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Module for Stepper

MODULE

TMCM-6212 CANopen

Firmware Manual

Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13

The TMCM-6212 is a six axes controller/driver module for 2-phase bipolar stepper motors with

separate diﬀerential encoder and separate home and stop switch inputs for each axis. Dynamic

current control, and quiet, smooth and eﬃcient operation are combined with StealthChop™, Dc-

Step™, StallGuard2™ and CoolStep™ features. The module oﬀers four analog or digital inputs as

well as four digital outputs in combination with a break chopper unit.

Features

• 6-Axes Stepper Motor Control

• CANopen® CiA-402 Drive Proﬁle

• Encoder Support

• SixPoint™ ramps

• CoolStep™

• DcStep™

• StallGuard2™

• StealthChop™

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

Simpliﬁed Block Diagram

µC

(ARM)

CAN

USB

RS485

Inputs

Outputs

10..35V

I2C

SPI

TMCM-6212

EEPROM

TMC5130

+5V

HOME, REFL, REFR

A/B/N Encoder

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (131 pages)

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MODULE Module for Stepper TMCM-6212 CANopen® Firmware Manual Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 The TMCM-6212 is a six axes controller/driver module for 2-phase bipolar stepper motors with separate differential encoder and separate home and stop switch inputs for each axis. Dynamic current control, and quiet, smooth and eﬃcient operation are combined with StealthChop™, DcStep™, StallGuard2™ and CoolStep™ features.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 2 / 131 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™ . . . . . . . . . . . . . . . . . . . . . .
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 4.2.10 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 4.2.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 4 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 5 / 131 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.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 14 Supplemental Directives 14.1 Producer Information . . . . . . . . . 14.2 Copyright . . . . . . . . . . . . . . . . . 14.3 Trademark Designations and Symbols 14.4 Target User . . . . . . . . . . . . . . . . 14.5 Disclaimer: Life Support Systems . . . 14.6 Disclaimer: Intended Use . . . . . . . 14.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 1 7 / 131 Preface This document speciﬁes objects and modes of operation of the Trinamic TMCM-6212 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.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 8 / 131 – Axis 1: 65, 66, 67, 68 – Axis 2: 129, 130, 131, 132 – Axis 3: 193, 194, 195, 196 – Axis 4: 257, 258, 259, 260 – Axis 5: 321, 322, 323, 324 – Transmission modes: asynchronous, asynchronous with event timer, synchronous. – Dynamic mapping with max. 3 mapping entries. – Default mappings: according to CiA-402 for ﬁrst three PDOs of each axis, manufacturer speciﬁc for other PDOs of each axis.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 10 / 131 motor load, the value reaches zero or is near zero. This is the most energy-eﬃcient point of operation for the motor. stallGuard2 Load [Nm] Initial stallGuard2 (SG) value: 100% Max. load stallGuard2 (SG) value: 0 Maximum load reached. Motor close to stall. Motor stalls Figure 1: StallGuard2 Load Measurement as a Function of Load 1.4.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 1.5 11 / 131 SixPoint™ Motion Controller TRINAMIC’s SixPoint™ motion controller is a new type of ramp generator which offers faster machine operation compared to the classical linear acceleration ramps. The SixPoint™ ramp generator allows adapting the acceleration ramps to the torque curves of a stepper motor.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 12 / 131 Setting the velocity V1 (object 2012h ) to zero switches off the SixPoint™ ramp. In this case, a trapezoidal ramp deﬁned by the parameters VSTART , A2, VMAX , D2 and VSTOP will be used. Note The SixPoint™ ramp will only be used in proﬁle positioning mode (pp mode).
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 2 2.1 13 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 14 / 131 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.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 2.2 15 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 16 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 17 / 131 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.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 18 / 131 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 TMCM-6212 motion control device.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 3 19 / 131 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.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 20 / 131 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 11: 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 22 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no — Depends on device, e.g. 1.0. Table 20: 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.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 23 / 131 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. • Sub-index 5h : saves motor 1 parameters. • Sub-index 6h : saves motor 2 parameters.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 25 / 131 Load Signature d a o l 64h 61h 6Fh 6Ch Table 28: Load Signature On reception of the correct signature in the appropriate sub-index the device restores the parameter and then conﬁrms the SDO transmission (initiate download response). If the restoring failed, the device responds with an abort SDO transfer (abort code: 06060000h ).
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 26 / 131 Object Description Index Name Object Type Data Type 1014h COB-ID emergency object Variable UNSIGNED32 Table 31: Object Description (1014h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 80h + Node ID Table 32: Entry Description (1014h ) 3.1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 27 / 131 Object Description Index Name Object Type Data Type 1016h Consumer heartbeat time Variable UNSIGNED16 Table 36: Object Description (1016h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED16 0 Table 37: Entry Description (1016h ) 3.1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 28 / 131 Object Description Index Name Object Type Data Type 1018h Identity object Record Identity Table 40: Object Description (1018h ) Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 00h Number of entries ro no 0. . .
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 32 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 4 35 / 131 Manufacturer speciﬁc Area The manufacturer segment contains manufacturer speciﬁc objects. These objects control the special features of the Trinamic Motion Control device TMCM-6212. Info This section of the manual only shows the object indices for motor #0. Of course the same objects are also available for the other motors.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 36 / 131 coolStep™ adjustment points and thresholds Velocity Current 2003h 209Ah 20A4h 20A5h The current depends on the load of the motor. 20A6h 2003h 2003h 2004h 2004h 2004h Time 2089h coolStep area area without coolStep Current and objects Time object Velocity and objects stallGuard2 objects Figure 7: CoolStep Adjustment Points and Thresholds ©2019 TRINAMIC Motion Control GmbH & Co.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 37 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 4.2 Detailed Object Speciﬁcations 4.2.1 Object 2000h : Microstep Resolution 38 / 131 This object sets the microstep resolution of the drive. A value of 8 selects 256 (28 ) microsteps per full step.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 4.2.5 40 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 41 / 131 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. Table 68: Bit Deﬁnitions (2005h ) 4.2.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 42 / 131 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Null channel polarity rw no 0/1 0 2 Direction of rotation rw no 0/1 0 3 Initialize position rw no 0/1 1 Table 72: 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 43 / 131 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Mode rw no 0/1 0 2 Latched internal position ro no SIGNED32 0 3 Latched encoder position ro no SIGNED32 0 Table 76: Entry Description (200Fh ) 4.2.11 Object 2010h : Proﬁle Start Velocity This object contains the velocity with which a positioning ramp will be started.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 4.2.13 44 / 131 Object 2012h : Proﬁle V1 This object contains the velocity used for the ﬁrst segment of a positioning ramp. Object Description Index Name Object Type Data Type 2012h Proﬁle V1 Variable UNSIGNED32 Table 81: Object Description (2012h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 16777215 0 Table 82: Entry Description (2012h ) 4.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 45 / 131 Object Description Index Name Object Type Data Type 2015h Ramp Wait Time Variable UNSIGNED16 Table 85: Object Description (2015h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 65535 [0.000032s] 0 Table 86: Entry Description (2015h ) 4.2.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 46 / 131 Object Description Index Name Object Type Data Type 208Ch Velocity Dimension Index Variable UNSIGNED8 Table 89: Object Description (208Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/181 181 Table 90: Entry Description (208Ch ) 4.2.18 Object 208Eh : Acceleration Dimension Index With this object, the unit for acceleration can be read out.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 47 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 3 2 Table 94: Entry Description (2092h ) 4.2.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 4.2.22 48 / 131 Object 2095h : Chopper Hysteresis End This object provides the setting of the hysteresis end value after a number of decrements. The decrement interval time is controlled by object 2094h (section 4.2.21). Possible values are: • -3. . . -1 – negative hysteresis end setting • 0 – zero hysteresis end setting • 1. . .
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 49 / 131 Minimum is 64 clocks. Setting this parameter to zero completely disables all driver transistors and so lets the motor free-wheel. Object Description Index Name Object Type Data Type 2097h Chopper Off Time Variable UNSIGNED8 Table 103: Object Description (2097h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0 / 2. . .
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 50 / 131 • 2 – 2 measurements • 3 – 1 measurements – fastest decrement Object Description Index Name Object Type Data Type 2099h Smart Energy Current Down Step Variable UNSIGNED8 Table 107: Object Description (2099h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 3 0 Table 108: Entry Description (2099h ) 4.2.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 51 / 131 • 1 – 2 steps • 2 – 4 steps • 3 – 8 steps – fastest increment Object Description Index Name Object Type Data Type 209Bh Smart Energy Current Up Step Variable UNSIGNED8 Table 111: Object Description (209Bh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 3 0 Table 112: Entry Description (209Bh ) 4.2.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 52 / 131 Object Description Index Name Object Type Data Type 209Dh Smart Energy Filter Enable Variable UNSIGNED8 Table 115: Object Description (209Dh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 116: Entry Description (209Dh ) 4.2.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 53 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 120: Entry Description (20A1h ) 4.2.33 Object 20A3h : Vsense This object is used for setting the sense resistor voltage based current scaling. Use the default value and change only when recommended by Trinamic.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 4.2.35 54 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 55 / 131 Object Description Index Name Object Type Data Type 20B1h PWM Gradient Variable UNSIGNED8 Table 129: Object Description (20B1h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 255 0 Table 130: Entry Description (20B1h ) 4.2.38 Object 20B2h : PWM Amplitude Maximum PWM amplitude when switching to StealthChop mode. Do not set too low.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 56 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 16777215 0 Table 134: Entry Description (20B3h ) 4.2.40 Object 20B4h : DcStep Time This setting controls the reference pulse width for DcStep load measurement. It must be optimized for robust operation with maximum motor torque.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 4.2.42 57 / 131 Object 20B6h : Fullstep Threshold Speed Depending on the settings of objects 20B7h and 20B8h (see sections 4.2.43 and 4.2.44) 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 58 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 144: Entry Description (20B8h ) 4.2.45 Object 20B9h : Power Down Ramp The value set by this object controls the number of clock cycles for motor power down after a motion as soon as the motor has stopped and the setting time (set by object 2089h , please see section 4.2.16) has expired.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 4.2.47 Object 2101h : Actual Load Value This object shows the actual load value used for stall detection (StallGuard2™). Object Description Index Name Object Type Data Type 2101h Actual Load Value Variable UNSIGNED16 Table 149: Object Description (2101h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . .
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 60 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . . 255 0 Table 153: Entry Description (2102h ) 4.2.49 Object 2107h : Microstep Resolution Display This object shows the microstep resolution, set by object 2000h (please see section 4.2.1).
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 4.2.51 61 / 131 Object 2121h : PWM Scale Value Actual PWM scale value used when the motor driver is operaing in StealthChop mode. Object Description Index Name Object Type Data Type 2121h PWM Scale Value Variable UNSIGNED8 Table 158: Object Description (2121h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . .
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 62 / 131 Object Description Index Name Object Type Data Type 3000h TMCL Direct Communication Variable UNSIGNED32 Table 162: Object Description (3000h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 656b616dh 0 Table 163: Entry Description (3000)h 4.2.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 63 / 131 Bit Deﬁnitions Bit Description 16 IN0 17 IN1 18 IN2 19 IN3 Table 166: Bit Deﬁnitions (3002h ) Object Description Index Name Object Type Data Type 3002h Device Digital Inputs Variable UNSIGNED32 Table 167: Object Description (3002h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro yes – 0 Table 168: Entry Description (3002)h 4.2.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 64 / 131 Object Description Index Name Object Type Data Type 3003h Device Digital Outputs Variable ARRAY Table 170: Object Description (3003h ) 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 171: Entry Description (3003h ) 4.2.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 65 / 131 To change the node ID, ﬁrst write the new node ID to this object. Then, store the new setting by writing the save signature to object 3006h . After that, reset the module. The new setting then becomes active.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 Object Description Index Name Object Type Data Type 3007h CAN Bit Rate Load Variable UNSIGNED8 Table 178: Object Description (3007h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 20. . . 1000 depends on bit rate Table 179: Entry Description (3007)h 4.2.61 Object 3008h : Node ID Load This object shows the selected node ID.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Analog input 0 ro yes 0. . . 65535 – 2 Analog input 1 ro yes 0. . . 65535 – 3 Analog input 2 ro yes 0. . . 65535 – 4 Analog input 3 ro yes 0. . . 65535 – Table 183: Entry Description (300Eh ) ©2019 TRINAMIC Motion Control GmbH & Co.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 5 68 / 131 Proﬁle speciﬁc Area The proﬁle segment contains CiA-402 standard motion control objects. These objects control the motion control functions of the TMCM-6212. 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 70 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0 0 Table 190: Entry Description (605Bh ) 5.1.3 Object 605Ch : Disable Operation Option Code This object indicates what action is performed if there is a transition from operation enabled state to switched on state. The disable operation option code always has the value 1 as only this is supported.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 71 / 131 Object Description Index Name Object Type Data Type 605Dh Halt option code Variable UNSIGNED16 Table 195: Object Description (605Dh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 1 1 Table 196: Entry Description (605Dh ) 5.1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 72 / 131 Value Deﬁnition Value Mode 0 No mode 1 Proﬁle position mode (pp) 3 Proﬁle velocity mode (pv) 6 Homing mode (hm) 8 Cyclic synchronous position mode (csp) 9 Cyclic synchronous velocity mode (csv) Table 200: Value Description (6060h ) The motor will not run when the operating mode is set to 0.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 73 / 131 Value Deﬁnition Value Mode 0 No mode 1 Proﬁle position mode (pp) 3 Proﬁle velocity mode (pv) 6 Homing mode (hm) 8 Cyclic synchronous position mode (csp) 9 Cyclic synchronous velocity mode (csv) Table 203: Value Description (6061h ) The motor will not run when the operating mode is set to 0.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 74 / 131 Object Description Index Name Object Type Data Type 606Ah Sensor selection code Variable SIGNED16 Table 207: Object Description (606Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/-1 -1 Table 208: Entry Description (606Ah ) 5.1.9 Object 608Fh : Position Encoder Resolution This object deﬁnes the resolution of the encoder.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 75 / 131 Object Description Index Name Object Type Data Type 60FDh Digital inputs Variable UNSIGNED32 Table 211: Object Description (60FDh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw mappable UNSIGNED32 0 Table 212: Entry Description (60FDh ) 5.1.11 Object 6502h : Supported Drive Modes This object provides information on the supported drive modes.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no UNSIGNED32 Depends on supported modes. Table 215: Entry Description (6502h ) ©2019 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 6 77 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 6.1.1 78 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 79 / 131 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 219: 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 220: Entry Description (6040h in pp Mode) 6.1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 80 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 81 / 131 Object Description Index Name Object Type Data Type 6062h Position Demand Value Variable SIGNED32 Table 227: Object Description (6062h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 228: Entry Description (6062h ) 6.1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 82 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 232: 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 83 / 131 Object Description Index Name Object Type Data Type 6067h Position Window Variable UNSIGNED32 Table 235: Object Description (6067h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 FFFFFFFFh Table 236: Entry Description (6067h ) 6.1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 84 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 240: Entry Description (606Ch ) 6.1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 85 / 131 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 244: Entry Description (607Dh ) 6.1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 6.1.14 86 / 131 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 4.2.18.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 87 / 131 Object Description Index Name Object Type Data Type 6085h Quick stop deceleration Variable UNSIGNED32 Table 253: Object Description (6085h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 51200 Table 254: Entry Description (6085h ) 6.1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 6.2 88 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 7 89 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 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 263: 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 92 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 267: 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 7.1.5 93 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 7.1.7 94 / 131 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 4.2.17).
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 7.1.9 95 / 131 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 4.2.18.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 96 / 131 Object Description Index Name Object Type Data Type 60FFh Target Velocity Variable SIGNED32 Table 284: Object Description (60FFh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 SIGNED32 0 Table 285: Entry Description (60FFh ) 7.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 8 97 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 8.1 98 / 131 Homing Methods The TMCM-6212 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 8.1.2 99 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 100 / 131 5 5 Index pulse Home switch Figure 14: Homing Method 5 8.1.5 Homing Method 17: Homing on negative Limit Switch Using this method, the initial direction of movement shall be leftward if the negative limit switch is inactive (here: low). The home position shall at the point where the negative limit switch becomes inactive. 17 17 Negative limit switch Figure 15: Homing Method 17 8.1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 8.1.7 101 / 131 Homing Method 19: Homing on positive Home Switch Using this method, the initial direction of movement shall be dependent on the state of the home switch. The home position shall be at the point where the home switch changes state. If the initial direction of movement leads away from the home switch, the drive shall reverse on encountering the relevant limit switch.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 102 / 131 33 34 Index pulse Figure 19: Homing Methods 33 and 34 8.1.10 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. ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 8.2 8.2.1 103 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 104 / 131 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 290: 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 291: Entry Description (6040h in hm Mode) 8.2.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 105 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 106 / 131 Object Description Index Name Object Type Data Type 606Ch Velocity Actual Value Variable SIGNED32 Table 298: Object Description (606Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 299: Entry Description (606Ch ) 8.2.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 8.2.5 107 / 131 Object 6098h : Homing Method The homing method to be used can be selected by writing to this object. Please see table 286 for a list of homing methods supported by the current version of the TMCM-6212 CANopen ﬁrmware.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 108 / 131 Object Description Index Name Object Type Data Type 609Ah Homing acceleration Variable UNSIGNED32 Table 306: Object Description (609Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 0 Table 307: Entry Description (609Ah ) 8.3 How to start a Homing in hm Mode Here is a little example that shows how to home the motor in hm mode.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 9 109 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 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 313: 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 112 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 317: 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 9.1.5 113 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 114 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw Refer to CiA402-3 SIGNED32 0 Table 327: 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 115 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw yes -2147483648. . . 2147483647 0 Table 331: 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 10 116 / 131 Cyclic synchonous Velocity Mode The cyclic synchronous velocity mode is used to directly control the velocity 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 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 339: Trinamic Speciﬁc Bits Operation Mode speciﬁc Bits in csv Mode Bit Name Deﬁnition 10 Reserved Not used. 12 Target position ignored 0: Target velocity ignored. 1: Target velocity used as input to velocity controller.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 119 / 131 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 343: Entry Description (6041h in csv Mode) 10.1.3 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 4.2.17).
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 120 / 131 target position is checked against these limits. The limit positions are always relative to the machine home position.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 11 122 / 131 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. Please note that the additional byte #2 shows which motor is affected.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 Error code Additional byte 123 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 12 1 2 3 4 5 6 7 8 9 124 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 13 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 52 125 / 131 Tables Index Abbreviations used in this Manual SixPoint Ramp Parameters . . . . Service Primitives . . . . . . . . . . Service Types . . . . . . . . . . . . Object Dictionary . . . . . . . . . . Multi-Axis Object Indices . . . . . .
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 Entry Description (2097h ) . Object Description (2098h ) . Entry Description (2098h ) . Object Description (2099h ) . Entry Description (2099h ) .
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 Object Description (60FDh ) . . . . . . Entry Description (60FDh ) . . . . . . . Value Deﬁnition (6502h ) . . . . . . . . Object Description (6502h ) . . . . . . . Entry Description (6502h ) . . . . . .
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 312 Structure of the Status Word in csp Mode . . . . . . . . . . . . . . . . . . . 110 313 Trinamic Speciﬁc Bits . . . . . . . . . . 111 314 Operation Mode speciﬁc Bits in csp Mode . . . . . . . . . . . . . . . . . . . 111 315 State Coding . . . . . . . . . . . . . . . 111 316 Object Description (6041h in csp Mode) 111 317 Entry Description (6041h in csp Mode) 112 318 Object Description (6062h ) . . . . . .
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 14 129 / 131 Supplemental Directives 14.1 Producer Information 14.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2019 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 130 / 131 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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TMCM-6212 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13 15 15.1 131 / 131 Revision History Firmware Revision Version Date Author Description 3.19 2016-JUL-13 OK First release. 3.20 2017-JUN-17 OK Save parameter function ﬁxed. 3.21 2018-JAN-10 OK CSP mode included. 3.22 2019-FEB-11 OK CSV mode included. Internal performance optimized. Automatic brake control switched off by default (default value of object 200Ch sub-index 2 now 0).