TMCM-351 CANopen Firmware Manual - Trinamic

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TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 2 Table of contents 1 Life support policy ....................................................................................................................................................... 6 2 About this document .................................................................................................................................................. 7 3 Features ........................................................................................................................................................................... 8 3.1 Features of TMCM-341 ........................................................................................................................................ 8 3.2 Features of the TMCM-342 ................................................................................................................................. 9 3.3 Features of the TMCM-343 ............................................................................................................................... 10 3.4 Features of the TMCM-351 ............................................................................................................................... 11 3.5 General features of this CANopen implementation ................................................................................ 12 4 Order codes .................................................................................................................................................................. 13 5 Communication ........................................................................................................................................................... 14 5.1 Reference model ................................................................................................................................................ 14 5.2 NMT state machine ............................................................................................................................................ 15 5.3 Device model ...................................................................................................................................................... 17 5.4 Object Dictionary ............................................................................................................................................... 18 6 Communication objects ............................................................................................................................................ 19 6.1 Detailed object specifications ........................................................................................................................ 19 6.1.1 Object 1000 h: Device type.......................................................................................................................... 19 6.1.2 Object 1001 h: Error register ....................................................................................................................... 19 6.1.3 Object 1005 h: COB-ID SYNC Message ..................................................................................................... 20 6.1.4 Object 1008 h: Manufacturer device name ............................................................................................. 20 6.1.5 Object 1009 h: Manufacturer hardware version .................................................................................... 20 6.1.6 Object 1010 h: Store parameters ............................................................................................................... 21 6.1.7 Object 1011 h: Restore default parameters ............................................................................................ 22 6.1.8 Object 100A h: Manufacturer software version ..................................................................................... 23 6.1.9 Object 1014 h: COB-ID emergency object ............................................................................................... 23 6.1.10 Object 1015 h: Inhibit time EMCY ............................................................................................................. 24 6.1.11 Object 1016 h: Consumer heartbeat time ............................................................................................... 24 6.1.12 Object 1017 h: Producer heartbeat time ................................................................................................. 24 6.1.13 Object 1018 h: Identity object.................................................................................................................... 25 6.1.14 Object 1023 h: OS command ...................................................................................................................... 25 6.1.15 Object 1029 h: Error behavior .................................................................................................................... 26 6.1.16 Objects 1400 h-1405 h: Receive PDO communication parameter ....................................................... 26 6.1.17 Objects 1440 h-1445 h: Receive PDO communication parameter ....................................................... 27 6.1.18 Objects 1480 h-1485 h: Receive PDO communication parameter ....................................................... 27 6.1.19 Objects 1600 h-1605 h: Receive PDO mapping ........................................................................................ 28 6.1.20 Objects 1640 h-1645 h: Receive PDO mapping ........................................................................................ 29 6.1.21 Objects 1680 h-1685 h: Receive PDO mapping ........................................................................................ 30 6.1.22 Objects 1800 h-1805 h: Transmit PDO communication parameter .................................................... 31 6.1.23 Objects 1840 h-1845 h: Transmit PDO communication parameter .................................................... 32 6.1.24 Objects 1880 h-1885 h: Transmit PDO communication parameter .................................................... 33 6.1.25 Objects 1A00 h-1A05 h: Transmit PDO mapping parameter ................................................................ 34 6.1.26 Objects 1A40 h-1A45 h: Transmit PDO mapping parameter ................................................................ 35 6.1.27 Objects 1A80 h-1A85 h: Transmit PDO mapping parameter ................................................................ 36 7 Device profile objects (CiA402) and modes of operation .............................................................................. 37 7.1 Detailed object specifications ........................................................................................................................ 37 7.1.1 Object 605A h, 685A h, and 705A h: Quick stop option code ............................................................... 37 7.1.2 Object 605B h, 685B h, and 705B h: Shutdown option code ................................................................ 38 7.1.3 Object 605C h, 685C h, and 705C h: Disable operation option code ................................................... 38 7.1.4 Object 605D h, 685D h, and 705D h: Halt option code ............................................................................ 39 7.1.5 Object 605E h, 685E h, and 705E h: Fault reaction option code ........................................................... 39 7.1.6 Object 6060 h, 6860 h, and 7060 h: Modes of operation ........................................................................ 40 7.1.7 Object 6061 h, 6861 h, and 7061 h: Modes of operation display ......................................................... 40 7.1.8 Object 606A h, 686A h, and 706A h: Sensor selection code .................................................................. 41 7.1.9 Object 60C5 h, 68C5 h, and 70C5 h: Max acceleration ............................................................................. 41 7.1.10 Object 60C6 h, 68C6 h, and 70C6 h: Max deceleration ............................................................................. 41 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 3 7.1.11 Object 60FD h, 68FD h, and 70FD h: Digital inputs .................................................................................. 42 7.1.12 Object 6502 h, 6D02 h, and 7502 h: Supported drive modes ................................................................ 42 7.2 Profile position mode ...................................................................................................................................... 43 7.2.1 Detailed object specifications .................................................................................................................. 43 7.2.1.1 Object 6040 h, 6840 h, and 7040 h: Controlword............................................................................ 44 7.2.1.2 Object 6041 h, 6841 h, and 7041 h: Statusword .............................................................................. 45 7.2.1.3 Object 6062 h, 6862 h, and 7062 h: Position demand value ....................................................... 46 7.2.1.4 Object 6063 h, 6863 h, and 7063 h: Position actual internal value ........................................... 46 7.2.1.5 Object 6064 h, 6864 h, and 7064 h: Position actual value ........................................................... 46 7.2.1.6 Object 6065 h, 6865 h, and 7065 h: Following error window .................................................... 47 7.2.1.7 Object 6067 h, 6867 h, and 7067 h: Position window ................................................................... 47 7.2.1.8 Object 6068 h, 6868 h, and 7068 h: Position window time ......................................................... 48 7.2.1.9 Object 607A h, 687A h, and 707A h: Target position ..................................................................... 48 7.2.1.10 Object 607D h, 687D h, and 707D h: Software position limit ..................................................... 49 7.2.1.11 Object 607F h, 687F h, and 707F h: Maximum profile velocity ................................................... 49 7.2.1.12 Object 6081 h, 6881 h, and 7081 h: Profile velocity ....................................................................... 50 7.2.1.13 Object 6083 h, 6883 h, and 7083 h: Profile acceleration ............................................................... 50 7.2.1.14 Object 6084 h, 6884 h, and 7084 h: Profile deceleration .............................................................. 50 7.2.1.15 Object 6085 h, 6885 h, and 7085 h: Quick stop deceleration ...................................................... 51 7.2.1.16 Object 6086 h, 6886 h, and 7086 h: Motion profile type .............................................................. 51 7.2.1.17 Object 608F h, 688F h, and 708F h: Position encoder resolution .............................................. 52 7.2.2 How to move a motor in pp mode ....................................................................................................... 52 7.3 Homing mode ..................................................................................................................................................... 53 7.3.1 Connecting home switch, left switch, and right switch .................................................................. 54 7.3.1.1 TMCM-341/342/343 ............................................................................................................................. 54 7.3.1.2 TMCM-351 ............................................................................................................................................. 55 7.3.2 Connecting a brake ..................................................................................................................................... 56 7.3.2.1 TMCM-341/342/343 ............................................................................................................................. 56 7.3.2.2 TMCM-351 ............................................................................................................................................. 56 7.3.3 Homing methods: Homing on negative home switch and index pulse..................................... 57 7.3.4 Detailed object definitions ....................................................................................................................... 58 7.3.4.1 Object 6040 h, 6840 h, and 7040 h: Controlword............................................................................ 58 7.3.5 Object 6041 h, 6841 h, and 7041 h: Statusword ........................................................................................ 59 7.3.5.1 Object 607C h, 687C h, and 707C h: Home offset ........................................................................... 60 7.3.5.2 Object 6098 h, 6898 h, and 7098 h: Homing method .................................................................... 60 7.3.5.3 Object 6099 h, 6899 h, and 7099 h: Homing speeds ...................................................................... 61 7.3.5.4 Object 609A h, 689A h, and 709A h: Homing acceleration ........................................................... 61 7.3.6 How to start a homing in hm mode..................................................................................................... 61 7.4 Velocity mode ..................................................................................................................................................... 62 7.4.1 Detailed object definitions ....................................................................................................................... 62 7.4.1.1 Object 6040 h, 6840 h, and 7040 h: Controlword............................................................................ 62 7.4.1.2 Object 6041 h, 6841 h, and 7041 h: Statusword .............................................................................. 63 7.4.1.3 Object 6042 h, 6842 h, and 7042 h: vl target velocity ................................................................... 63 7.4.1.4 Object 6043 h, 6843 h, and 7043 h: vl velocity demand ............................................................... 64 7.4.1.5 Object 6044 h, 6844 h, and 7044 h: vl velocity actual value........................................................ 64 7.4.1.6 Object 6046 h, 6846 h, and 7046 h: vl velocity min max amount.............................................. 64 7.4.1.7 Object 6048 h, 6848 h, and 7048 h: vl velocity acceleration ........................................................ 65 7.4.1.8 Object 6049 h, 6849 h, and 7049 h: vl velocity deceleration ....................................................... 65 7.4.1.9 Object 6062 h, 6862 h, and 7062 h: Position demand value ....................................................... 66 7.4.1.10 Object 6063 h, 6863 h, and 7063 h: Position actual internal value ........................................... 66 7.4.1.11 Object 6064 h, 6864 h, and 7064 h: Position actual value ........................................................... 66 7.4.1.12 Object 6065 h, 6865 h, and 7065 h: Following error window .................................................... 67 7.4.1.13 Object 607D h, 687D h, and 707D h: Software position limit ..................................................... 67 7.4.1.14 Object 6083 h, 6883 h, and 7083 h: Profile acceleration ............................................................... 68 7.4.1.15 Object 6084 h, 6884 h, and 7084 h: Profile deceleration .............................................................. 68 7.4.1.16 Object 6085 h, 6885 h, and 7085 h: Quick stop deceleration ...................................................... 69 7.4.2 How to move a motor in vl mode ........................................................................................................ 69 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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TMCM-351 CANopen Firmware Manual - Trinamic

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