TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
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<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 25<br />
6.1.13 Object 1018 h: Identity object<br />
The object 1018 h contains general information about the device.<br />
The Vendor ID (sub-index 01 h ) contains a unique value allocated to each manufacturer. The<br />
vendor ID of TRINAMIC is 0286 h .<br />
The manufacturer-specific Product code (sub-index 2 h ) identifies a specific device version.<br />
The Manufacturer-specific Revision number (sub-index 3 h ) consists of a major revision number<br />
and a minor revision number.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type Category<br />
1018 h Identity object RECORD Identity Optional<br />
ENTRY DESCRIPTION<br />
Sub-Index Description Access PDO Mapping Value Range Default Value<br />
00 h Number of entries ro no 0… 3 number of entries:3<br />
01h Vendor ID ro no UNSIGNED32 reads 0286h 02h Product code ro no UNSIGNED32<br />
depends on device e.g. 341, 342, 343,<br />
<strong>351</strong><br />
03h Revision number ro no UNSIGNED32<br />
firmware revision number;<br />
reads e.g. 2003h for version 2.3<br />
04 h Serial number ro no UNSIGNED32 always contains 0 in the current version<br />
6.1.14 Object 1023 h: OS command<br />
The OS Command object is used as a command driven interface to programmable devices. The host<br />
system puts the command into the object OS Command, which is of the type Command Par.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type Category<br />
1023 h OS command RECORD Command Par Optional<br />
ENTRY DESCRIPTION<br />
Sub-Index Description Access PDO Mapping Value Range Default Value<br />
00h Number of<br />
supported entries<br />
ro no 3<br />
number of entries: 3 (for direct TMCL<br />
communication)<br />
01h Command (TMCL<br />
command)<br />
Status (error code<br />
rw no Octet string no<br />
02h of a TMCL<br />
command)<br />
ro no UNSIGNED8 no<br />
03h Reply (reply of a<br />
TMCL command)<br />
ro no Octet string no<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG