User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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– 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.
Further Characteristics
• SYNC: consumer (TPDOs 3, 67, 131, 195, 259, 323 are synchronous PDOs)
• Emergency: producer
• RTR: supported only for node guarding/life guarding
• Heartbeat: consumer and producer
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