TMCM-1180-CANOPEN Analog Devices

MODULE ModuleforStepper TMCM-1180CANopenFirmwareManual FirmwareVersionV3.20 DocumentRevisionV2.112019-NOV-13 TheTMCM-1180isasingleaxiscontroller/drivermodulefor2-phasebipolarsteppermotors.The TMCM-1180CANopenrmwareallowstocontrolthemoduleusingtheCANopenprotocol,mak- inguseoftheTrinamicTMC429motioncontrollerandTMC262motordriver.Dynamiccurrentcon- trol,andquiet,smoothandecientoperationarecombinedwithStallGuard2andCoolStep features. Features SingleAxisSteppermotorcontrol Supplyvoltageupto48VDC CANopenCiA-402DriveProle CoolStep StallGuard2 SensOstepencoder Additionalinputsandoutputs Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram TMCM-1180 Stop TMCL Switches Memory CAN RS232 +5V RS485 Alternative: C Motion Step MOSFET Power Controller Energy USB external Driver Driver TMC429 Efficient Encoder with Stage 6 Driver add. coolStep I/Os Motor TMC262 Step/ Dir sensOstep ABN Encoder 18..55V DC 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation.TMCM-1180CANopenFirmwareManualFirmwareVersionV3.20 DocumentRevisionV2.112019-NOV-13 2/111 Contents 1 Preface 6 1.1 GeneralFeaturesofthisCANopenImplementation . 6 1.2 AbbreviationsusedinthisManual . 7 1.3 FirmwareUpdate . 7 1.4 TrinamicsuniqueFeatureseasytousewithCANopen 8 1.4.1 StallGuard2 . 8 1.4.2 CoolStep . 8 2 Communication 10 2.1 ReferenceModel . 10 2.2 NMTStateMachine . 12 2.3 DeviceModel . 13 2.4 ObjectDictionary . 14 3 CommunicationArea 16 3.1 DetailedObjectSpecications . 16 3.1.1 Object1000 :DeviceType . 16 h 3.1.2 Object1001 :ErrorRegister 16 h 3.1.3 Object1005 :COB-IDSYNCMessage . 17 h 3.1.4 Object1008 :ManufacturerDeviceName 18 h 3.1.5 Object1009 :ManufacturerHardwareVersion . 18 h 3.1.6 Object100A :ManufacturerSoftwareVersion 18 h 3.1.7 Object100C :GuardTime . 19 h 3.1.8 Object100D :LifeTimeFactor . 19 h 3.1.9 Object1010 :StoreParameters 19 h 3.1.10 Object1011 :RestoreParameters . 21 h 3.1.11 Object1014 :COB-IDEmergencyObject . 22 h 3.1.12 Object1015 : InhibitTimeEMCY 22 h 3.1.13 Object1016 :ConsumerHeartbeatTime 23 h 3.1.14 Object1017 :ProducerHeartbeatTime . 23 h 3.1.15 Object1018 : IdentityObject 24 h 3.1.16 Object1023 :OSCommand 24 h 3.1.17 Object1029 :ErrorBehaviour . 25 h 3.1.18 Objects1400 1403 :ReceivePDOCommunicationParameter 25 h h 3.1.19 Objects1600 1603 :ReceivePDOMappingParameter . 26 h h 3.1.20 Objects1800 1803 :TransmitPDOCommunicationParameter 27 h h 3.1.21 Objects1A00 1A03 :TransmitPDOMappingParameter 29 h h 4 ManufacturerspecicArea 30 4.1 ObjectsrelatedtoCoolStep 30 4.2 DetailedObjectSpecications . 32 4.2.1 Object2000 :MicrostepResolution 32 h 4.2.2 Object2001 :FullstepResolution . 32 h 4.2.3 Object2002 :BrakeDelayTimes . 32 h 4.2.4 Object2003 :MaximumCurrent . 33 h 4.2.5 Object2004 :StandbyCurrent . 34 h 4.2.6 Object2005 :LimitSwitches 34 h 4.2.7 Object200A :EnableDriveDelayTime 35 h 4.2.8 Object200B :EncoderParameters 35 h 4.2.9 Object200C :BrakeCurrentFeed . 36 h 4.2.10 Object2085 :RampDivisor 36 h 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com