CANopen MODULES FOR STEPPER MOTORS MODULES CANopen Firmware Version V3.20 CANopen MANUAL + + TMCM-3110 3-Axis Stepper Controller / Driver 2.8 A / 48 V USB, RS485, and CAN Step/Dir Interface Encoder Interface + + UNIQUE FEATURES TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com TMCM-3110 CANopen Firmware V3.20 Manual (Rev. 2.01 / 2017-JUL-26) 2 Table of Contents 1 Preface ............................................................................................................................................................................. 6 1.1 General Features of the CANopen Implementation .................................................................................. 6 1.2 Abbreviations ........................................................................................................................................................ 7 1.3 Firmware Update ................................................................................................................................................. 7 2 Communication ............................................................................................................................................................. 9 2.1 Reference Model .................................................................................................................................................. 9 2.2 NMT State Machine ............................................................................................................................................ 10 2.3 Device Model....................................................................................................................................................... 12 2.4 Object Dictionary ............................................................................................................................................... 13 3 Communication Objects ........................................................................................................................................... 14 3.1 Detailed Object Specifications ....................................................................................................................... 14 3.1.1 Object 1000 : Device Type ......................................................................................................................... 14 h 3.1.2 Object 1001 : Error Register...................................................................................................................... 14 h 3.1.3 Object 1005 : COB-ID SYNC Message ..................................................................................................... 15 h 3.1.4 Object 1008 : Manufacturer Device Name ............................................................................................ 15 h 3.1.5 Object 1009h: Manufacturer Hardware Version ................................................................................... 15 3.1.6 Object 100A : Manufacturer Software Version .................................................................................... 15 h 3.1.7 Object 100C : Guard Time ......................................................................................................................... 16 h 3.1.8 Object 100D : Life Time Factor ................................................................................................................ 16 h 3.1.9 Object 1010 : Store Parameters ............................................................................................................... 16 h 3.1.10 Object 1011 : Restore Default Parameters ........................................................................................... 17 h 3.1.11 Object 1014 : COB-ID Emergency Object .............................................................................................. 19 h 3.1.12 Object 1015 : Inhibit Time EMCY ............................................................................................................ 19 h 3.1.13 Object 1016 : Consumer Heartbeat Time .............................................................................................. 19 h 3.1.14 Object 1017 : Producer Heartbeat Time ................................................................................................ 19 h 3.1.15 Object 1018h: Identity Object ................................................................................................................... 20 3.1.16 Object 1023 : OS Command ..................................................................................................................... 20 h 3.1.17 Object 1029 : Error Behavior .................................................................................................................... 20 h 3.1.18 Objects 1400 -1405 : Receive PDO Communication Parameter ...................................................... 21 h h 3.1.19 Objects 1440 -1445 : Receive PDO Communication Parameter ...................................................... 21 h h 3.1.20 Objects 1480 -1485 : Receive PDO Communication Parameter ...................................................... 22 h h 3.1.21 Objects 1600 -1605 : Receive PDO Mapping ........................................................................................ 23 h h 3.1.22 Objects 1640 -1645 : Receive PDO Mapping ........................................................................................ 24 h h 3.1.23 Objects 1680 -1685 : Receive PDO Mapping ........................................................................................ 25 h h 3.1.24 Objects 1800 -1805 : Transmit PDO Communication Parameter .................................................... 26 h h 3.1.25 Objects 1840h-1845h: Transmit PDO Communication Parameter .................................................... 27 3.1.26 Objects 1880 -1885 : Transmit PDO Communication Parameter .................................................... 28 h h 3.1.27 Objects 1A00 -1A05 : Transmit PDO Mapping Parameter ................................................................ 29 h h 3.1.28 Objects 1A40 -1A45 : Transmit PDO Mapping Parameter ................................................................ 30 h h 3.1.29 Objects 1A80 -1A85 : Transmit PDO Mapping Parameter ................................................................ 31 h h 4 Device Profile Objects (CiA402) and Modes of Operation .............................................................................. 32 4.1 Detailed Object Specifications ....................................................................................................................... 32 4.1.1 Object 605A , 685A , and 705A : Quick Stop Option Code .............................................................. 32 h h h 4.1.2 Object 605B , 685B , and 705B : Shutdown Option Code ............................................................... 33 h h h 4.1.3 Object 605C , 685C , and 705C : Disable Operation Option Code ................................................. 33 h h h 4.1.4 Object 605D , 685D , and 705D : Halt Option Code ........................................................................... 33 h h h 4.1.5 Object 605E , 685E , and 705E : Fault Reaction Option Code ......................................................... 34 h h h 4.1.6 Object 6060 , 6860 , and 7060 : Modes of Operation ....................................................................... 34 h h h 4.1.7 Object 6061h, 6861h, and 7061h: Modes of Operation Display ........................................................ 35 4.1.8 Object 606A , 686A , and 706A : Sensor Selection Code ................................................................. 35 h h h 4.1.9 Object 6085 , 6885 , and 7085 : Quick Stop Deceleration................................................................ 36 h h h 4.1.10 Object 608F , 688F , and 708F : Position Encoder Resolution........................................................ 36 h h h 4.1.11 Object 60C5 , 68C5 , and 70C5 : Max Acceleration ............................................................................. 37 h h h 4.1.12 Object 60C6 , 68C6 , and 70C6 : Max Deceleration ............................................................................ 37 h h h 4.1.13 Object 60FD , 68FD , and 70FD : Digital Inputs ................................................................................. 37 h h h 4.1.14 Object 6502 , 6D02 , and 7502 : Supported Drive Modes ................................................................ 38 h h h www.trinamic.com