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PANdrive™ for Stepper

PANDRIVE™

PD42-1240 CANopen

Firmware Manual

Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03

The PD42-1240 is a full mechatronic solution, made up of a TMCM-1240 stepper control module and

a NEMA 17 (42mm ﬂange size) motor. The PD42-1240 CANopen

ﬁrmware allows to control the

module using the CANopen

protocol, making use of the Trinamic TMC5160 motion controller and

motor driver. Dynamic current control, and quiet, smooth and eﬃcient operation are combined

with stealthChop™, dcStep™, stallGuard™ and coolStep™ features.

Features

• Single axis Stepper Motor Control

• CANopen

CiA-402 Drive Proﬁle

• coolStep™

• dcStep™

• stallGuard2™

• stealthChop™

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

Simpliﬁed Block Diagram

10… 30V DC

ARM

Cortex-M3

microcontroller

EEPROM

I/Os

RS485

MOSFET

Driver

Stage

Energy Efficient

Driver

TMC262

Motion

Controller

Pre-Driver

SPI

USB

SPI

CAN

DC/DC

+5V

sensOstep™

Encoder

SPI

+3V3

STOP_L/R, S/D, Encoder

PD42-1-1240

Step

Motor

PD42-2-1240

PD42-3-1240

PD42-4-1240

QSH4218-34-20-022

QSH4218-38-20-036

QSH4218-47-20-044

QSH4218-60-20-070

TMCM-1240

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (118 pages)

PAGE 1
PANDRIVE™ PANdrive™ for Stepper PD42-1240 CANopen® Firmware Manual Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 The PD42-1240 is a full mechatronic solution, made up of a TMCM-1240 stepper control module and a NEMA 17 (42mm ﬂange size) motor. The PD42-1240 CANopen® ﬁrmware allows to control the module using the CANopen® protocol, making use of the Trinamic TMC5160 motion controller and motor driver.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 2 / 118 Contents 1 Preface 1.1 General Features of this CANopen Implementation . . . . 1.2 Abbreviations used in this Manual . . . . . . . . . . . . . . 1.3 Firmware Update . . . . . . . . . . . . . . . . . . . . . . . . 1.4 Trinamic’s unique Features — easy to use with CANopen 1.4.1 stallGuard2 . . . . . . . . . . . . . . . . . . . . . . . 1.4.2 coolStep . . . . . . . . . . . . . . . . . . . . . . . . . 1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 4.2.11 4.2.12 4.2.13 4.2.14 4.2.15 4.2.16 4.2.17 4.2.18 4.2.19 4.2.20 4.2.21 4.2.22 4.2.23 4.2.24 4.2.25 4.2.26 4.2.27 4.2.28 4.2.29 4.2.30 4.2.31 4.2.32 4.2.33 4.2.34 4.2.35 4.2.36 4.2.37 4.2.38 4.2.39 4.2.40 4.2.41 4.2.42 4.2.43 4.2.44 4.2.45 4.2.46 4.2.47 4.2.48 4.2.49 4.2.50 4.2.51 4.2.52 4.2.53 4.2.54 4.2.55 4.2.56 4.2.57 4.2.58 4.2.59 4.2.60 4.2.61 Object 2011h : Proﬁle A1 . . . . . . . . . . . . . .
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 4 / 118 5 Proﬁle speciﬁc Area 5.1 Detailed Object Speciﬁcations . . . . . . . . . . . . . . 5.1.1 Object 605Ah : Quick Stop Option Code . . . . 5.1.2 Object 605Bh : Shutdown Option Code . . . . 5.1.3 Object 605Ch : Disable Operation Option Code 5.1.4 Object 605Dh : Halt Option Code . . . . . . . . 5.1.5 Object 605Eh : Fault Reaction Option Code . . 5.1.6 Object 6060h : Modes of Operation . . . . . . . 5.1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 5 / 118 8 Homing Mode 8.1 Homing Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1.1 Homing Method 1: Homing on negative Limit Switch and Index Pulse . 8.1.2 Homing Method 2: Homing on positive Limit Switch and Index Pulse . 8.1.3 Homing Method 3: Homing on positive Home Switch and Index Pulse . 8.1.4 Homing Method 5: Homing on negative Home Switch and Index Pulse 8.1.
PAGE 6
PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 1 6 / 118 Preface This document speciﬁes objects and modes of operation of the Trinamic PD42-1240 stepper motor control module with CANopen ﬁrmware. The CANopen ﬁrmware is designed to fulﬁll the CANopen DS402 and DS301 standards. This manual assumes that the reader is already familiar with the basics of the CANopen protocol, deﬁned by the DS301 and DS402 standards of the CAN-CiA.
PAGE 7
PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 7 / 118 Further Characteristics • SYNC: consumer (TPDOs 3 are synchronous PDOs) • Emergency: producer • RTR: supported only for node guarding/life guarding • Heartbeat: consumer and producer 1.
PAGE 8
PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 1.4 1.4.1 8 / 118 Trinamic’s unique Features — easy to use with CANopen stallGuard2 stallGuard2 is a high-precision sensorless load measurement using the back EMF of the coils. It can be used for stall detection as well as other uses at loads below those which stall the motor. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 0,9 9 / 118 Efficiency with coolStep 0,8 Efficiency with 50v torque reserve 0,7 0,6 0,5 Efficiency 0,4 0,3 0,2 0,1 0 0 50 100 150 200 250 300 350 Velocity [RPM] Figure 2: Energy Eﬃciency Example with coolStep 1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 2 2.1 11 / 118 Communication Reference Model The application layer comprises a concept to conﬁgure and communicate real-time-data as well as the mechanisms for synchronization between devices. The functionality which the application layer offers to an application is logically divided over different service data objects (SDO) in the application layer.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 12 / 118 Service Types Type Deﬁnition Local service Involves only the local service object. The application issues a request to its local service object that executes the requested service without communicating with peer service object(s). Unconﬁrmed service Involves one or more peer service objects. The application issues a request to its local service object.
PAGE 13
PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 2.2 13 / 118 NMT State Machine The ﬁnite state machine (FSM) or simply state machine is a model of behavior composed of a ﬁnite number of states, transitions between those states, and actions. It shows which way the logic runs when certain conditions are met. Starting and resetting the device is controlled via the state machine. The NMT state machine consists of the states shown in ﬁgure 4.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 14 / 118 CANopen device profile CiA DSP 402 Modes of operation: Profile Position (pp) Profile Velocity (pv) Homing (hm) ... Device control state machine CANopen Communication Profile CiA DS301 NMT State Machine CAN Figure 5: Communication Architecture 2.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 15 / 118 Application Communication Object dictionary State machine Application object Entry 1 Entry 2 Communication object Communication object Application object Communication object Application object Entry n Application object Communication object Bus system Process Figure 6: Device Model 2.4 Object Dictionary The most important part of a device proﬁle is the object dictionary description.
PAGE 16
PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 16 / 118 The communication proﬁle area at indices 1000h through 1FFFh contains the communication speciﬁc parameters for the CAN network. These entries are common to all devices. The manufacturer segment at indices 2000h through 5FFFh contains manufacturer speciﬁc objects. These objects control the special features of the Trinamic PD42-1240 motion control device.
PAGE 17
PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 3 17 / 118 Communication Area The communication area contains all objects that deﬁne the communication parameters of the CANopen device according to the DS301 standard. 3.1 Detailed Object Speciﬁcations 3.1.1 Object 1000h : Device Type This object contains information about the device type. The object 1000h describes the type of device and its functionality.
PAGE 18
PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 18 / 118 Error Register Bits Bit Deﬁnition 0 Generic error 1 Current 2 Voltage 3 Temperature 4 Communication error 5 Device proﬁle speciﬁc 6 Reserved (always 0) 7 Manufacturer speciﬁc Table 10: Error Register Bits 3.1.3 Object 1005h : COB-ID SYNC Message This object deﬁnes the COB-ID of the synchronization object (SYNC). Further, it deﬁnes whether the module generates the SYNC.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 3.1.4 Object 1008h : Manufacturer Device Name This object contains the name of the device as given by the manufacturer.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 20 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no — Depends on device, e.g. 1.0. Table 19: Entry Description (100Ah ) 3.1.7 Object 100Ch : Guard Time The objects at index 100Ch and 100Dh shall indicate the conﬁgured guard time respectively the life time factor.
PAGE 21
PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 21 / 118 There are several parameter groups: • Sub-index 0h : contains the largest sub-index that is supported. • Sub-index 1h : saves all parameters. • Sub-index 2h : saves communication parameters 2704h and 2705h . • Sub-index 3h : saves device proﬁle parameters. • Sub-index 4h : saves motor 0 parameters.
PAGE 22
PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 3.1.10 22 / 118 Object 1011h : Restore Parameters With this object the default values of parameters according to the communication or device proﬁle are restored. By read access the device provides information about its capabilities to restore these values. There are several parameter groups: • Sub-index 0h : contains the largest sub-index that is supported.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 23 / 118 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 01h Restore all parameters rw no UNSIGNED32 — 02h Restore communication parameters rw no UNSIGNED32 — 03h Restore device proﬁle parameters rw no UNSIGNED32 — 04h Restore motor axis 0 parameters rw no UNSIGNED32 — Table 29: Entry Description (1011h ) 3.1.
PAGE 24
PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 3.1.13 24 / 118 Object 1016h : Consumer Heartbeat Time The consumer heartbeat time deﬁnes the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time conﬁgured on the module producing this heartbeat. The monitoring starts after the reception of the ﬁrst heartbeat. If the consumer heartbeat time is 0 the corresponding entry is not used.
PAGE 25
PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 25 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED16 0 Table 38: Entry Description (1017h ) 3.1.15 Object 1018h : Identity Object The object 1018h contains general information about the device: • The vendor ID (sub-index 01h ) contains a unique value allocated to each manufacturer. The vendor ID of Trinamic is 286h .
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 26 / 118 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 00h Number of entries ro no — 3 01h TMCL command rw no Octet string (7 bytes) — 02h Reply ro no UNSIGNED8 — 03h TMCL reply ro no Octet string (7 bytes) — Table 42: Entry Description (1023h ) 3.1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 27 / 118 Sub-Index 02h contains the transmission type of the RPDO. This can be FFh or FEh for event-driven, or 00h for synchronous.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 29 / 118 deﬁnition, set this bit to inactivate the PDO. Sub-index 02h contains the transmission type of the RPDO. This can be FFh or FEh for event-driven, or 00h or 01h for synchronous. Sub-index 03h contains the inhibit time, given in milliseconds. After a TPDO has been sent, it will not be sent again before the inhibit time has elapsed. Sub-index 04h is not used.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 3.1.21 30 / 118 Objects 1A00h – 1A03h : Transmit PDO Mapping Parameter These objects contain the mapping parameters for the TPDOs the device is able to transmit. The sub-index 00h contains the number of valid entries within the mapping record. This number of entries is also the number of the application variables which shall be transmitted with the corresponding TPDO.
PAGE 31
PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 4 31 / 118 Manufacturer speciﬁc Area The manufacturer segment contains manufacturer speciﬁc objects. These objects control the special features of the Trinamic Motion Control device PD42-1240. 4.1 Objects related to coolStep Figure 7 shows an overview of the coolStep related objects for motor #0. Please bear in mind that the ﬁgure only shows one example for a drive.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 32 / 118 coolStep Adjustment Objects Object Name Description 2003h Absolute maximum current The maximum value is 255. This value means 100% of the maximum current of the module. The current adjustment is within the range 0. . . 255 and can be adjusted in 32 steps (0. . . 255 divided by eight; step 0 = 0. . . 7, step 1 = 8. . . 15 and so on).
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 4.2 Detailed Object Speciﬁcations 4.2.1 Object 2000h : Microstep Resolution 33 / 118 This object sets the microstep resolution of the drive. A value of 8 selects 256 (28 ) microsteps per full step.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 4.2.5 35 / 118 Object 2004h : Standby Current This object deﬁnes the current used when the motor is standing (two seconds after the last move). A value of 255 means 100% of the maximum current of the drive.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 36 / 118 Bit Deﬁnitions Bit Deﬁnition 0 Left limit switch deactivated if set. 1 Right limit switch deactivated if set. 2 Left limit switch inverted if set. 3 Right limit switch inverted if set. 4 Home switch deactivated if set. 5 Home switch inverted if set. 6 Shutdown input enabled if set. Table 66: Bit Deﬁnitions (2005h ) 4.2.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 37 / 118 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Not used rw no — — 2 Direction of rotation (external encoders only) rw no 0/1 0 3 Initialize position rw no 0/1 1 Table 70: Entry Description (200Bh ) 4.2.9 Object 200Ch : Brake Current Feed This object conﬁgures how much current has to be fed into the brake to apply and to release it.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 38 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 268435455 0 Table 74: Entry Description (2010h ) 4.2.11 Object 2011h : Proﬁle A1 This object contains the acceleration value used for ramping up from the start velocity (object 2011h , see section 4.2.10) to the velocity V1 (object (h 2012), see section 4.2.12).
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 4.2.13 39 / 118 Object 2013h : Proﬁle D1 This object contains the deceleration value used for decelerating from the maximum positioning velocity to the velocity V1 (object 2012h , see section 4.2.12).
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 40 / 118 Object Description Index Name Object Type Data Type 2089h Setting Delay Variable UNSIGNED16 Table 83: Object Description (2089h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 400 0 Table 84: Entry Description (2089h ) 4.2.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 41 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0/179 179 Table 88: Entry Description (208Eh ) 4.2.18 Object 2092h : Chopper Blank Time This object serves for selecting the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For low current drivers, a setting of 1 or 2 is good.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 4.2.20 42 / 118 Object 2094h : Chopper Hysteresis Decrement This object serves for the hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 4.2.22 43 / 118 Object 2096h : Chopper Hysteresis Start This object provides the hysteresis start setting. Please notice that this value is an offset to the hysteresis end value.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 44 / 118 Object Description Index Name Object Type Data Type 2098h Smart Energy Current Minimum Variable UNSIGNED8 Table 101: Object Description (2098h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 102: Entry Description (2098h ) 4.2.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 45 / 118 Object Description Index Name Object Type Data Type 209Ah Smart Energy Hysteresis Variable UNSIGNED8 Table 105: Object Description (209Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 15 0 Table 106: Entry Description (209Ah ) 4.2.27 Object 209Bh : Smart Energy Current Up Step This object sets the current increment step.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 46 / 118 Object Description Index Name Object Type Data Type 209Ch Smart Energy Hysteresis Start Variable UNSIGNED8 Table 109: Object Description (209Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 15 0 Table 110: Entry Description (209Ch ) 4.2.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 47 / 118 Object Description Index Name Object Type Data Type 209Eh stallGuard2 Threshold Variable SIGNED8 Table 113: Object Description (209Eh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no -63. . . 63 0 Table 114: Entry Description (209Eh ) 4.2.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 48 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 2147483647 0 Table 118: Entry Description (20A4h ) 4.2.33 Object 20A5h : Smart Energy Threshold Speed The coolStep functionality will be enabled when the actual speed is above this speed. It will be disabled again when the actual speed drops below this value.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 4.2.35 49 / 118 Object 20B1h : PWM Gradient Velocity dependent gradient for the PWM amplitude (stealthChop). Setting this value to 0 turns off stealthChop. Object Description Index Name Object Type Data Type 20B1h PWM Gradient Variable UNSIGNED8 Table 123: Object Description (20B1h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . .
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 50 / 118 Object Description Index Name Object Type Data Type 20B3h dcStep Minimum Speed Variable UNSIGNED32 Table 127: Object Description (20B3h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 16777215 0 Table 128: Entry Description (20B3h ) 4.2.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 51 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 255 0 Table 132: Entry Description (20B5h ) 4.2.40 Object 20B6h : Fullstep Threshold Speed Depending on the settings of objects 20B7h and 20B8h (see sections 4.2.41 and 4.2.42) the driver switches to fullstep mode and/or to a different chopper mode when the speed set by this object is exceeded.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 52 / 118 Object Description Index Name Object Type Data Type 20B8h High Speed Chopper Mode Variable UNSIGNED8 Table 137: Object Description (20B8h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 138: Entry Description (20B8h ) 4.2.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no -2147483648. . . 2147483647 0 Table 142: Entry Description (2100h ) 4.2.45 Object 2101h : Actual Load Value This object shows the actual load value used for stall detection (stallGuard™).
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 54 / 118 Object Description Index Name Object Type Data Type 2102h Driver Error Flags Variable UNSIGNED8 Table 146: Object Description (2102h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . . 255 0 Table 147: Entry Description (2102h ) 4.2.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 55 / 118 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Lower 32 Bits ro no 0. . . ffffffffh 0 2 Higher 32 Bits ro no 0. . . ffffffffh 0 3 64 Bit Value ro no 0. . . ffffffffffffffffh 0 Table 151: Entry Description (210Bh ) 4.2.49 Object 2121h : PWM Scale Value Actual PWM scale value used when the motor driver is operaing in stealthChop mode.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 4.2.51 56 / 118 Object 2700h : TMCL Direct Communication After writing the make signature 656b616dh to this object the drive switches to TMCL mode. The drive can then only be controlled via TMCL commands written to the OS command object 1023/01h . The drive can only be reset to normal CANopen functionality using the DS-301 reset application command.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 4.2.53 57 / 118 Object 2702h : Device Digital Inputs Bits 23. . . 16 of this object reﬂect the states of the general purpose inputs of the module. The number of available inputs depends on the module type.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 58 / 118 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Physical outputs rw yes UNSIGNED32 0 2 Output mask rw yes UNSIGNED32 0 Table 165: Entry Description (2703h ) Note Output #0 can also be used for automatically controlling a brake that can be connected to the module via this output.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 59 / 118 Object Description Index Name Object Type Data Type 2705h Node ID Variable UNSIGNED8 Table 168: Object Description (2705h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 1. . . 127 1 Table 169: Entry Description (2705)h How to change the node ID of a module: • Write new node ID to object 2705h .
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 Object Description Index Name Object Type Data Type 2707h CAN Bit Rate Load Variable UNSIGNED8 Table 172: Object Description (2707h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 20. . . 1000 depends on bit rate Table 173: Entry Description (2707)h 4.2.59 Object 2708h : Node ID Load This object shows the selected node ID.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 61 / 118 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Analog input 0 ro yes 0. . . 4095 – Table 177: Entry Description (270Eh ) 4.2.61 Object 2710h : Pull-up Resistors This object enables or disables the built-in pull-up resistors for the general purpose inputs.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 5 62 / 118 Proﬁle speciﬁc Area The proﬁle segment contains CiA-402 standard motion control objects. These objects control the motion control functions of the PD42-1240. Since it is not possible to operate the modes in parallel, the user is able to activate the required function by selecting a mode of operation.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 5.1.2 63 / 118 Object 605Bh : Shutdown Option Code This object indicates what action is performed if there is a transition from operation enabled state to ready to switch on state. The shutdown option code always has the value 0 as only this is supported.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 64 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 1 1 Table 189: Entry Description (605Ch ) 5.1.4 Object 605Dh : Halt Option Code This object indicates what action is performed when the halt function is executed. The slow down ramp is the deceleration value of the used mode of operation.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 65 / 118 Object Description Index Name Object Type Data Type 605Eh Fault reaction option code Variable UNSIGNED16 Table 194: Object Description (605Eh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 2 2 Table 195: Entry Description (605Eh ) 5.1.6 Object 6060h : Modes of Operation This object indicates the requested operation mode.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 Note 66 / 118 It is not allowed to write the same mode number twice to object 6060h . So before writing a new value to object 6060h , either check object 6061h or object 6060h to see if the operating mode has not already been set to that value. 5.1.7 Object 6061h : Modes of Operation Display This object shows the operating mode that is currently set.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 68 / 118 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 0 Highest sub-index supported ro no 2 2 1 Encoder increments rw no 0. . . 2147483647 1 2 Motor revolutions ro no 1 1 Table 206: Entry Description (608Fh ) 5.1.10 Object 60FDh : Digital Inputs This object contains the states of the digital inputs of the module.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 6 70 / 118 Proﬁle Position Mode A target position is applied to the trajectory generator. It is generating a position demand value for the position control loop described in the position control function. Please refer to object 6060h (section 5.1.6) for information about how to choose an operation mode. Object 6061h (section 5.1.7) shows the operation mode that is set. 6.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 6.1.1 71 / 118 Object 6040h : Control Word This object indicates the received command controlling the power drive system ﬁnite state automaton (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to ﬁgure 9 for detailed information.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 72 / 118 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 215: Object Description (6040h in pp Mode) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See command coding above. Table 216: Entry Description (6040h in pp Mode) 6.1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 73 / 118 Operation Mode speciﬁc Bits in pp Mode Bit Name Deﬁnition 10 Target reached Set when the motor is within the position window. 12 Set point acknowledged 0: Set point processed. 1: Set point still in process. 13 Following error Not supported.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 74 / 118 Object Description Index Name Object Type Data Type 6062h Position Demand Value Variable SIGNED32 Table 223: Object Description (6062h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 224: Entry Description (6062h ) 6.1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 75 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 228: Entry Description (6064h ) 6.1.6 Object 6065h : Following Error Window This object indicates the conﬁgured range of tolerated position values symmetrically to the position demand value.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 76 / 118 Object Description Index Name Object Type Data Type 6067h Position Window Variable UNSIGNED32 Table 231: Object Description (6067h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 FFFFFFFFh Table 232: Entry Description (6067h ) 6.1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 77 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 236: Entry Description (606Ch ) 6.1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 78 / 118 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Mininmum Position Limit rw no SIGNED32 -2147483648 2 Maximum Position Limit rw no SIGNED32 2147483647 Table 240: Entry Description (607Dh ) 6.1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 6.1.14 79 / 118 Object 6083h : Proﬁle Acceleration This object indicates the conﬁgured acceleration. Object 6083h sets the maximum acceleration to be used in proﬁle position and proﬁle velocity mode. The units for object 6083h can be choosen with object 208Eh , described in section 4.2.17.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 80 / 118 Object Description Index Name Object Type Data Type 6085h Quick stop deceleration Variable UNSIGNED32 Table 249: Object Description (6085h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 51200 Table 250: Entry Description (6085h ) 6.1.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 6.2 81 / 118 How to move a Motor in pp Mode Here is a little example that shows how to get a motor running in pp mode. In this little example we assume that the module has been reset (and then switched to pre-operational or operational) by NMT commands before. Please note that the values are decimal.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 7 82 / 118 Proﬁle Velocity Mode The proﬁle velocity mode is used to control the velocity of the drive without a special regard of the position. It contains limit functions and trajectory generation. The proﬁle velocity mode covers the following sub-functions: • Demand value input via trajectory generator. • Monitoring of the proﬁle velocity using a window-function.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 Trinamic Speciﬁc Bits Bit Name Deﬁnition 14 Motor activity 0: Motor stands still. 1: Motor rotates. 15 Direction of rotation This bit shows the direction of rotation. Table 259: Trinamic Speciﬁc Bits Operation Mode speciﬁc Bits in pv Mode Bit Name Deﬁnition 10 Target reached Indicates that the target speed has been reached. 12 Speed Not supported. 13 Max. slippage error Not supported.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 85 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 263: Entry Description (6041h in pv Mode) 7.1.3 Object 6062h : Position Demand Value This object provides the demanded position value. The value is given in microsteps. Object 6062h indicates the actual position that the motor should have.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 7.1.5 86 / 118 Object 6064h : Position Actual Value This object provides the actual value of the position measurement device. It always contains the same value as object 6063h .
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 7.1.7 87 / 118 Object 606Ch : Velocity Actual Value This object shows the actual velocity value of the motor. The value is given in internal or user-deﬁned velocity units (depending on object 208Ch , described in section 4.2.16).
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 7.1.9 88 / 118 Object 6083h : Proﬁle Acceleration This object indicates the conﬁgured acceleration. Object 6083h sets the maximum acceleration to be used in proﬁle position and proﬁle velocity mode. The units for object 6083h can be choosen with object 208Eh , described in section 4.2.17.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 89 / 118 Object Description Index Name Object Type Data Type 60FFh Target Velocity Variable SIGNED32 Table 280: Object Description (60FFh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 SIGNED32 0 Table 281: Entry Description (60FFh ) 7.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 8 90 / 118 Homing Mode This chapter describes the method by which a drive seeks the home position (reference point). There are various methods of achieving this using limit switches at the ends of travel or a home switch in mid-travel. Some methods also use the index (zero) pulse train from an incremental encoder. The user may specify the speeds, acceleration and the method of homing.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 8.1 91 / 118 Homing Methods The PD42-1240 supports a subset of different standard CANopen homing methods. The homing method that is to be used can be choosen via object 6098h (section 8.2.5). Supported Homing Methods Method Description 0 No homing (default value for object 6098h ). 1 Search the left end switch, then search the next encoder index pulse.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 8.1.2 92 / 118 Homing Method 2: Homing on positive Limit Switch and Index Pulse Using this method, the initial direction of movement shall be rightward if the positive limit switch is inactive (here: low). The position of home shall be at the ﬁrst index pulse to the left of the position where the positive limit switch becomes inactive. 2 2 Index pulse Positive limit switch Figure 12: Homing Method 2 8.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 93 / 118 5 5 Index pulse Home switch Figure 14: Homing Method 5 8.1.5 Homing Method 17, 18, 19, and 21: Homing without Index Pulse These methods are similar to methods 1 to 5 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions. As an example, homing method 19 (which is similar to homing method 3) is shown in ﬁgure 15.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 94 / 118 33 34 Index pulse Figure 16: Homing Methods 33 and 34 8.1.7 Homing Method 35: Current Position as Home Position In this method, the current position shall be taken to be the home position. This method does not require the drive device to be in operation enabled state. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 8.2 8.2.1 95 / 118 Detailed Object Speciﬁcations Object 6040h : Control Word This object indicates the received command controlling the power drive system ﬁnite state automaton (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to ﬁgure 9 for detailed information.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 96 / 118 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 287: Object Description (6040h in hm Mode) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See command coding above. Table 288: Entry Description (6040h in hm Mode) 8.2.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 97 / 118 Operation Mode speciﬁc Bits in hm Mode Bit Name Deﬁnition 10 Target reached Set when the zero position has been found or homing has been stopped by setting controlword bit 4 to zero. 12 Home attained Set when zero position has been found. 13 Homing error Not supported.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 98 / 118 Object Description Index Name Object Type Data Type 606Ch Velocity Actual Value Variable SIGNED32 Table 295: Object Description (606Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 296: Entry Description (606Ch ) 8.2.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 8.2.5 99 / 118 Object 6098h : Homing Method The homing method to be used can be selected by writing to this object. Please see table 282 for a list of homing methods supported by the current version of the PD42-1240 CANopen ﬁrmware.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 100 / 118 Object Description Index Name Object Type Data Type 609Ah Homing acceleration Variable UNSIGNED32 Table 303: Object Description (609Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 0 Table 304: Entry Description (609Ah ) 8.2.8 Object 2100h : Home Offset Display This object shows the home offset. The value is given in microsteps.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 • Write 31 to object 6040h to start the homing process. • Press and release the home switch. • When homing has ﬁnished, write 15 to object 6040h again. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 9 102 / 118 Cyclic synchonous Position Mode The cyclic synchronous position mode is used to directly control the position of the motor. It contains limit functions, but not a trajectory generator. The trajectory generator is located in the control device (the master), not in the drive device.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 Trinamic Speciﬁc Bits Bit Name Deﬁnition 14 Motor activity 0: Motor stands still. 1: Motor rotates. 15 Direction of rotation This bit shows the direction of rotation. Table 312: Trinamic Speciﬁc Bits Operation Mode speciﬁc Bits in csp Mode Bit Name Deﬁnition 10 Reserved Not used. 12 Target position ignored 0: Target position ignored. 1: Target position used as input to position controller.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 105 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 316: Entry Description (6041h in csp Mode) 9.1.3 Object 6062h : Position Demand Value This object provides the demanded position value. The value is given in microsteps. Object 6062h indicates the actual position that the motor should have.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 9.1.5 106 / 118 Object 6064h : Position Actual Value This object provides the actual value of the position measurement device. It always contains the same value as object 6063h .
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 107 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw Refer to CiA402-3 SIGNED32 0 Table 326: Entry Description (607Ah in csp Mode) 9.1.8 Object 607Dh : Software Position Limit This object indicates the conﬁgured maximal and minimal software position limits.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 108 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw yes -2147483648. . . 2147483647 0 Table 330: Entry Description (60B0h ) 9.1.10 Object 60C2h : Interpolation Time Period This object indicates the interpolation cycle time. The interpolation time period (sub-index 01h ) is given in 10interpolation_time_index s.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 10 109 / 118 Emergency Messages (EMCY) The module sends an emergency message if an error occurs. The message contains information about the error type. The module can map internal errors and object 1001h (error register) is part of every emergency object.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 Error code Additional byte 110 / 118 Description 1 2 3 4 5 8110h 1 255 0 0 0 CAN controller overﬂow The receive message buffer of the CAN controller hardware is full and some CAN messages are lost. 8110h 2 255 0 0 0 CAN Tx buffer overﬂow The software CAN transmit buffer is full and thus some CAN messages are lost.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 11 1 2 3 4 5 6 7 111 / 118 Figures Index stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . Energy Eﬃciency Example with coolStep Typical motion proﬁle with TRINAMIC’s sixPoint motion controller . . . . . . . NMT State Machine . . . . . . . . . . . Communication Architecture . . . . . Device Model . . . . . . . . . . . . . . coolStep Adjustment Points and Thresholds . . . . . . . .
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 12 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 112 / 118 Tables Index Abbreviations used in this Manual sixPoint Ramp Parameters . . . . Service Primitives . . . . . . . . . . Service Types . . . . . . . . . . . . Object Dictionary . . . . . . . . . . Object Description (1000h ) . . . . .
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 Object Description (209Ah ) Entry Description (209Ah ) . Object Description (209Bh ) Entry Description (209Bh ) . Object Description (209Ch ) Entry Description (209Ch ) .
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 212 Structure of the Control Word in pp Mode . . . . . . . . . . . . . . . . . . . 213 Operation Mode speciﬁc Bits in pp Mode 214 Command Coding . . . . . . . . . . . . 215 Object Description (6040h in pp Mode) 216 Entry Description (6040h in pp Mode) 217 Structure of the Staus Word in pp Mode 218 Trinamic Speciﬁc Bits . . . . . . . . . . 219 Operation Mode speciﬁc Bits in pp Mode 220 State Coding . . . . .
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 313 Operation Mode speciﬁc Bits in csp Mode . . . . . . . . . . . . . . . . . . . 104 314 State Coding . . . . . . . . . . . . . . . 104 315 Object Description (6041h in csp Mode) 104 316 Entry Description (6041h in csp Mode) 105 317 Object Description (6062h ) . . . . . . . 105 318 Entry Description (6062h ) . . . . . . . 105 319 Object Description (6063h ) . . . . . . . 105 320 Entry Description (6063h ) .
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 13 116 / 118 Supplemental Directives 13.1 Producer Information 13.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2018 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 117 / 118 or of any other nature are made hereunder with respect to information/speciﬁcation or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product.
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PD42-1240 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03 14 Revision History 14.1 Firmware Revision Version Date Author Description V3.21 2017-DEC-01 OK First release. V3.22 2018-DEC-03 OK Supports also hardware V1.2. Table 334: Firmware Revision 14.2 Document Revision Version Date Author Description V1.00 2017-DEC-01 OK First release. V1.01 2018-DEC-03 OK Firmware V3.22 included. Chapters about sixPoint ramp included.