TMCM-351 CANopen Firmware Manual - Trinamic

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TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 12 3.5 General features of this CANopen implementation The general features of this CANopen implementation are: Communication according to standard CiA-301 V4.1 CAN bit rate: 1000kBit/s CAN ID: 11 bit Node ID: 1… 127, settable by vendor specific objects NMT services: NMT slave SDO communication: 1 server expedited transfer segmented transfer no block transfer PDO communication: Producer Consumer RPDOs: Axis 0: 1, 2, 3, 4, 6 Axis 1: 65, 66, 67, 68, 70 Axis 2: 129, 130, 131, 132, 134 Transmission modes: asynchronous Dynamic mapping with max. 3 mapping entries Default mappings: according to CiA-402 for PDO 1, 2, 3 and 6, manufacturer specific for PDO4 TPDOs: Axis 0: 1, 2, 3, 4, 6 Axis 1: 65, 66, 67, 68, 70 Axis 2: 129, 130, 131, 132, 134 Transmission modes: asynchronous, asynchronous with event timer, synchronous Dynamic mapping with max. 3 mapping entries Default mappings: according to CiA-402 for PDO 1, 2, 3 and 6, manufacturer specific for PDO SYNC: consumer (TPDO3 and TPDO6 are synchronous PDOs) Emergency: producer RTR: not supported Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 13 4 Order codes Order code Description Dimensions TMCM-341-option 1-option 2 3-axis controller module with SPI TM 80 x 55 x 5 mm 3 TMCM-342-option 1-option 2 3-axis controller module with step/dir output 80 x 55 x 8 mm 3 TMCM-343-option 1-option 2 3-axis controller/driver module 1.1A 80 x 55 x 8 mm 3 TMCM-351-option 3-axis controller/driver module 2.8A 100 x 60 x 29 mm 3 Option 1 for TMCM-341/-342/-343 -V vertical pin connector (on request) -H horizontal pin connector (standard) Option 2 for TMCM-341/-342/-343 -TMCL with TMCL (standard) -CANopen with CANopen Options for TMCM-351 without option specification no encoder interface, TMCM-351 comes with TMCL -E with encoder interface -CANopen with CANopen -E-CANopen with encoder interface and CANopen Products related to TMCM-341: Description Dimensions BB-301 (-option) Baseboard for TMCM-341 and 3 x TMCM-035 90 x 87 x 60 mm 3 BB-301S (-option) Baseboard for TMCM-341 and 3 x TMCM-035 133 x 100 x 60 mm 3 TMCM-035 1-axis driver 3.5A, 50V with stallGuard TM 80 x 50 x 9 mm 3 TMCM-323 3-axis encoder 80 x 53 x 8 mm 3 TMCM-EVAL Evaluation baseboard 160 x 100 x 24 mm 3 Products related to TMCM-342 Description Dimensions BB-302 (-option) Baseboard for TMCM-342 80 x 50 x 15 mm 3 BB-323-02 Baseboard for TMCM-342 87 x 77 x 60 mm 3 TMCM-023 3-axis step/direction driver module 2A, 28.5V 60 x 100 x 12 mm 3 TMCM-323 3-axis encoder 80 x 53 x 8 mm 3 TMCM-078 1-axis step/direction driver module 7A, 75V 145 x 96 x 33 mm 3 TMCM-EVAL Evaluation baseboard 160 x 100 x 24 mm 3 PDx-013-42 PANdrive with step/dir 42.2 x 42.2 x 72/83/90 mm 3 IDX-7505 1-axis step/direction driver module 5A, 75V 65 x 64 x 24 mm 3 Products related to TMCM-343 Description Dimensions BB-303 (-option) Baseboard for TMCM-343 80 x 50 x 15 mm 3 BB-323-03 Baseboard for TMCM-343 96.5 x 79 x 60 mm 3 TMCM-323 3-axis encoder 80 x 53 x 8 mm 3 TMCM-EVAL Evaluation baseboard 160 x 100 x 24 mm 3 Motors related to TMCM-351 Description Dimensions QSH-5718 57mm/NEMA23, 1.8˚ step angle 57.2 x 57.2 x 41/55/ 78.5 mm QSH-6018 60mm/NEMA24, 1.8˚ step angle 60.5 x 60.5 x 45/56/ 65/86 mm Table 4.1: Order codes Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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TMCM-351 CANopen Firmware Manual - Trinamic

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