4.4 Object 609Ah: Homing acceleration .............................................................................................. 50

6.3.5 How to start a homing in hm mode..................................................................................................... 50

6.4 Velocity mode ..................................................................................................................................................... 51

6.4.1 Detailed object definitions ....................................................................................................................... 51

6.4.1.1 Object 6040h: Controlword .............................................................................................................. 51

6.4.1.2 Object 6041h: Statusword ................................................................................................................ 52

6.4.1.3 Object 6042h: vl target velocity ..................................................................................................... 52

6.4.1.4 Object 6043h: vl velocity demand ................................................................................................. 53

6.4.1.5 Object 6044h: vl velocity actual value .......................................................................................... 53

6.4.1.6 Object 6046h: vl velocity min max amount ................................................................................ 53

6.4.1.7 Object 6048h: vl velocity acceleration .......................................................................................... 54

6.4.1.8 Object 6049h: vl velocity deceleration ......................................................................................... 54

6.4.1.9 54

6.4.1.10 Object 6062h: Position demand value ......................................................................................... 55

6.4.1.11 Object 6063h: Position actual internal value ............................................................................. 55

6.4.1.12 Object 6064h: Position actual value .............................................................................................. 55

6.4.1.13 Object 6065h: Following error window ....................................................................................... 56

6.4.1.14 Object 607Dh: Software position limit ......................................................................................... 56

6.4.1.15 Object 6083h: Profile acceleration ................................................................................................. 57

6.4.1.16 Object 6084h: Profile deceleration ................................................................................................ 57

6.4.1.17 Object 6085h: Quick stop deceleration......................................................................................... 57

6.4.2 How to move a motor in vl mode ........................................................................................................ 58

7 Manufacturer specific area ....................................................................................................................................... 59

7.1 Detailed object specifications ........................................................................................................................ 59

7.1.1 Object 2000h: Microstep resolution ........................................................................................................ 59

7.1.2 Object 2001h: Fullstep resolution ............................................................................................................ 59

7.1.3 Object 2002h: Brake delay times .............................................................................................................. 60

7.1.4 Object 2003h: Maximum current .............................................................................................................. 60

7.1.5 Object 2004h: Standby current ................................................................................................................. 60

7.1.6 Object 2005h: Limit switches .................................................................................................................... 61

7.1.7 Object 2006h: Mixed decay threshold ..................................................................................................... 61

7.1.8 Object 2007h: Stall detection threshold ................................................................................................ 61

7.1.9 Object 2009h: Fullstep threshold ............................................................................................................. 62

7.1.10 Object 200Ah: Enable drive delay time .................................................................................................. 62

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 4

7.1.11 Object 200Bh: Encoder parameters ......................................................................................................... 62

7.1.12 Object 200Ch: Brake current feed ............................................................................................................ 63

7.1.13 Object 2085h: Ramp divisor ....................................................................................................................... 63

7.1.14 Object 2086h: Pulse divisor ....................................................................................................................... 63

7.1.15 Object 2087h: Maximum velocity ............................................................................................................. 64

7.1.16 Object 2088h: Maximum acceleration ..................................................................................................... 64

7.1.17 Object 208Ch: Velocity dimension index ............................................................................................... 64

7.1.18 Object 208Eh: Acceleration dimension index ....................................................................................... 65

7.1.19 Object 2100h: Home offset display ......................................................................................................... 65

7.1.20 Object 2101h: Actual stallGuard™ load value ...................................................................................... 65

7.1.21 Object 2102h: Driver error flags ............................................................................................................... 66

7.1.22 Object 2103h: Pulse divisor display ........................................................................................................ 66

7.1.23 Object 2104h: Maximum velocity display .............................................................................................. 66

7.1.24 Object 2105h: Ramp divisor display ........................................................................................................ 67

7.1.25 Object 2106h: Maximum acceleration display ...................................................................................... 67

7.1.26 Object 2107h: Microstep resolution display .......................................................................................... 67

7.1.27 Object 2700h: TMCL™ direct communication ....................................................................................... 67

7.1.28 Object 2701h: Manufacturer specific mode ........................................................................................... 68

7.1.29 Object 2702h: Digital inputs ...................................................................................................................... 68

7.1.30 Object 2703h: Digital outputs ................................................................................................................... 68

7.1.31 Object 2704h: CAN bit rate ........................................................................................................................ 69

7.1.32 Object 2705h: Node ID ................................................................................................................................ 69

7.1.33 Object 2706h: Store ...................................................................................................................................... 69

7.1.34 Object 2707h: CAN bit rate load ............................................................................................................... 70

7.1.35 Object 2708h: Node ID load ...................................................................................................................... 70

7.1.36 Object 270Eh: Analog inputs ..................................................................................................................... 70

8 Emergency messages ................................................................................................................................................ 71

9 Revision history .......................................................................................................................................................... 73

9.1 Firmware revision .............................................................................................................................................. 73

9.2 Document revision ............................................................................................................................................ 73

10 References..................................................................................................................................................................... 74

Table of figures

Figure 4.1: Overview CANopen NMT state machine .................................................................................................. 13

Figure 4.2: Communication architecture ....................................................................................................................... 14

Figure 4.3: Device model .................................................................................................................................................. 15

Figure 5.1: Restore procedure.......................................................................................................................................... 20

Figure 6.1: Finite state machine ..................................................................................................................................... 33

Figure 6.2: Homing mode function ................................................................................................................................ 42

Figure 6.3: PDx-116-60-SE I/O connector ....................................................................................................................... 43

Figure 6.4: Connectors of PDx-140-42-SE ...................................................................................................................... 44

Figure 6.5: Homing on negative home switch and index pulse ........................................................................... 46

Figure 6.6: Home offset definition ................................................................................................................................. 49

Figure 6.7: Transfer characteristic of the velocity acceleration ............................................................................. 54

Figure 7.1: Brake output timing ...................................................................................................................................... 60

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 5

1 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.

Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.

Information given in this data sheet is believed to be accurate and reliable. However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use.

Specifications are subject to change without notice.

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 6

CAN

Controller area network

COB

Communication object

FSA

Finite state automation

FSM

Finite state machine

NMT

Network management

ID

Identifier

LSB

Least significant bit

MSB

Most significant bit

PDO

Process data object

PDS

Power drive system

RPDO

Receive process data object

SDO

Service data object

TPDO

Transmit process data object

EMCY

Emergency object

rw

Read and write

ro

Read only

hm

Homing mode

pp

Profile position mode

pv

Profile velocity mode

2 About this document

This document specifies objects and modes of operation of the TRINAMIC PDx-116-60-SE, PDx-140-42SE, and TMCM-103 with CANopen firmware. As these products are stepper motor controller and driver modules (PD-116 and PD-140 with motor) the use of the CiA DSP402 protocol (described in the CiA CANopen drives and motion control device profile, Part 2) is fundamental. The CANopen firmware is designed to fulfill the DS301 version 4.02 and DS402 version 3.o standards. The CiA conformance has also been tested. This CANopen firmware has been developed to turn the ARM-based TRINAMIC motion control modules into CANopen compatible ones. There are versions for PDx-116-60-SE, PDx140-42-SE, and TMCM-103.

As with most TRINAMIC modules the software running on the microprocessor of the TMCM-116/TMCM140/TMCM-103 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 – normally – untouched throughout the whole lifetime, the CANopen firmware can be updated by the user. New versions can be downloaded free of charge from the TRINAMIC website (http://www.trinamic.com). The CANopen firmware can be loaded into the modules easily just by using the firmware update function of the TMCL-IDE.

It is also still possible to control the drive using TMCL™ commands via a special vendor-specific object. You can turn the drive back into a TMCL™ module by loading the TMCL™ firmware into the drive again.

This manual assumes that the reader is already familiar with the basics of the CANopen protocol (especially DS301 and DS402). On the following pages you will find a short introduction or rather a short overview and afterwards the information will be more in detail.

ABBREVIATIONS

Table 2.1: Abbreviations

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 7

Specifications

Parameter

Units

QSH6018

-45-28-110

-56-28-165

-65-28-210

-86-28-310

Number of Leads

N˚ 8 8 8 8

Step Angle

˚ 1.8

1.8

Rated Voltage

V

RATED

V 2.1

2.52

3.36

4.17

Rated Phase Current

I

RMS RATED

A 2.8

2.8

Phase Resistance at 20°C

R

COIL

Ω 0.75

0.9

1.2

1.5

Phase Inductance (typ.)

mH 2 3.6

4.6

6.8

Holding Torque

NM

1.1

1.65

2.1

3.1

Rotor Inertia

g cm2

275

400

570

840

Insulation Class

B B B

B

Weight

kg

0.6

0.77

1.2

1.4

Ambient Temperature

˚C

-20 +50

Table 3.1: Motor specifications for QSH6018

3 Features

The following text gives an overview of the three TRINAMIC products which are discussed in this manual.

3.1 Features of the PDx-116-60-SE

The PDx-116-60-SE is a full mechatronic device consisting of a NEMA 24 (flange size 60mm [QSH6018]) stepper motor, controller/driver electronics and integrated encoder.

Electrical data

Supply voltage: +24V DC nominal (28.5V DC max.) Motor current: up to 2.8A RMS per axis (programmable)

Stepper motor data

two phase bipolar stepper motors with up to 2.8A RMS coil current optional incremental encoder interface (a/b/n), accepts differential or single ended signals

Interfaces

5 general purpose inputs including 3 inputs for reference and home switches (+24V compatible) 1 shutdown input (enable/disable driver stage in hardware) 3 general purpose outputs (open-collector) 1 output for connecting an external brake (open-collector) CAN (2.0B up to 1Mbit/s) and RS232 communication interfaces

Features

High-efficient operation, low power-dissipation (TMC249 stepper driver with external MOSFETs) Dynamic current control Integrated Protection On the fly alteration of motor parameters (e.g. position, velocity, acceleration) Motion profile calculation in real-time (TMC428 motion controller) Supports up to 64 microsteps per fullstep Integrated chopSync Integrated sensOstep Integrated stallGuard

TM

for high velocity operation

TM

magnetic encoder (max. 4096 increments per rotation)

TM

for motor stall detection (e.g. elimination of end switches)

2 rotary switches for CAN address setting

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 8

Software

CANopen firmware (DS301 + DSP402 with homing mode, profile position mode, and velocity

mode)

Alternative: TMCL™ remote (direct mode) or stand-alone operation (memory for 2048 TMCL™

commands). TMCL™ is fully supported by TMCL-IDE (PC based integrated development environment).

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 9

Specifications

Parameter

Units

QSH4218

-34-20-022

-38-20-036

-47-20-044

-60-20-070

Phase

N˚

2.0

Step Angle

˚ 1.8

1.8

Rated Voltage

V

RATED

V 2.0

2.4

4.4

Rated Phase Current

I

RMS RATED

A 2.0

2.0

Phase Resistance at 20°C

R

COIL

Ω 1.0

1.2

1.4

2.3

Phase Inductance (typ.)

mH

1.6

2.2

2.1

6.0

Holding Torque

g cm

2200

3600

4400

7000

Insulation Class

B B B

B

Rotor Inertia

g cm2

35

57

68

102

Weight

kg

0.22

0.24

0.35

0.5

Interface option

Communication interface

RS232

USB (mini USB connector) and RS232 interface

RS485

USB (mini USB connector) and RS485 interface

CAN

USB (mini USB connector) and CAN interface

CANopen

USB (mini USB connector) and CAN interface, CANopen firmware

3.2 Features of the PDx-140-42-SE

The PDx-140-42-SE is a full mechatronic device consisting of a NEMA 17 (flange size 42mm) stepper motor, controller/driver electronics and integrated encoder.

Applications

Very compact single-axis stepper motor solutions Encoder feedback for high reliability operation

Electrical data

Supply voltage: +24V DC nominal (28.5V DC max.) Motor current: up to 2.0A RMS (programmable)

Stepper motor data

Interfaces

USB and either RS232, RS485 or CAN (2.0B up to 1Mbit/s)

Features

High-efficient operation, low power dissipation (TMC249 stepper driver with external MOSFETs) Integrated Protection Motion profile calculation in real-time (TMC428 motion controller) Up to 16 microsteps Integrated magnetic encoder (max. 4096 increments per rotation) 2 inputs for reference switches, 2 general purpose inputs and 2 general purpose outputs

Software

CANopen firmware (DS301 + DSP402 with homing mode, profile position mode, and velocity

mode)

Alternative: TMCL™ remote (direct mode) or stand-alone operation (memory for 2048 TMCL™

commands). TMCL™ is fully supported by TMCL-IDE (PC based integrated development environment).

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 10

3.3 Features of the TMCM-103

The TMCM-103 is a powerful one axis bipolar stepper motor controller/driver board with incremental encoder feedback. The module is very compact and features a high-efficient operation with low power dissipation. Further you can use the RS232 and CAN interfaces as well as CANopen, if you choose the CANopen option for your module. The TRINAMIC BB-103 baseboard [BB-103] is available for this unit.

Electrical data

Supply voltage +24V DC nominal (28.5V DC max.) Internal +5V DC switching regulator for logic and encoder supply Motor current up to 2A RMS per axis (programmable)

Stepper motor data

two phase bipolar stepper motors with up to 2A RMS coil current, for example QSH4218 optional incremental encoder interface (a/b/n), accepts differential or single ended input signals

Interfaces

CANopen (CiA 301 + CiA 402 with homing mode, profile position mode, and velocity mode) CAN (2.0B up-to 1Mbit/s) and RS232 communication interfaces Two general purpose inputs and two general purpose outputs

Features

Very compact single-axis stepper motor solutions Encoder feedback for high reliability operation High-efficient operation, low power dissipation (TMC249 stepper driver with external MOSFETs) Integrated Protection Motion profile calculation in real-time (TMC428 motion controller) Up to 64 microsteps incremental encoder inputs (a/b/n) supporting differential and single ended encoder signals 8 dip switches for CANopen address setting

Software

CANopen firmware (DS301 + DSP402 with homing mode, profile position mode, and velocity

mode)

Alternative: TMCL™ remote (direct mode) or stand-alone operation (memory for 2048 TMCL™

commands). TMCL™ is fully supported by TMCL-IDE (PC based integrated development environment).

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 11

3.4 General features of this CANopen implementation

The general features of this CANopen implementation are:

Communication according to standard CiA301 V4.1

CAN bit rate: 1000, 800, 500, 250 or 125kBit/s, settable by manufacturer specific objects.

CAN ID: 11 bit

Node ID: 1..127, settable by switches or by manufacturer specific objects

NMT services: NMT slave

SDO communication:

 1 server  Expedited transfer  Segmented transfer  No block transfer

PDO communication

 Producer  Consumer  RPDOs: 1, 2, 3, 4, 6

- Transmission modes: asynchronous

- Dynamic mapping with max. 3 mapping entries

- Default mappings: according to CiA402 for PDO 1, 2, 3, and 6;

manufacturer specific for PDO4

 TPDOs: 1, 2, 3, 4, 6

- Transmission modes: asynchronous, asynchronous with event timer,

synchronous

- Dynamic mapping with max. 3 mapping entries

- Default mappings: according to CiA402 for PDO 1, 2, 3, and 6;

manufacturer specific for PDO4

SYNC: consumer (TPDO3 and TPDO6 are synchronous PDOs)

Emergency: producer

RTR: not supported

Heartbeat producer

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4 Communication

4.1 Reference model

The application layer comprises a concept to configure and communicate real-time-data as well as the mechanisms for synchronization between devices. The functionality the application layer offers to an application is logically divided over different service data objects (SDO) in the application layer. A service object offers a specific functionality and all the related services.

Applications interact by invoking services of a service object in the application layer. To realize these services this object exchanges data via the CAN Network with peer service object(s) via a protocol.

The application and the application layer interact with service primitives.

There are four different service primitives:

Request issued by the application to the application layer to request a service

Indication issued by the application layer to the application to report an internal event detected

by the application layer or indicate that a service is requested

Response issued by the application to the application layer to respond to a previous received

indication

Confirmation issued by the application layer to the application to report the result of a previously

issued request

A service type defines the primitives that are exchanged between the application layer and the cooperating applications for a particular service of a service object.

There are the following service types:

Local service involves only the local service object. The application issues a request to

its local service object that executes the requested service without communicating with peer service object(s)

Unconfirmed service involves one or more peer service objects. The application issues a request

to its local service object. This request is transferred to the peer service object(s) that each passes it to their application as an indication. The result is not confirmed back.

Confirmed service can involve only one peer service object. The application issues a request

to its local service object. This request is transferred to the peer service object that passes it to the other application as an indication. The other application issues a response that is transferred to the originating service object that passes it as a confirmation to the requesting application.

Provider initiated service involves only the local service object. 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.

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 13

Pre-operational

Operational

Stopped

Initialization

ID / Boot-up

4.2 NMT state machine

The finite state machine (FSM) or simply state machine is a model of behavior composed of a finite number of states, transitions between those states, and actions. It shows which way the logic runs when certain conditions are met.

Starting and resetting the device is controlled via the state machine. The NMT state machine consists of the following states:

Figure 4.1: Overview CANopen NMT state machine

After power-on or reset the device enters the Initialization state.

After the device initialization is finished, the device automatically transits to the Pre-operational state and indicates this state transition by sending the boot-up message. This way the device indicates that it is ready to work. A device that stays in Pre-operational state may start to transmit SYNC-, time stamp- or heartbeat message. In contrast to the PDO communication that has to be disabled in this state, the device can communicate via SDO.

The PDO communication is only possible within the Operational state. During Operational state the device can use all supported communication objects.

A device that was switched to the Stopped state only reacts on received NMT commands. In addition the device indicates the current NMT state by support the error control protocol during Stopped state.

The transitions between states are made by issuing a network management (NMT) communication object to the device. The NMT protocols are used to generate state machine change commands (e.g. to start and stop the device), detect remote device boot-ups and error conditions.

The Heartbeat message of a CANopen device contains the device status of the NMT state machine and is sent cyclically by the CANopen device.

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 14

Device control state machine

CANopen Communication Profile CiA DS301

Modes of operation:

[used in this manual / according to CiA DSP 402]

Homing mode Profile position mode Velocity mode

CANopen device profile CiA DSP 402

CAN

The figure below shows the situation of the state machine in this device profile:

Figure 4.2: Communication architecture

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 15

Communication Application

Object

dictionary

State machine

Application

object

Application

object

Application

object

Application

object

Communication

object

Communication

object

Communication

object

Communication

object

Entry 1 Entry 2

Entry n

Bus system Process

4.3 Device model

A device is structured like the following:

Communication This function unit provides the communication objects and the appropriate

functionality to transport data items via the underlying network structure.

Object dictionary The object dictionary is a collection of all the data items which have an

influence on the behavior of the application objects, the communication objects and the state machine used on this device

Application The application comprises the functionality of the device with respect to the

interaction with the process environment

Figure 4.3: Device model

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 16

Index (hex)

Object

0000

Not used

0001 - 001F

Static data types

0020 - 003F

Complex data types

0040 - 005F

Manufacturer specific complex data types

0060 - 007F

Device profile specific static data types

0080 - 009F

Device profile specific complex data types

00A0 - 0FFF

Reserved for further use

1000 - 1FFF

Communication profile area*1

2000 - 5FFF

Manufacturer specific profile area*2

6000 - 9FFF

Standardized device profile area*3

A000 - BFFF

Standardized interface profile area

C000 - FFFF

Reserved for further use

4.4 Object Dictionary

The most important part of a device profile is the Object Dictionary description. The Object Dictionary is essentially a grouping of objects accessible via the network in an ordered pre-defined fashion. Each object within the dictionary is addressed using a 16-bit index.

The overall layout of the standard Object Dictionary is shown below:

Table 4.1: Object Dictionary

*1 The communication profile area at indices 1000h through 1FFFh contains the communication

specific parameters for the CAN network. These entries are common to all devices.

*2 The manufacturer segment at indices 2000h through 5FFFh contains manufacturer specific objects.

These objects control the special features of the TRINAMIC motion control devices TMCM-103, PD116 and PD-140.

*3 The standardized device profile area at indices 6000h through 9FFFh contains all data objects

common to a class of devices that can be read or written via the network. The device profiles

use entries from 6000h to 9FFFh to describe the device parameters and the device functionality.

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 17

Index

Name

Object Code

Data Type

1000h

Device type

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

r0

no

UNSIGNED32

40192h

Index

Name

Object Code

Data Type

1001h

Error register

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

r0

yes

UNSIGNED8

no

Bit

M/O

Description

0 M Generic error

1 O Current

2 O Voltage

3 O Temperature

4 O Communication error

5 O Device profile specific

6 O Reserved (always 0)

7 O Manufacturer specific

5 Communication objects

5.1 Detailed object specifications

5.1.1 Object 1000

: Device type

h

This object contains information about the device type. The object 1000h describes the type of device and its functionality. It is composed of a 16-bit field which describes the device profile that is used and a second 16-bit field which gives additional information about optional functionality of the device.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

5.1.2 Object 1001

: Error register

h

This object is an error register. The module can map internal errors and object 1001h is part of an emergency object.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

STRUCTURE OF THE ERROR REGISTER

If a bit is set to 1, the specific error has occurred.

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 18

Index

Name

Object Code

Data Type

1005h

COB-ID SYNC Message

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

UNSIGNED32

80h

Index

Name

Object Code

Data Type

1008h

Manufacturer device name

Variable

Visible string

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

Const.

no

PD-116, TMCM-103 or PD-140

Index

Name

Object Code

Data Type

1009h

Manufacturer hardware version

Variable

Visible string

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

Const.

no

Depends on device, e.g. 1.0

5.1.3 Object 1005

: COB-ID SYNC Message

h

This object defines the COB-ID of the synchronization Object (SYNC). Further, it defines whether the module generates the SYNC.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

5.1.4 Object 1008

: Manufacturer device name

h

This object contains the manufacturer device name.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

5.1.5 Object 1009

: Manufacturer hardware version

h

This object contains the hardware version description.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

5.1.6 Object 1010

: Store parameters

h

This object supports the saving of parameters in non volatile memory. By read access the device provides information about its saving capabilities.

This command can only be carried out if the module is in ready to switch on mode.

Several parameter groups are distinguished:

˗ Sub-index 0 contains the largest sub-index that is supported. ˗ Sub-index 1 refers to all parameters that can be stored on the device.

˗ Sub-Index 3 refers to application related parameters (index 6000

- 9FFFh TRINAMICs specific

h

application parameters).

˗ Sub-Index 4 stores motor parameters.

In order to avoid storage of parameters by mistake, storage is only executed when a specific signature is written to the appropriate Sub-Index. The signature is safe.

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 19

Signature

MSB

LSB

ISO 8859 ASCII

e v a

s

hex

65h

76h

61h

73h

UNSIGNED 32

MSB

LSB

bits

31-2

1 0

Reserved

1/0

Bit-number

Value

Meaning

31-2 0 reserved

1

0 1 Device does not safe parameters autonomously Device safes parameters autonomously

0

0 1 Device does not safe parameters on command Device safes parameters on command

Index

Name

Object Code

Data Type

1010h

Store parameters

ARRAY

UNSIGNED 32

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

00h

Largest sub-index supported

ro

no

1h-7Fh

no

01h

Safe all parameters

rw

no

UNSIGNED32

no

03h

Safe application parameters

rw

no

UNSIGNED32

no

04h

Safe manufacturer specific motor parameters

rw

no

UNSIGNED32

no

Storage write access structure

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 0000h). If a wrong signature is written, the device refuses to store and responds with Abort SDO transfer

(abort code: 0800 002xh). On read access to the appropriate sub-index the device provides information about its storage functionality with the following format.

Storage read access structure

Autonomous saving means that a device stores the storable parameters in a non-volatile manner without user request.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

Please mind the figures above which explain the value ranges of the write access and the read access for the sub-indices.

5.1.7 Object 1011

: Restore default parameters

h

With this object the default values of parameters according to the communication or device profile are restored. By read access the device provides information about its capabilities to restore these values.

This command can only be carried out if the module is in ready to switch on mode.

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 20

Signature

MSB

LSB

ASCII

d a o

l

hex

64h

61h

6Fh

6Ch

reset / power cycle

default values valid

restore default

UNSIGNED 32

MSB

LSB

bits

31-1

0

Reserved (0)

0/1

Index

Name

Object Code

Data Type

1011h

Restore default parameters

ARRAY

UNSIGNED 32

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

00h

Largest sub-index supported

ro

no

1h-7Fh

no

01h

Restore all default parameters

rw

no

UNSIGNED32

no

03h

Restore application default parameters

rw

no

UNSIGNED32

no

04h

Restore manufacturer specific motor default parameters

rw

no

UNSIGNED32

no

Several parameter groups are distinguished:

˗ Sub-index 0 contains the largest sub-index that is supported. ˗ Sub-index 1 refers to all parameters that can be restored. ˗ Sub-Index 3 refers to application related parameters (index 6000

- 9FFFh TRINAMICs specific

h

application parameters).

˗ Sub-Index 4 restores motor parameters.

In order to avoid the restoring of default parameters by mistake, restoring is only executed when a specific signature is written to the appropriate sub-index. The signature is load.

On reception of the correct signature in the appropriate sub-index the device restores the default parameters and then confirms the SDO transmission (initiate download response). If the restoring

failed, the device responds with an Abort SDO Transfer (abort code: 0606 0000h). If a wrong signature is written, the device refuses to restore the defaults and responds with an Abort SDO Transfer (abort

code: 0800 002xh). The default values are set valid after the device is reset (reset node for sub-index 1h – 7Fh, reset communication for sub-index 2h) or power cycled.

Figure 5.1: Restore procedure

On read access to the appropriate sub-index the device provides information about its default parameter restoring capability with the following format.

Structure of restore read access

OBJECT DESCRIPTION

ENTRY DESCRIPTION

Please mind the figures above which explain the value ranges of the write access and the read access for the sub-indices.

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 21

Index

Name

Object Code

Data Type

100Ah

Manufacturer software version

Variable

Visible string

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

Const.

no

Depends on device, e.g. 2.3

Index

Name

Object Code

Data Type

1014h

COB-ID emergency object

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

UNSIGNED32

80h + NODE ID

Index

Name

Object Code

Data Type

1015h

Inhibit time EMCY

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

UNSIGNED16

0

5.1.8 Object 100A

: Manufacturer software version

h

This object contains the software version description.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

5.1.9 Object 1014

: COB-ID emergency object

h

This object defines the COB-ID of the emergency object (EMCY).

OBJECT DESCRIPTION

ENTRY DESCRIPTION

5.1.10 Object 1015

: Inhibit time EMCY

h

The inhibit time for the EMCY message can be adjusted via this entry. The time has to be a multiple of 100µs.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 22

MSB

LSB

bits

31-24

23-16

15-0

value

Reserved

Node-ID

Heartbeat time

encoded as

-

UNSIGNED8

UNSIGNED16

Index

Name

Object Code

Data Type

1016h

Consumer heartbeat time

ARRAY

UNSIGNED32

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

00h

Number of entries

ro

no

0… 127

no

01h

Consumer heartbeat time

rw

no

UNSIGNED32

no

Index

Name

Object Code

Data Type

1017h

Producer heartbeat time

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

UNSIGNED16

0

5.1.11 Object 1016

: Consumer heartbeat time

h

The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured on the module producing this heartbeat. The monitoring starts after the reception of the first heartbeat.

˗ If the consumer heartbeat time is 0 the corresponding entry is not used. ˗ The time has to be a multiple of 1ms.

Table 5.1: Structure of consumer heartbeat time entry

To configure several consumer heartbeat times unequal 0 for the same Node-ID the device aborts the SDO download with abort code 0604 0043h

OBJECT DESCRIPTION

ENTRY DESCRIPTION

5.1.12 Object 1017

: Producer heartbeat time

h

The producer heartbeat time defines the cycle time of the heartbeat. The producer heartbeat time is 0 if it is not used. The time has to be a multiple of 1ms.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 23

Index

Name

Object Code

Data Type

Category

1023h

OS command

RECORD

Command Par

Optional

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

00h

Number of supported entries

ro

no

3

number of entries: 3 (for direct TMCL™ communication)

01h

Command (TMCL™

command)

rw

no

Octet string

no

02h

Status (error code

of a TMCL™

command)

ro

no

UNSIGNED8

no

03h

Reply (reply of a TMCL™ command)

ro

no

Octet string

no

5.1.13 Object 1018

: Identity object

h

The object 1018h contains general information about the device.

The Vendor ID (sub-index 01

) contains a unique value allocated to each manufacturer. The

h

vendor ID of TRINAMIC is 0286h.

The manufacturer-specific Product code (sub-index 2 The Manufacturer-specific Revision number (sub-index 3

) identifies a specific device version.

h

) consists of a major revision number

h

and a minor revision number.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

5.1.14 Object 1023

: OS command

h

The OS Command object is used as a command driven interface to programmable devices. The host system puts the command into the object OS Command, which is of the type Command Par.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 24

Index

Name

Object Code

Data Type

1029h

Error behavior

ARRAY

UNSIGNED8

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

00h

Number of error classes

ro

no

2h

2

01h

Communication error

rw

no

UNSIGNED8

0 (enter stopped state)

02h

Application error

rw

no

UNSIGNED8

1 (remain in current state)

Index

Name

Object Code

Data Type

1400h-1405h

Receive PDO parameter

RECORD

PDO CommPar

1400h

RPDO 1

RECORD

PDO CommPar

1401h

RPDO 2

RECORD

PDO CommPar

1402h

RPDO 3

RECORD

PDO CommPar

1403h

RPDO 4

RECORD

PDO CommPar

1405h

RPDO 6

RECORD

PDO CommPar

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

00h

Largest sub-index supported

ro

no

Number of

entries: 2

2

01h

COB-ID used by PDO

rw

no

UNSIGNED32

Index 1400h: 200h + Node-ID Index 1401h: 300h + Node-ID Index 1402h: 400h + Node-ID Index 1403h: 500h + Node-ID Index 1405h: 0

02h

Transmission type

rw

no

UNSIGNED8

Index 1400h: Ffh Index 1401h: Ffh Index 1402h: Ffh Index 1403h: Ffh Index 1405h: Ffh

5.1.15 Object 1029

: Error behavior

h

If a device failure is detected in operational state, the device can be configured to enter alternatively the stopped state or remain in the current state in case of a device failure. Device failures include the following errors:

Communication error Application error

OBJECT DESCRIPTION

ENTRY DESCRIPTION

5.1.16 Objects 1400

-1405h: Receive PDO communication parameter

h

This object contains the communication parameters for the PDOs the device is able to receive. The sub-index 0h contains the number of valid entries within the communication record. Its value is at

least 2.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 25

Index

Name

Object Code

Data Type

1600h-1605h

Receive PDO mapping

RECORD

PDO Mapping

1600h

Mapping for RPDO 1

RECORD

PDO Mapping

1601h

Mapping for RPDO 2

RECORD

PDO Mapping

1602h

Mapping for RPDO 3

RECORD

PDO Mapping

1603h

Mapping for RPDO 4

RECORD

PDO Mapping

1605h

Mapping for RPDO 6

RECORD

PDO Mapping

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

00h

Number of mapped application objects in PDO

rw

no

1… 3 0 deactivated

Index 1600h: 1 Index 1601h: 2 Index 1602h: 2 Index 1603h: 2 Index 1605h: 2

01h

Mapping entry 1

rw

no

UNSIGNED32

Index 1600h: 60400010h Index 1601h: 60400010h Index 1602h: 60400010h Index 1603h: 60400010h Index 1605h: 60400010h

02h

Mapping entry 2

rw

no

UNSIGNED32

Index 1600h: 0 Index 1601h: 60600008 h Index 1602h: 607A0020h Index 1603h: 60FF0020h Index 1605h: 60420010h

03h

Mapping entry 3

rw

no

UNSIGNED32

Index 1600h: 0 Index 1601h: 0 Index 1602h: 0 Index 1603h: 0 Index 1605h: 0

5.1.17 Objects 1600

-1605h: Receive PDO mapping

h

This object contains the mapping for the PDOs the device is able to receive. The sub-index 0h contains the number of valid entries within the mapping record. This number of entries is also the number of the application variables which shall be transmitted/received with the corresponding PDO. The sub-

indices from 1h to the number of entries contain the information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 26

Index

Name

Object Code

Data Type

1800h-1805h

Transmit PDO communication

parameter

RECORD

PDO CommPar

1800h

TPDO 1 transmit

communication parameter

RECORD

PDO CommPar

1801h

TPDO 2 transmit0

communication parameter

RECORD

PDO CommPar

1802h

TPDO 3 transmit

communication parameter

RECORD

PDO CommPar

1803h

TPDO 4 transmit

communication parameter

RECORD

PDO CommPar

1805h

TPDO 6 transmit

communication parameter

RECORD

PDO CommPar

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

00h

Largest sub-index supported

ro

no

2… 5 Number of entries: 5

5

01h

TPDO 1-4, 6: COB-ID

rw

no

UNSIGNED32

Index 1800h: 180h + Node-ID Index 1801h: 280h + Node-ID Index 1802h: 380h + Node-ID Index 1803h: 480h + Node-ID Index 1805h: 0

02h

Transmission type

rw

no

UNSIGNED8

Index 1800h: ffh Index 1801h: ffh Index 1802h: 1 Index 1803h: 1 Index 1805h: 1

03h

Inhibit time

rw

no

UNSIGNED16

0

04

h

Compatibility entry

ro

no

UNSIGNED8

0

05

h

Event timer

rw

no

0 not used UNSIGNED16

0

5.1.18 Objects 1800

-1805h: Transmit PDO communication parameter

h

These objects contain the communication parameters for the PDOs the device is able to transmit.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 27

Index

Name

Object Code

Data Type

1A00h-1A05h

Transmit PDO mapping

parameter

RECORD

PDO mapping

1A00h

TPDO 1: transmit PDO

mapping parameter

RECORD

PDO mapping

1A01h

TPDO 2: transmit PDO

mapping parameter

RECORD

PDO mapping

1A02h

TPDO 3: transmit PDO

mapping parameter

RECORD

PDO mapping

1A03h

TPDO 4: transmit PDO

mapping parameter

RECORD

PDO mapping

1A05h

TPDO 6: transmit PDO

mapping parameter

RECORD

PDO mapping

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

00h

Number of mapped application objects in PDO

rw

no

0 deactivated

Number of entries: 1…

3

Index 1A00h: 1 Index 1A01h: 2 Index 1A02h: 2 Index 1A03h: 2 Index 1A05h: 2

01h

Mapping entry 1

rw

no

UNSIGNED32

Index 1A00h: 60410010h Index 1A01h: 60410010h Index 1A02h: 60410010h Index 1A03h: 60410010h Index 1A05h: 60410010h

02h

Mapping entry 2

rw

no

UNSIGNED32

Index 1A00h: 0 Index 1A01h: 60610008h Index 1A02h: 60640020h Index 1A03h: 606c0020h Index 1A05h: 60440010h

03h

Mapping entry 3

rw

no

UNSIGNED32

Index 1A00h: 0 Index 1A01h: 0 Index 1A02h: 0 Index 1A03h: 0 Index 1A05h: 0

5.1.19 Objects 1A00

-1A05h: Transmit PDO mapping parameter

h

These objects contain the mapping for the PDOs the device is able to transmit.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 28

Value

Definition

1

Slow down on slow down ramp and transit into switch on disabled

2

Slow down on quick stop ramp and transit into switch on disabled

3

Slow down on current limit and transit into switch on disabled

5

Slow down on slow down ramp and stay in quick stop active

6

Slow down on quick stop ramp and stay in quick stop active

7

Slow down on voltage limit an stay in quick stop active

Index

Name

Object Code

Data Type

605Ah

Quick stop option

code

Variable

SIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

See value definition above

2

6 Device profile objects (CiA402) and modes of

operation

The PDS behavior depends on the activated mode of operation. The PDS implements several modes of operation. 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. The drive device provides the modes of operation display object to indicate the actual activated operation mode. Controlword, statusword, and set-points are used mode-specific. This implies the responsibility of the control device to avoid inconsistencies and erroneous behavior.

The following operation modes can be chosen:

Profile position mode Homing mode Profile velocity mode

Please refer to object 6060h (section 6.1.6) for information about how to choose an operation mode.

6.1 Detailed object specifications

6.1.1 Object 605A

This object indicates what action is performed when the quick stop function is executed. The slow down ramp is the deceleration value of the used mode of operations. The following quick stop option codes are supported in the current version of the CANopen firmware:

VALUE DEFINITION

OBJECT DESCRIPTION

ENTRY DESCRIPTION

: Quick stop option code

h

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 29

Value

Definition

0

Disable drive function (switch-off the drive power stage)

Index

Name

Object Code

Data Type

605Bh

Shutdown option code

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

r0

Refer to CiA402-3

See value definition above

0

Value

Definition

1

Slow down with slow down ramp; disable of the drive function

Index

Name

Object Code

Data Type

605Ch

Disable operation

option code

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

r0

Refer to CiA402-3

See value definition above

1

Value

Definition

1

Slow down on slow down ramp and stay in operation enabled

Index

Name

Object Code

Data Type

605Dh

Halt option code

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

r0

Refer to CiA402-3

See value definition above

1

6.1.2 Object 605B

: Shutdown option code

h

This object indicates what action is performed if there is a transition from operation enabled state to ready to switch on state. The slow down ramp is the deceleration value of the used mode of

operations. The shutdown option code always has the value 0 as only this is supported.

VALUE DEFINITION

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.1.3 Object 605C

: Disable operation option code

h

This object indicates what action is performed if there is a transition from operation enabled state to switched on state. The disable operation option code always has the value 1 as only this is

supported.

VALUE DEFINITION

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.1.4 Object 605D

: Halt option code

h

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. The halt option code always has the value 1 as only this is supported.

VALUE DEFINITION

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 30

Value

Definition

2

Slow down on quick stop ramp

Index

Name

Object Code

Data Type

605Eh

Fault reaction option

code

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

r0

Refer to CiA402-3

See value definition above

2

Value

Definition

0

No mode*

1

Profile position mode

2

Velocity mode

6

Homing mode

Index

Name

Object Code

Data Type

6060h

Modes of operation

Variable

SIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

See value definition above

0

6.1.5 Object 605E

: Fault reaction option code

h

This object indicates what action is performed when fault is detected in the power drive system. The slow down ramp is the deceleration value of the used mode of operation. The fault reaction option code always has the value 2 as only this is supported.

VALUE DEFINITION

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.1.6 Object 6060

: Modes of operation

h

This object indicates the requested operation mode. Supported operating modes are:

VALUE DEFINITION

* The motor will not run when the operating mode is set to 0. It will be stopped when the motor is running in one of the supported operating modes and the operating mode is then switched to 0.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 31

Value

Definition

0

No mode*

1

Profile position mode

2

Velocity mode

6

Homing mode

Index

Name

Object Code

Data Type

6061h

Modes of operation

display

Variable

SIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

Refer to CiA402-3

See value definition above

0

Value

Definition

0

Encoder used

-1

No encoder

Index

Name

Object Code

Data Type

606Ah

Sensor selection code

Variable

SIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

See value definition above

-1

Index

Name

Object Code

Data Type

60C5h

Max acceleration

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

Refer to CiA402-3

UNSIGNED32

Depends on the units

6.1.7 Object 6061

: Modes of operation display

h

This object shows the operating mode that is set.

VALUE DEFINITION

* The motor will not run when the operating mode is set to 0. It will be stopped when the motor is running in one of the supported operating modes and the operating mode is then switched to 0.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.1.8 Object 606A

: Sensor selection code

h

This object provides the source of the velocity sensor actual value. It selects whether an encoder is to be used or not.

VALUE DEFINITION

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.1.9 Object 60C5

: Max acceleration

h

This object indicates the configured maximal acceleration. It is used to limit the acceleration to an acceptable value in order to prevent the motor and the moved mechanics from being destroyed. It is

given in internal or user specific units (depending on object 208Ch, paragraph 7.1.17, object 2087h and object 2088h, paragraph 7.1.15 and paragraph 7.1.16)

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 32

Index

Name

Object Code

Data Type

60C5h

Max deceleration

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

Refer to CiA402-3

UNSIGNED32

Depends on the units

Value

Definition

0b

Switched off

1b

Switched on

Index

Name

Object Code

Data Type

60FDh

Digital inputs

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

r0

Refer to CiA402-3

UNSIGNED32

0000 0000h

Index

Name

Object Code

Data Type

6502h

Supported drive modes

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

r0

Refer to CiA402-3

See above

0x00000025

6.1.10 Object 60C6

: Max deceleration

h

This object indicates the configured maximal deceleration. It is used to limit the acceleration to an acceptable value in order to prevent the motor and the moved mechanics from being destroyed. The

max deceleration is given in internal or user specific units (depending on object 208Ch, paragraph

7.1.17, object 2087h and object 2088h, paragraph 7.1.15 and paragraph 7.1.16). Object 60C6h has the same unit as the max acceleration object 60C5h.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.1.11 Object 60FD

: Digital inputs

h

This object contains the states of the digital inputs of the module. Starting from bit 0, every bit reflects the state of one digital input. The number of valid bits depends on the number of digital inputs on the module used.

VALUE DEFINITION

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.1.12 Object 6502

: Supported drive modes

h

This object provides information on the supported drive modes and contains always the value 0x00000025 which means that the following modes are provided by the drive:

0 = no mode 1 = profile position mode 2 = velocity mode 6 = homing mode

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 33

Power disabled Fault

Power enabled

Start

Not ready to switch on

Switch on disabled

Ready to switch on

Switched on

Operation enable

Quick stop active

Fault reaction active

Fault

Controlword 6040

h

Statusword 6041

h

0

1

2

3

4

5

6

7

8

9

10 12

16

11

13

automatically

15

14

automatically

6.2 Profile 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.

6.2.1 Detailed object specifications

The following text offers detailed object specifications. According to this it is necessary to show how the state machine works in detail:

Notes on state transitions:

- Commands directing a change in state are processed completely and the new state achieved

- Transitions 0 and 1 occur automatically at drive power-on or reset. Transition 14 occurs

- 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

before additional state change commands are processed.

automatically, too. All other state changes must be directed by the host.

and profile velocity reference values may be processed.

Figure 6.1: Finite state machine

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 34

15 11nu10

r oms h fr

9

8

7

6

4

oms

3 2 1 0

eo qs ev so

MSB

LSB

LEGEND: nu = not used; r = reserved; oms = operation mode specific; h = halt; fr = fault reset; eo = enable operation; qs = quick stop; ev = enable voltage; so = switch on

Bit

Name

Definition

4

New set point

0-to-1: The next positioning will be started after the last one has completed.

5

Change immediately

Not supported

6

Absolute/relative

0 = new position is absolute; 1 = new position is relative

9

Change set point

Not supported

Command

Bits of controlword

Transitions

Bit 7

Bit 3

Bit 2

Bit 1

Bit 0

Shutdown

0 x 1 1 0

2, 6, 8

Switch on

0 0 1 1 1

3

Switch on + enable operation

0 1 1 1 1

3 + 4 (NOTE)

Disable voltage

0 x x 0 x

7, 9, 10, 12

Quick stop

0 x 0 1 x

7, 10, 11

Disable operation

0 0 1 1 1

5

Enable operation

0 1 1 1 1

4, 16

Fault reset

x x x x 15

Index

Name

Object Code

Data Type

6040h

Controlword

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

See command

coding above

Device and operation mode specific

6.2.1.1 Object 6040

: Controlword

h

This object indicates the received command controlling the power drive system finite state automation (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to Figure 6.1: Finite state machine for detailed information.

STRUCTURE OF CONTROLWORD / VALUE DEFINITION

OPERATION MODE SPECIFIC BITS IN PP MODE

COMMAND CODING

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 35

15 11 10

tr rm ms w

9

8

7

6

4 3 2 1 0

f oe so rtso

MSB

LSB

LEGEND: ms = manufacturer specific; oms = operation mode specific; ila = internal limit active; tr = target reached; rm = remote; w = warning; sod = switch on disabled; qs = quick stop; ve = voltage enabled; f = fault; oe = operation enabled; so = switched on; rtso = ready to switch on

5

sod qs veilaomsms

12

1314

Bit

Name

Definition

10

Target reached

Set when the motor is within the target position window

12

Set point acknowledge

0 = set point processed; 1 = set point still in process

13

Following error

Not supported

Statusword

PDS FSA state

xxxx xxxx x0xx 0000b

Not ready to switch on

xxxx xxxx x1xx 0000b

Switch on disabled

xxxx xxxx x01x 0001b

Ready to switch on

xxxx xxxx x01x 0011b

Switched on

xxxx xxxx x01x 0111b

Operation enabled

xxxx xxxx x00x 0111b

Quick stop active

xxxx xxxx x0xx 1111b

Fault reaction active

xxxx xxxx x0xx 1000b

Fault

Index

Name

Object Code

Data Type

6041h

Statusword

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

r0

Refer to CiA402-3

See state coding

above

No

6.2.1.2 Object 6041

: Statusword

h

This object provides the status of the PDS FSA. It reflects the status of the CiA402 state machine. Please refer to Figure 6.1: Finite state machine for detailed information. The object is structured as defined below.

For more information about the coding refer to the CANopen Drives and motion control device profile, part 2 please.

STRUCTURE OF STATUSWORD / VALUE DEFINITION

OPERATION MODE SPECIFIC BITS IN PP MODE

STATE CODING

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 36

Index

Name

Object Code

Data Type

6062h

Position demand value

Variable

SIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

Refer to CiA402-3

SIGNED32

No

Index

Name

Object Code

Data Type

6063h

Position actual internal

value

Variable

SIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

Refer to CiA402-3

SIGNED32

No

Index

Name

Object Code

Data Type

6064h

Position actual value

Variable

SIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

Refer to CiA402-3

SIGNED32

No

6.2.1.3 Object 6062

: Position demand value

h

This object provides the demanded position value. The value is given in microsteps. Object 6062h indicates the actual position that the motor should have. It is not to be confused with the objects

6063h and 6064h.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.2.1.4 Object 6063

: Position actual internal value

h

This object provides the actual value of the encoder or the motor. Please use the sensor selection object 606Ah (6.1.8) for selecting the motor or the encoder first. Object 6063h indicates the actual

position of the encoder or the motor, re-scaled to the microstep resolution. The value is given in microsteps.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.2.1.5 Object 6064

: Position actual value

h

This object provides the actual value of the position measurement device. It always contains the same value as object 6063h.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 37

Index

Name

Object Code

Data Type

6065h

Following error

window

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

UNSIGNED32

0… 8388607

Index

Name

Object Code

Data Type

6067h

Position window

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

UNSIGNED32

0… 8388607

6.2.1.6 Object 6065

: Following error window

h

This object indicates the configured range of tolerated position values symmetrically to the position demand value. If the position actual value is out of the following error window, a following error occurs. A following error may occur when a drive is blocked, unreachable profile velocity occurs, or at wrong closed-loop coefficients. The value shall be given in microsteps. If the value of the following

error window is 0 or FFFF FFFFh, the following control will be switched off.

When the difference between motor position (object 6062h) and encoder position (object 6063h or 6064h) is greater than the value set here, the motor will be stopped and an emergency message will

be sent. Setting this object to zero will turn off this feature completely. Setting this object to a too low value will lead to false alarms.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.2.1.7 Object 6067

: Position window

h

This object indicates the configured symmetrical range of accepted positions relative to the target position. If the actual value of the position encoder is within the position window, this target position is regarded as having been reached. The value is given in increments. If the value of the

position window is FFFF FFFF

the position window control is switched off.

,

h

If this object is set to zero, the target reached event will be signaled when the demand position (6062h) has reached the target position (6064h).

When the position window is set to a value greater than zero, the target reached event will be signaled when the actual encoder position value (6064h) is within the target position – position

window and target position + position window.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 38

Index

Name

Object Code

Data Type

6068h

Position window time

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

UNSIGNED16

0

Index

Name

Object Code

Data Type

607Ah

Target position

Variable

SIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

SIGNED32

-2147483647… +2147483647

Index

Name

Object Code

Data Type

607Dh

Software position limit

Array

SIGNED32

Sub-Index

Description

Entry category

Access

PDO Mapping

Value Range

Default Value

01h

Min position limit

Mandatory

rw

Refer to CiA402-3

SIGNED32

-2147483647

02h

Max position limit

Mandatory

rw

Refer to CiA402-3

SIGNED32

-2147483647

6.2.1.8 Object 6068

: Position window time

h

This object indicates the configured time, during which the actual position within the position window is measured. The value is given in ms. If this object is set to a value greater than zero and

also the position window (6067h) is set to a value greater than zero the target reached event will not be signaled until the actual position (6064h) is at least as many milliseconds within the position

window as defined by this object.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.2.1.9 Object 607A

: Target position

h

The target position is the position that the drive should move to in profile position mode using the current settings of motion control parameters (such as velocity, acceleration, deceleration, motion profile type etc.). The value of this object is interpreted as absolute or relative depending on the abs/rel flag in the controlword. It is given in microsteps.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.2.1.10 Object 607D

: Software position limit

h

This object indicates the configured maximal and minimal software position limits. These parameters define the absolute position limits for the position demand value and the position actual value. Every new target position is checked against these limits. The limit positions are always relative to the machine home position. Before being compared with the target position, they are corrected internally by the home offset as follows:

Corrected min position limit = min position limit – home offset Corrected max position limit = max position limit – home offset

The limit positions are given in microsteps (same as target position). Two limits for moving the motor in positioning mode can be set here. It will then not be possible to leave this window.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 39

Index

Name

Object Code

Data Type

607Fh

Maximum profile velocity

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

Refer to CiA402-3

UNSIGNED32

Depends on the units

Index

Name

Object Code

Data Type

6081h

Profile velocity

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

UNSIGNED32

Depends on the units

Index

Name

Object Code

Data Type

6083h

Profile acceleration

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

UNSIGNED32

Depends on the units

6.2.1.11 Object 607F

: Maximum profile velocity

h

This object indicates the configured maximal allowed velocity in either direction during a profiled motion. It is the maximum velocity that can be used for positioning. The value is given in internal or

user specific units (depending on object 208Ch, paragraph 7.1.17).

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.2.1.12 Object 6081

: Profile velocity

h

This object indicates the configured velocity normally attained at the end of the acceleration ramp during a profiled motion and is valid for both directions of motion. The profile velocity is the maximum velocity used when driving to a new position. It is given in internal or user specific units

(depending on object 208Ch, paragraph 7.1.17)

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.2.1.13 Object 6083

: Profile acceleration

h

This object indicates the configured acceleration. Object 6083h sets the maximum acceleration to be used in profile positioning mode.

Please choose the units for object 6083h with object 208Eh, described in paragraph 7.1.18. Object 208Eh reads 0 when internal units are selected or 179 when user units (PPS/s) are selected.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 40

Index

Name

Object Code

Data Type

6084h

Profile deceleration

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

UNSIGNED32

Depends on the units

Index

Name

Object Code

Data Type

6085h

Quick stop

deceleration

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

UNSIGNED32

Depends on the units

Value

Definition

0

Linear ramp, trapezoidal profile

Index

Name

Object Code

Data Type

6086h

Motion profile type

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3 0 0

6.2.1.14 Object 6084

: Profile deceleration

h

This object indicates the configured deceleration. It sets the maximum deceleration used in profile positioning mode.

Please choose the units for object 6084h with object 208Eh, described in paragraph 7.1.18. Object 208Eh reads 0 when internal units are selected or 179 when user units (PPS/s) are selected.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.2.1.15 Object 6085

: Quick stop deceleration

h

This object indicates the configured deceleration used to stop the motor when the quick stop function is activated and the quick stop code object 605Ah is set to 2 [or 6]. The value is given in the same unit as profile acceleration object 6083h. Object 6085h defines the deceleration that is to be used

during a quick stop operation.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.2.1.16 Object 6086

: Motion profile type

h

This object indicates the configured type of motion profile used to perform a profiled motion. Set this object to 0 for trapezoid ramps and to 1 for S-shaped ramps.

VALUE DEFINITION

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 41

6.2.2 How to move a motor in pp mode

Here is a little example that shows how to get a motor running in pp mode. In this little example we assume that the module has been reset (and then switched to start) by NMT commands before. Please note, that the values are decimal.

If you do not have any limit switches connected, first disable the limit switch inputs by

writing 3 to object 2005h.

Select pp mode by writing 1 to object 6060 Write 6 to object 6040 Write 7 to object 6040 Write 15 to object 6040

to switch to READY_TO_SWITCH_ON state.

h

to switch to SWITCHED_ON state.

h

to switch to OPERATION_ENABLED state.

h

Write the desired target position (e.g. 500000) to object 607A Mark the new target position as active by writing 31 to object 6040

now.

Reset the activation by writing 15 to object 6040

moving).

.

h

.

h

. The motor starts moving

h

(this can be done while the motor is still

h

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 42

Homing method

Controlword 6040

h

Homing method 6098

h

Homing speeds 6099

h

Homing acceleration 609A

h

Home offset 607C

h

Statusword 6041

h

Position demand internal value 60FCh

or

Position demand value 6062

h

6.3 Homing mode

This clause 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. Some methods also use the index (zero) pulse train from an incremental encoder. The user may specify the speeds, acceleration and the method of homing.

There is no output data except for those bits in the statusword, which return the status or result of the homing process and the demand to the position control loops.

There are four sources of the homing signal available: These are positive and negative limit switches, the home switch and the index pulse from an encoder.

Figure 7.1 shows the defined input objects as well as the output objects. The user can specify the speeds, acceleration and method of homing. There is a further object home offset, which allows displacing zero in the coordinate system for the home position.

By choosing a homing method, the following behavior is determined: the homing signal (positive limit switch, negative limit switch, and home switch), the direction of actuation and where appropriate, the position of the index pulse. The home position and the zero position are offset by the home offset.

For the operation of positioning drives, an exact knowledge of the absolute position is normally required. 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.

Figure 6.2: Homing mode function

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 43

CAN connector

CAN address

(upper 4bit)

CAN address

(lower 4bit)

Power and I/O connector

1

8

9

15

5

6 9

Name

Function

4

REF_R

Right stop switch input

11

REF_L

Left stop switch input

12

HOME

Input 0, +24V compatible

6.3.1 Connecting home switch, left switch, and right switch

First of all it is necessary to connect the switches. The tables and figures below will show you the right way.

6.3.1.1 PDx-116-60-SE

The TMCM-116 module has a 15-pin standard D-SUB connector, which is used for power and input/output signals.

Figure 6.3: PDx-116-60-SE I/O connector

Please connect home switch, left switch, and right switch with the power and I/O connector as follows:

CONNECTING SWITCHES

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 44

Power and serial

communication

connector

1

5

1

8

1

4

I/O connector

Name

Function

1

REF_L

Left stop switch input

2

REF_R

Right stop switch input

7

HOME

Input 0, +24V compatible

6.3.1.2 PDx-140-42-SE

The PDx-140-42-SE has four connectors, a 5-pin power and serial communication interface connector, an 8-pin input/output connector, a 4-pin motor connector (for the attached motor) and a 5-pin miniUSB connector.

Figure 6.4: Connectors of PDx-140-42-SE

Please connect home switch, left switch, and right switch with the I/O connector as follows:

CONNECTING SWITCHES

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 45

1

16

1

Name

Function

8

REF_L

Left stop switch input

9

REF_R

Right stop switch input

4

HOME

Input 1

6.3.1.3 TMCM-103

The TMCM-103 has two rows of header pins with 16 pins each.

Figure 3.2 TMCM-103 connectors

Please connect home switch, left switch, and right switch with the left connector as follows:

CONNECTING SWITCHES

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 46

1

2

Index pulse

Home switch

6.3.2 Homing methods: Homing on negative home switch and index

pulse

There are several different methods of homing. This paragraph describes homing on negative home switch and index pulse.

Using the two methods as shown in Figure 6.5, the initial position is situated so that the direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either to the left or the right of the point where the home switch changes state. If the initial position is situated so that the direction of movement is reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

Figure 6.5: Homing on negative home switch and index pulse

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 47

15 9

see 8.2.1.1

8

Halt Reserved (0)

7

6

5

Homing operation start

4 0

MSB

LSB

see 8.2.1.1 see 8.2.1.1

3

Bit

Name

Definition

4

Homing operation start

Set to 1 to start homing; setting to 0 stops homing

8

Halt

Not supported

Index

Name

Object Code

Data Type

6040h

Controlword

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

See command

coding above

Device and operation mode specific

6.3.3 Detailed object definitions

6.3.3.1 Object 6040

: Controlword

h

This object indicates the received command controlling the power drive system finite state automation (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to Figure 6.1: Finite state machine for detailed information.

STRUCTURE OF CONTROLWORD / VALUE DEFINITION

OPERATION MODE SPECIFIC BITS IN HM MODE

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 48

15 14

see 8.2.1.213Homing error Homing attained

12 11 10

Target reached

9 0

MSB

LSB

see 8.2.1.2 see 8.2.1.2

Bit

Name

Definition

10

Target reached

Set when the zero position has been found or homing has been stopped by setting controlword bit 4 to zero

12

Homing attained

Set when the zero position has been found

13

Homing error

Not supported

Bit 13

Bit 12

Bit 10

Definition

0 0 0

Homing procedure is in progress

0 0 1

Homing procedure is interrupted or not reached

0 1 0

Homing is attained, but target is not reached

0 1 1

Homing procedure is completed successfully

1 0 0

Homing error occurred, velocity is not 0

1 0 1

Homing error occurred, velocity is 0

1 1 x

reserved

Index

Name

Object Code

Data Type

6041h

Statusword

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

r0

Refer to CiA402-3

See state coding

above

No

6.3.4 Object 6041

: Statusword

h

This object provides the status of the PDS FSA. It reflects the status of the CiA402 state machine. Please refer to Figure 6.1: Finite state machine for detailed information. The object is structured as defined below.

For more information about the coding refer to the CANopen Drives and motion control device profile, part 2 please.

STRUCTURE OF STATUSWORD / VALUE DEFINITION

OPERATION MODE SPECIFIC BITS IN HM MODE

DEFINITION OF BIT 10, BIT 12, AND BIT 13

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 49

Home offset

Zero position Home switch

Index

Name

Object Code

Data Type

607Ch

Home offset

Variable

SIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

SIGNED32

-2147483647… +2147483647

Value

Definition

0

No homing. This is the default value, but there is actually no homing method 0.

3

Search the positive edge of the home switch, than search the next encoder index pulse.

5

Search the negative edge of the home switch, than search the next encoder index pulse.

19

Search the positive edge of the home switch.

21

Search the negative edge of the home switch.

33

Search next index pulse in negative direction.

34

Search next index pulse in positive direction.

35

The actual position is used as the home position. All position values (objects 6062h, 6063h, and 6064h) are set to zero, but the motor will not move.

Index

Name

Object Code

Data Type

6098h

Homing method

Variable

SIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

0, 3, 5, 19, 21, 33, 34, 35

0

6.3.4.1 Object 607C

: Home offset

h

This object indicates the configured difference between the zero position for the application and the machine home position/home switch (found during homing). While homing, the machine home position is found and once the homing is completed, the zero position is offset from the home position by adding the home offset to the home position. The effect of setting the home position to a non-zero value depends on the selected homing method. The value of this object is given in microsteps. Negative values indicate the opposite direction.

Figure 6.6: Home offset definition

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.3.4.2 Object 6098

: Homing method

h

The homing method to be used in homing mode can be selected here. Homing methods supported by the current firmware are:

VALUE DEFINITION

Other homing methods are not supported by the current firmware, but will be added in later firmware releases.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 50

Index

Name

Object Code

Data Type

6099h

Homing speeds

ARRAY

UNSIGNED32

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

01h

Fast homing speed

rw

Refer to CiA402-3

UNSIGNED32

Depends on the unit setting

02h

Slow homing speed

rw

Refer to CiA402-3

UNSIGNED32

Depends on the unit setting

Index

Name

Object Code

Data Type

609Ah

Homing acceleration

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

00h

rw

Refer to CiA402-3

UNSIGNED32

6.3.4.3 Object 6099

: Homing speeds

h

This object indicates the configured speeds used during homing procedure. The values are given in units, which can be selected with object 208Ch, described in paragraph 7.1.17. Using object 6099h a

fast and a slow homing speed can be set. In most homing modes, the home switch is searched with the fast speed first. When the home switch has been found, the motor will be decelerated to the

slow speed (using the homing acceleration, object 609Ah) and then stopped at the exact switch point.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.3.4.4 Object 609A

: Homing acceleration

h

This object indicates the configured acceleration and deceleration to be used during homing operation. The values for accelerating to the fast homing speed and for decelerating to the slow

homing speed can be set here. The values are given in units, which can be selected with object 208Eh, described in paragraph 7.1.18.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.3.5 How to start a homing in hm mode

Here is a little example that shows how to home the motor in hm mode. In this little example we assume that the module has been reset (and then switched to start) by NMT commands before. The home switch must be connected to the home switch input. It can be operated manually.

Select hm mode by writing 6 to object 6060 Write 6 to object 6040 Write 7 to object 6040 Write 15 to object 6040

to switch to READY_TO_SWITCH_ON state.

h

to switch to SWITCHED_ON state.

h

to switch to OPERATION_ENABLED state.

h

Select homing method 19 by writing 19 to object 6098 Set the homing speeds by writing e.g. 50000 to object 6099

object 6099h sub index 2.

Write 31 to object 6040

to start the homing process.

h

Press and release the home switch. When homing has finished, write 15 to object 6040

.

h

.

h

sub index 1 and e.g. 10000 to

h

again.

h

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 51

15 9

see 8.2.1.1

8

Halt reference ramp

7

6

5

unlock ramp

4 0

MSB

LSB

see 8.2.1.1 see 8.2.1.1

3

enable ramp

Index

Name

Object Code

Data Type

6040h

Controlword

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

See command

coding above

Device and operation mode specific

6.4 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.

The operation of the reference value generator and its input parameters include:

Velocity Acceleration Deceleration Emergency stop

6.4.1 Detailed object definitions

6.4.1.1 Object 6040

: Controlword

h

This object indicates the received command controlling the power drive system finite state automation (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to Figure 6.1: Finite state machine for detailed information.

STRUCTURE OF CONTROLWORD / VALUE DEFINITION

There are no mode specific bits supported in vl mode.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 52

15 14

see 8.2.1.2

13 12

11

10 9 0

MSB

LSB

reserved (0) see 8.2.1.1see 8.2.1.2 reserved (0)

Index

Name

Object Code

Data Type

6041h

Controlword

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

r0

Refer to CiA402-3

See state coding

above

No

Index

Name

Object Code

Data Type

6042h

vl target velocity

Variable

SIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

SIGNED32

Depends on the units.

6.4.1.2 Object 6041

: Statusword

h

This object provides the status of the PDS FSA. It reflects the status of the CiA402 state machine. Please refer to Figure 6.1: Finite state machine for detailed information. The object is structured as defined below.

For more information about the coding refer to the CANopen Drives and motion control device profile, part 2 please.

STRUCTURE OF STATUSWORD / VALUE DEFINITION

There are no mode specific bits supported in vl mode.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.4.1.3 Object 6042

: vl target velocity

h

This object indicates the required velocity of the system. It is the target velocity when the velocity mode is active. Use this object to control the velocity of the motor in velocity mode. When this object is changed the motor will be accelerated or decelerated to the new velocity. The range depends on

the chosen units, which can be internal or user-specific. Please refer to object 208Ch (paragraph 7.1.17) for more information about that.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 53

Index

Name

Object Code

Data Type

6043h

vl velocity demand

Variable

SIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

Refer to CiA402-3

SIGNED32

Depends on the units.

Index

Name

Object Code

Data Type

6044h

vl velocity actual value

Variable

SIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

Refer to CiA402-3

SIGNED32

Depends on the units.

Index

Name

Object Code

Data Type

6046h

vl velocity min max amount

ARRAY

UNSIGNED32

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

01h

Minimum velocity amount

rw/ro

Refer to CiA402-3

UNSIGNED32

Depends on the units

02h

Maximum velocity amount

rw/ro

Refer to CiA402-3

UNSIGNED32

Depends on the units

6.4.1.4 Object 6043

: vl velocity demand

h

The object provides the instantaneous velocity generated by the ramp function. It shows the last target velocity that has been set using object 6042h. The value is given in the same unit as the target velocity, too. Please refer to object 208Ch (paragraph 7.1.17) for more information about that.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.4.1.5 Object 6044

: vl velocity actual value

h

This object shows the actual velocity of the motor when the motor is in velocity mode. The value is given in the same unit as vl target velocity and vl velocity demand. Please refer to object 208Ch

(paragraph 7.1.17) for more information about that.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.4.1.6 Object 6046

: vl velocity min max amount

h

This object indicates the configured minimum and maximum amount of velocity in velocity mode.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 54

Index

Name

Object Code

Data Type

6048h

vl velocity acceleration

Record

vl acceleration deceleration

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

01h

Delta speed

rw

Refer to CiA402-3

UNSIGNED32

Depends on the units

02h

Delta time

ro

Refer to CiA402-3

UNSIGNED16

10msec

Index

Name

Object Code

Data Type

6049h

vl velocity deceleration

Record

vl acceleration deceleration

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

01h

Delta speed

rw

Refer to CiA402-3

UNSIGNED32

Depends on the units

02h

Delta time

ro

Refer to CiA402-3

UNSIGNED16

10msec

time

velocity

delta_time

delta_speed

6.4.1.7 Object 6048

: vl velocity acceleration

h

This object indicates the configured delta speed and delta time of the slope of the acceleration ramp as shown in the following figure. Object 6048h provides the acceleration used in velocity mode. This

value is also used for the deceleration. The value of the delta speed is given in internal or in user units (rpm/s).

Figure 6.7: Transfer characteristic of the velocity acceleration

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.4.1.8 Object 6049

: vl velocity deceleration

h

This object contains the same value as set in object 6048h. A separate declaration value is not supported.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.4.1.9

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 55

Index

Name

Object Code

Data Type

6062h

Position demand value

Variable

SIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

Refer to CiA402-3

SIGNED32

No

Index

Name

Object Code

Data Type

6063h

Position actual internal

value

Variable

SIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

Refer to CiA402-3

SIGNED32

No

Index

Name

Object Code

Data Type

6064h

Position actual value

Variable

SIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

Refer to CiA402-3

SIGNED32

No

6.4.1.10 Object 6062

: Position demand value

h

This object provides the demanded position value. The value is given in microsteps. Object 6062h indicates the actual position that the motor should have. It is not to be confused with objects 6063h and 6064h.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.4.1.11 Object 6063

: Position actual internal value

h

This object indicates the actual position of the encoder, re-scaled to the microstep resolution of the motor. If necessary, the data unit may be transformed from user-defined units to increments. The

value is given in microsteps or encoder steps, depending on object 606Ah (described in paragraph

6.1.8).

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.4.1.12 Object 6064

: Position actual value

h

This object provides the actual value of the position measurement device. It always contains the same value as object 6063h. The value is given in microsteps.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 56

Index

Name

Object Code

Data Type

6065h

Following error

window

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

UNSIGNED32

0… 8388607

Index

Name

Object Code

Data Type

607Dh

Software position limit

Array

SIGNED32

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

01h

Min position limit

rw

Refer to CiA402-3

SIGNED32

-2147483647… +2147483647

02h

Max position limit

rw

Refer to CiA402-3

SIGNED32

-2147483647… +2147483647

Corrected min position limit = min position limit - home offset Corrected max position limit = max position limit - home offset

6.4.1.13 Object 6065

: Following error window

h

This object indicates the configured range of tolerated position values symmetrically to the position demand value. If the position actual value is out of the following error window, a following error occurs. A following error may occur when a drive is blocked, unreachable profile velocity occurs, or at wrong closed-loop coefficients. The value is given in microsteps. If the value of the following error

window is 0 or FFFF FFFFh, the following control will be switched off.

When the difference between motor position (object 6062h) and encoder position (object 6063h or 6064h) is greater than the value set here, the motor will be stopped and an emergency message will

be sent. Setting this object to zero will turn off this feature completely. Setting this object to a too low value will lead to false alarms.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.4.1.14 Object 607D

This object indicates the configured maximal and minimal software position limits. These parameters define the absolute position limits for the position demand value and the position actual value. The position actual vale is always checked against these limits. The limit position is always relative to the machine home position. Before being compared with the target position, they have to be corrected internally by the home offset as follows:

This calculation needs only be performed when home offset or software position limit is changed.

The limit positions are given in microsteps (same as target position). Two limits for moving the motor in positioning mode can be set here. Overstepping the window will lead to an emergency message and the motor will be stopped.

OBJECT DESCRIPTION

: Software position limit

h

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 57

Index

Name

Object Code

Data Type

6083h

Profile acceleration

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

UNSIGNED32

Depends on the units

Index

Name

Object Code

Data Type

6084h

Profile deceleration

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

UNSIGNED32

Depends on the units

Index

Name

Object Code

Data Type

6085h

Quick stop

deceleration

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

Refer to CiA402-3

UNSIGNED32

Depends on the units

6.4.1.15 Object 6083

: Profile acceleration

h

This object indicates the configured acceleration. Object 6083h sets the maximum acceleration to be used in profile velocity mode.

Please choose the units for object 6083h with object 208Eh, described in paragraph 7.1.18. Object 208Eh reads 0 when internal units are selected or 179 when user units (PPS/s) are selected.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.4.1.16 Object 6084

: Profile deceleration

h

This object indicates the configured deceleration. It sets the maximum deceleration used in profile velocity mode.

Please choose the units for object 6083h with object 208Eh, described in paragraph 7.1.18. Object 208Eh reads 0 when internal units are selected or 179 when user units (PPS/s) are selected.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

6.4.1.17 Object 6085

: Quick stop deceleration

h

This object indicates the configured deceleration used to stop the motor when the quick stop function is activated and the quick stop code object 605Ah is set to 2 or 6. The quick stop deceleration is also used if the fault reaction code object 605Eh is 2 and the halt option code object 605Dh is 2. Object 6085h defines the deceleration that is to be used during a quick stop operation.

The value is given in the same physical unit as profile acceleration object 6083h. You can choose the units for object 6083h with object 208Eh, described in paragraph 7.1.18. Object 208Eh reads 0 when

internal units are selected or 179 when user units (PPS/s) are selected.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 58

6.4.2 How to move a motor in vl mode

Here is a little example that shows how to get a motor running in vl mode. In this little example we assume that the module has been reset (and then switched to start) by NMT commands before.

If you do not have any limit switches connected, first disable the limit switch inputs by

writing 3 to object 2005h.

Select vl mode by writing 2 to object 6060 Write 6 to object 6040 Write 7 to object 6040 Write 15 to object 6040

to switch to READY_TO_SWITCH_ON state.

h

to switch to SWITCHED_ON state.

h

to switch to OPERATION_ENABLED state.

h

Write the desired target speed (e.g. 500) to object 6042

speed.

Stop the motor by writing 0 to object 6042

.

h

. The motor now accelerates to that

h

.

h

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 59

Index

Name

Object Code

Data Type

2000h

Microstep resolution

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

0… 6

6

Index

Name

Object Code

Data Type

2001h

Fullstep resolution

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

200

7 Manufacturer specific area

The manufacturer segment contains manufacturer specific objects. These objects control the special features of the TRINAMIC motion control devices PD-116, PD-140, and TMCM-103.

7.1 Detailed object specifications

7.1.1 Object 2000

: Microstep resolution

h

This object sets the microstep resolution of the drive. A value of 6 means 64 microsteps (26). It is only writeable in the SWITCHED_ON_DISABLED state, but always readable.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.2 Object 2001

: Fullstep resolution

h

This object shows the fullstep resolution of the motor shipped with a PANdrive™. It is normally 200 (1.8° motor).

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 60

ON

OFF

t

1

t

2

t

3

Operation Enable

Brake

Bridge

200A

h

2002

h

sub index

2

2002

h

sub index

1

Index

Name

Object Code

Data Type

2002h

Brake delay times

ARRAY

UNSIGNED16

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

01h

Time between applying brake / disabling power stage

rw

no

0… 65535

0

02h

Time between releasing brake / switching the state machine to operational

rw

no

0… 65535

0

Index

Name

Object Code

Data Type

2003h

Maximum current

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

0… 255

228

Index

Name

Object Code

Data Type

2004h

Standby current

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

0… 255

20

7.1.3 Object 2002

: Brake delay times

h

With this object the delay times for applying and releasing an (optional) brake can be defined. Please see also object 200Ah for an additional delay between enabling the power stage and releasing the

brake. Both times are given in ms.

Figure 7.1: Brake output timing

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.4 Object 2003

: Maximum current

h

This object defines the current used when the motor is moving. A value of 255 means 100% of the maximum current of the drive.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.5 Object 2004

: Standby current

h

This object defines 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.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 61

Index

Name

Object Code

Data Type

2005h

Limit switches

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

0… 7

0

Index

Name

Object Code

Data Type

2006h

Mixed decay threshold

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

-1… 2048

-1

Index

Name

Object Code

Data Type

2007h

Stall detection threshold

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

0… 7

0

7.1.6 Object 2005

: Limit switches

h

This object defines which limit switches are to be used. Bit 0 stands for the left and bit 1 stands for the right limit switch. If a bit is set, the corresponding limit switch will not be used. So this object has to be set to the value 3 if limit switches are not connected. The object can only be written when the drive is in the SWITCHED_ON_DISABLED state (but is always readable).

From firmware version 3.01 on The limit switches can also be inverted using bit 2 and bit 3:

- Bit 2 inverts the left limit switch

- Bit 3 inverts the right limit switch

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.7 Object 2006

: Mixed decay threshold

h

This object defines the behaviour of the mixed decay feature of the drive. When it is set to the value

-1, fast decay is always used. When it is set to a value between 0… 2047, fast decay will only be used when the internal velocity is higher or equal to that value. When set to 2048, fast decay will never be used.

It is recommended to use -1. Only when stallGuard™ is to be used this value has to be set to 2048 first.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.8 Object 2007

: Stall detection threshold

h

This object defines if stallGuard™ is to be used. When set to 0, stallGuard™ will not be used. When set to 1… 7, the motor will be stopped and an emergency message will be generated if the stall value

is the same or higher than the value set here. Switch off mixed decay (object 2006h) before using stallGuard™.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 62

Index

Name

Object Code

Data Type

2009h

Fullstep threshold

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

0… 2048

0

Index

Name

Object Code

Data Type

200ah

Enable drive delay

time

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

0… 65535

0

Index

Name

Object Code

Data Type

200bh

Encoder parameters

ARRAY

UNSIGNED8

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

01h

Null channel polarity

rw

no

UNSIGNED8

7

7.1.9 Object 2009

: Fullstep threshold

h

When the internal velocity gets higher than the value defined here the motor will be switched to fullstep operation. A value of 0 or 2048 turns off this feature. Normally only needed for getting more force in higher speeds.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.10 Object 200A

: Enable drive delay time

h

This is an additional delay time (in milliseconds) between enabling the power stage and releasing the brake. It can be used to prevent the brake from being released too early (before the hold current in

the motor has been reached). Please see also object 2002h.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.11 Object 200B

: Encoder parameters

h

OBJECT DESCRIPTION

ENTRY DESCRIPTION

This object defines the polarity of the encoder null channel. The following options can be selected: Bit 0: polarity of channel A on index pulse (0=low, 1=high). 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.

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 63

Index

Name

Object Code

Data Type

200ch

Brake current feed

ARRAY

Unsigned8

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

01h

Apply current

rw

no

UNSIGNED8

0

02h

Release current

rw

no

UNSIGNED8

255

Index

Name

Object Code

Data Type

2085h

Ramp divisor

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

not writable if user

units are selected

no

0… 13

7

Index

Name

Object Code

Data Type

2086h

Pulse divisor

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

not writable if user

units are selected

no

0… 13

3

7.1.12 Object 200C

: Brake current feed

h

This object configures how much current has to be fed into the brake to apply and to release it. 0 means 0%, 255 means 100% of the maximum current (this depends on the module). In most cases it is needed to feed current into the brake to release it. The default configuration is made for this case. Setting both values to 0 disables the automatic brake control. This object is only writable in SWITCHED_ON_DISABLED state.

Please note that on the TMCM-103 and TMCM-140 modules only 0 (brake output switched off) and 255 (brake output switched on) can be used. Set both values to zero if no brake is used. In such a case the brake output can be used as a normal digital output.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.13 Object 2085

: Ramp divisor

h

Use this object to define the ramp divisor when internal units are selected for velocity and

acceleration. Please see the TMCL™ manual and the hardware manual of the drive for more

information about this value. This object can only be written in the SWITCHED_ON_DISABLE state (but is always readable).

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.14 Object 2086

: Pulse divisor

h

Use this object to define the pulse divisor when internal units are to be used for velocity and

acceleration. Please see the TMCL™ manual and the hardware manual of the drive for more

information about this value. This object can only be written in the SWITCHED_ON_DISABLED state (but is always readable).

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 64

Index

Name

Object Code

Data Type

2087h

Maximum velocity

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

143… 293 (rpm)

resp. 2047 (internal)

2047

Index

Name

Object Code

Data Type

2088h

Maximum acceleration

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

2183… 4000 (rpm/s)

resp. 2047 (internal)

2047

Index

Name

Object Code

Data Type

208ch

Velocity dimension index

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

0 or 164

0

7.1.15 Object 2087

: Maximum velocity

h

The functionality of this object depends on the unit selection (object 208Ch):

- If internal units are selected this object will be set to the fixed value of 2047 and cannot be

changed.

- If user units are selected the maximum velocity (RPM) that is to be used must be set here. A

lower value in this object leads to a better accuracy of the unit conversion.

This value can only be changed when the drive is in the SWITCHED_ON_DISABLED state.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.16 Object 2088

: Maximum acceleration

h

The functionality of this object also depends on the unit selection (object 208Eh):

- If internal units are selected this object will be set to the fixed value of 2047 and cannot be

changed.

- If user units are selected the maximum acceleration (RPM/s) that is to be used must be set

here. A lower value in this object leads to a better accuracy of the unit conversion.

This value can only be change when the drive is in the SWITCHED_ON_DISABLED state.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.17 Object 208C

: Velocity dimension index

h

Writing 0 selects internal units, writing 164 sets PPS units for velocity and PPS/s units for acceleration. This can only be changed in SWITCHED_ON_DISABLED mode.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 65

Index

Name

Object Code

Data Type

208eh

Acceleration dimension

index

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

0 or 177

0

Index

Name

Object Code

Data Type

2100h

Home offset display

Variable

SIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

Refer to Home offset

0

Index

Name

Object Code

Data Type

2101h

Actual stallGuard™ load value

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

0… 7

0

7.1.18 Object 208E

: Acceleration dimension index

h

This object reads 0 when internal units are selected or 177 when user units (PPS/s) are selected. This depends on the setting of object 208Ch, paragraph 7.1.17)

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.19 Object 2100

: Home offset display

h

The value is given in microsteps.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.20 Object 2101

: Actual stallGuard™ load value

h

This object shows the actual stallGuard™ load value. It is needed for configuring the stallGuard™ feature, to find the optimal velocity (please see the TMCL™ manual for more about using stallGuard™.)

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 66

Bit

Name

Function

Remark

7

OT

Overtemperature

1 = chip of due to overtemperature

6

OTPW

Temperature prewarning

1= prewarning temperature exceeded

5

UV

Driver undervoltage

1 = undervoltage on VS

4

OCHS

Overcurrent high side

3 PWM cycles with overcurrent within 63 PWM cycles

3

OLB

Open load bridge B

No PWM switch off for 14 oscillator cycles

2

OLA

Open load bridge A

No PWM switch off for 14 oscillator cycles

1

OCB

Overcurrent bridge B low side

3 PWM cycles with overcurrent within 63 PWM cycles

0

OCA

Overcurrent bridge A low side

3 PWM cycles with overcurrent within 63 PWM cycles

Index

Name

Object Code

Data Type

2102h

Driver error flags

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

0… 255

0

Index

Name

Object Code

Data Type

2103h

Pulse divisor display

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

0… 13

3

Index

Name

Object Code

Data Type

2104h

Maximum velocity display

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

0… 2047

2047

7.1.21 Object 2102

: Driver error flags

h

This object shows the hardware error flags of the motor driver IC.

THERE ARE THE FOLLOWING ERROR BITS:

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.22 Object 2103

: Pulse divisor display

h

The pulse divisor display shows the pulse divisor that has been calculated by the drive when user units are selected or that can be set using object 0x2086 when internal units are selected.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.23 Object 2104

: Maximum velocity display

h

This object shows the value of object 2087h.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 67

Index

Name

Object Code

Data Type

2105h

Ramp divisor display

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

0… 13

7

Index

Name

Object Code

Data Type

2106h

Maximum acceleration display

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

0… 2047

2047

Index

Name

Object Code

Data Type

2107h

Microstep resolution display

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

0… 6

6

Index

Name

Object Code

Data Type

2700h

Microstep resolution display

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

Make signature

656b616dh

0

7.1.24 Object 2105

: Ramp divisor display

h

The ramp divisor display shows the ramp divisor that has been calculated by the drive when user units are selected or that can be set using object 2085h when internal units are selected.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.25 Object 2106

: Maximum acceleration display

h

This object shows the value of object 2088h.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.26 Object 2107

: Microstep resolution display

h

This object shows the microstep resolution (set by object 2000h when internal units are selected or calculated when user units are selected).

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.27 Object 2700

: TMCL™ direct communication

h

After writing the make signature 656b616dh 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 1023/01h

The drive has to be reset (using the DS-301 reset application command) to return to normal CANopen functionality.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 68

Index

Name

Object Code

Data Type

2701h

Manufacturer specific mode

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

See textbox below*

0

Index

Name

Object Code

Data Type

2702h

Digital inputs

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

0… 255

0

Index

Name

Object Code

Data Type

2703h

Digital outputs

Array

Sub-Index

Description

Access

PDO Mapping

Value Range

Default Value

01h

Physical outputs

rw

no

UNSIGNED32

0

02h

Output mask

rw

no

UNSIGNED32

0

* read: 0 = manufacturer specific mode is inactive 1 = manufacturer specific mode is active

write: 656b616dh = make signature

6c6c696bh = kill signature

7.1.28 Object 2701

: Manufacturer specific mode

h

Writing the make signature to this object turns on the manufacturer specific mode. The manufacturer specific mode can be turned off again by writing the kill signature to this object.

The manufacturer specific mode has the following features:

PDOs do not need to be disabled and re-enabled when the PDO mapping is to be changed The RTR bit in the COB-ID of PDO definitions is ignored.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.29 Object 2702

: Digital inputs

h

Bits 16… 23 of this object reflect the states of the digital inputs (general purpose inputs 0… 8, the number of available inputs depend on the module type).

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.30 Object 2703

: Digital outputs

h

With this object the digital outputs (general purpose outputs) can be set. Bits 16… 23 of sub index 1 switch outputs 0… 8 of the module. Bits 16… 23 of sub index 2 determine which outputs can be switched. The number of available digital outputs depends on the module type.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 69

Index

Name

Object Code

Data Type

2704h

CAN bit rate load

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

20, 50, 125, 250, 500, 1000

1000

Index

Name

Object Code

Data Type

2705h

Node ID load

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

rw

no

1… 127

1

Index

Name

Object Code

Data Type

2706h

Store

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

Highest sub-index supported

1

01h

rw

no

Save signature

0

7.1.31 Object 2704

: CAN bit rate

h

With this object it is possible to change the CAN bit rate. To do this, first write the new value to this object. Then, store the new setting by writing the save signature to object 2706h. After that, reset the

module. The new setting becomes active then.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.32 Object 2705

: Node ID

h

On modules that do not have address switches the node ID can be selected using this object. On modules with address switches the node ID is normally selected using the address switches. Only when the address switches are set to an invalid value (0 or >127) this object overrides the address switch setting.

To change the node ID, first write the new node ID to this object. Then, store the new setting by writing the save signature to object 2706h. After that, reset the module. The new setting becomes

active then.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.33 Object 2706

: Store

h

Writing the save signature to this object permanently saves changes made on objects 2707h and 2708h.

The save signature is 65766173h.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 70

Index

Name

Object Code

Data Type

2707h

CAN bit rate

Variable

UNSIGNED16

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

No

20, 50, 125, 250, 500, 800, 1000

1000

Index

Name

Object Code

Data Type

2708h

Node ID

Variable

UNSIGNED8

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

1… 127

Depends on ID switches

Index

Name

Object Code

Data Type

270Eh

Device Analog Inputs

Variable

UNSIGNED32

Sub-Index

Access

PDO Mapping

Value Range

Default Value

00h

ro

no

Highest sub-index

8

01h

ro

no

0..1023

0

02h

ro

no

0..1023

0

03h

ro

no

0..1023

0

04h

ro

no

0..1023

0

05h

ro

no

0..1023

0

06h

ro

no

0..1023

0

07h

ro

no

0.1023

0

08h

ro

no

0..1023

0

7.1.34 Object 2707

: CAN bit rate load

h

Shows the selected CAN bit rate.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.35 Object 2708

: Node ID load

h

This object shows the selected node ID.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

7.1.36 Object 270E

: Analog inputs

h

This object provides the values of the analog inputs of the device (if the device is equipped with analogue inputs).

OBJECT DESCRIPTION

ENTRY DESCRIPTION

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 71

Error code

Add. byte

Description

1 2 3 4 5

0x0000

0 0 0 0 0

Fault reset

The fault reset command has been executed.

0x1000

1 0 0 0 0

Generic error: open load bridge A

The motor driver indicates open load on bridge A. It is possible that the motor cable is broken or that there is an error in the power amplifier itself.

0x1000

2 0 0 0 0

Generic error: open load bridge B

The motor driver indicates open load on bridge B. It is possible that the motor cable is broken or that there is an error in the power amplifier itself.

0x2310

0 0 0 0 0

Overcurrent high side

The motor driver indicates an overcurrent on the high side. This can be caused by a short circuit in the driver stage.

0x2311

0 0 0 0 0

Overcurrent bridge B

The motor driver indicates that there is overcurrent on bridge B. This can be caused by a short circuit in the motor itself or in the motor driver stage.

0x2312

0 0 0 0 0

Overcurrent bridge A

The motor driver indicates that there is overcurrent on bridge A. This can be caused by a short circuit in the motor itself or in the motor driver stage.

0x3230

0 0 0 0 0

stallGuard™ error

The actual load value exceeds the StallGuard limit.

0x4310

1 0 0 0 0

Overtemperature pre-warning

The temperature in the motor driver exceeds the pre-warning limit.

0x4310

2 0 0 0 0

Overtemperature error

The motor driver has been switched off because the temperature limit has been exceeded.

0x5441

0 0 0 0 0

Shutdown switch active

The enable signal is missing (due to the shutdown switch) and the motor driver has been switched off.

0x6320

0 0 0 0 0

Parameter error

The data in the received PDO is either wrong or cannot be accepted due to the internal state of the drive.

0x8110

1 0 0 0 0

CAN controller overflow

The receive message buffer of the CAN controller hardware is full and some CAN messages are lost.

0x81110

2 0 0 0 0

CAN Tx buffer overflow

The software CAN transmit buffer is full and thus some CAN messages are lost.

0x81110

3 0 0 0 0

CAN Rx buffer overflow

The software CAN receive buffer is full and so some CAN messages are lost.

0x8120

0 0 0 0 0

CAN error passive

The CAN controller has detected communication errors and has entered the CAN Error passive state.

0x8140

0 0 0 0 0

CAN controller recovered from bus-off state

The CAN controller had detected too many errors and had changed into the bus-off state. The drive has been stopped and disabled. This message is sent after the CAN controller has recovered from bus-off state and is bus-on again.

0x8611

0 0 0 0 0

Following error

The deviation between motor position counter and encoder position counter has exceeded the following error window.

0xff00

0 0 0 0 0

Undervoltage

The supply voltage is too low to drive a motor.

0xff01

1 0 0 0 0

Positive software limit

The actual position is outside the range defined by object 0x607d.

8 Emergency messages

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 1001h (error register) is part of every

emergency object.

ERROR CODES FOR PD-140, PD-116 AND TMCM-103:

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 72

0xff01

2 0 0 0 0

Negative software limit

The actual position is outside the range defined by object 0x607d.

0xff01

3 0 0 0 0

Positive limit switch

The positive limit switch has been touched outside of the homing function.

0xff01

4 0 0 0 0

Negative limit switch

The negative limit switch has been touched outside of the homing function.

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 73

Version

Date

Author

Description

1.06

2008-JUL-07

OK

First release

2.20

2008-JUL-29

OK

Some functions added (position window, brake delay times, homing modes 33 and 34, additional objects).

2.30

2008-SEP-09

OK

Faster response times.

2.40

2009-SEP-23

OK

Shutdown switch ignored when in NOT_READY_TO_SWITCH_ON, SWITCHED_ON_DISABLED, READY_TO_SWITCH_ON and SWITCHED_ON states. Brake output configurable. Safer detection of open load conditions.

2.50

2008-OCT-31

OK

Identity object also provides serial number

3.01

2009-OCT-12

OK

Home switch polarity reversed Node ID and bitrate can be configured via manufacturer specific objects

3.02

2010-JAN-07

OK

Home switch polarity switchable (via object 2005h)

3.05

2010-DEC-15

OK

Heartbeat consumer functionality added Non volatile storage of some motor parameters added Analog inputs can be read via object 270Eh

Version

Date

Author

Description

0.90

2008-JUL-09

OK

Initial version, preliminary

0.91

2008-AUG-08

OK

Adapted to version 2.2 of the CANopen firmware

0.92

2008-SEP-08

OK

Object 60fdh added

0.93

2008-SEP-09

OK

Chapter 4.1: TPDO communication parameters corrected

0.94

2008-SEP-23

OK

Emergency messages added

0.95

2008-NOV-03

OK

Module types changed

0.97

2009-OCT-15

OK

Homing methods and objects 1014h /1015h /1017h corrected

1.00

2010-MAR-14

SD

Initial version based on version 0.97

1.01

2010-MAY-24

SD

Objects 2704h, 2705h, 2707h, and 2708h corrected

1.02

2010-JUN-15

SD

Object 2706h and object 6098h corrected, minor changes

1.03

2010-JUN-21

SD

Value range of object 2005h corrected

1.04

2010-JUL-06

SD

Order codes deleted

1.05

2011-AUG-01

SD

New front, new objects: 1010h, 1011h, and 1016h.

9 Revision history

9.1 Firmware revision

Table 9.1: Firmware revision

9.2 Document revision

Table 9.2: Document revision

PD-116/PD-140/TMCM-103 CANopen Firmware Manual (V1.05 / 2011-AUG-01) 74

10 References

[PD-140-42-SE] PD-146-60-SE TMCL™ Firmware Manual (see http://www.trinamic.com) [PD-140-42-SE] PD-146-60-SE Hardware Manual (see http://www.trinamic.com) [PD-116-60-SE] PD-116-60-SE TMCL™ Firmware Manual (see http://www.trinamic.com) [PD-116-60-SE] PD-116-60-SE Hardware Manual (see http://www.trinamic.com) [TMCM-103] TMCM-103 TMCL™ Firmware Manual (see http://www.trinamic.com) [TMCM-103] TMCM-103 Hardware Manual (see http://www.trinamic.com) [QSH6018] QSH6018 Manual (see http://www.trinamic.com) [QSH4218] QSH4218 Manual (see http://www.trinamic.com) [BB-103] BB-103 Manual (see http://www.trinamic.com)

Trinamic TMCM-103 User guide

Specifications and Main Features

Frequently Asked Questions

User Manual