CANopen Manual Datasheet by Trinamic Motion Control GmbH

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Cflflopen A TRINAMIC MOTION CONTROL
CANopen MODULES FOR STEPPER MOTORS MODULES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
CANopen Firmware Version V3.18
CANopen MANUAL
TMCM-351
3-axis stepper
controller/driver board
2.8A RMS / 24V DC
Encoder interface
TMCM-341
3-axis
controller board
for SPI drivers
Vlogic 5V DC
TMCM-342
3-axis
controller board
for step/dir drivers
Vlogic 5V DC
TMCM-343
3-axis stepper
controller/driver board
Vnom 8…34 V DC / Vlogic 5V DC
1.1A RMS
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 2
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Table of Contents
1 Preface ............................................................................................................................................................................. 6
1.1 General Features of the CANopen Implementation .................................................................................. 6
1.2 Abbreviations ........................................................................................................................................................ 7
1.3 Firmware Update ................................................................................................................................................. 7
2 Communication ............................................................................................................................................................. 8
2.1 Reference Model .................................................................................................................................................. 8
2.2 NMT State Machine .............................................................................................................................................. 9
2.3 Device Model....................................................................................................................................................... 11
2.4 Object Dictionary ............................................................................................................................................... 12
3 Communication Objects ........................................................................................................................................... 13
3.1 Detailed Object Specifications ....................................................................................................................... 13
3.1.1 Object 1000h: Device Type ......................................................................................................................... 13
3.1.2 Object 1001h: Error Register...................................................................................................................... 13
3.1.3 Object 1005h: COB-ID SYNC Message ..................................................................................................... 14
3.1.4 Object 1008h: Manufacturer Device Name ............................................................................................ 14
3.1.5 Object 1009h: Manufacturer Hardware Version ................................................................................... 14
3.1.6 Object 100Ah: Manufacturer Software Version .................................................................................... 14
3.1.7 Object 100Ch: Guard Time ......................................................................................................................... 15
3.1.8 Object 100Dh: Life Time Factor ................................................................................................................ 15
3.1.9 Object 1010h: Store Parameters ............................................................................................................... 15
3.1.10 Object 1011h: Restore Default Parameters ........................................................................................... 16
3.1.11 Object 1014h: COB-ID Emergency Object .............................................................................................. 18
3.1.12 Object 1015h: Inhibit Time EMCY ............................................................................................................ 18
3.1.13 Object 1016h: Consumer Heartbeat Time .............................................................................................. 18
3.1.14 Object 1017h: Producer Heartbeat Time ................................................................................................ 18
3.1.15 Object 1018h: Identity Object ................................................................................................................... 19
3.1.16 Object 1023h: OS Command ..................................................................................................................... 19
3.1.17 Object 1029h: Error Behavior .................................................................................................................... 19
3.1.18 Objects 1400h-1405h: Receive PDO Communication Parameter ...................................................... 20
3.1.19 Objects 1440h-1445h: Receive PDO Communication Parameter ...................................................... 20
3.1.20 Objects 1480h-1485h: Receive PDO Communication Parameter ...................................................... 21
3.1.21 Objects 1600h-1605h: Receive PDO Mapping ........................................................................................ 22
3.1.22 Objects 1640h-1645h: Receive PDO Mapping ........................................................................................ 23
3.1.23 Objects 1680h-1685h: Receive PDO Mapping ........................................................................................ 24
3.1.24 Objects 1800h-1805h: Transmit PDO Communication Parameter .................................................... 25
3.1.25 Objects 1840h-1845h: Transmit PDO Communication Parameter .................................................... 26
3.1.26 Objects 1880h-1885h: Transmit PDO Communication Parameter .................................................... 27
3.1.27 Objects 1A00h-1A05h: Transmit PDO Mapping Parameter ................................................................ 28
3.1.28 Objects 1A40h-1A45h: Transmit PDO Mapping Parameter ................................................................ 29
3.1.29 Objects 1A80h-1A85h: Transmit PDO Mapping Parameter ................................................................ 30
4 Device Profile Objects (CiA402) and Modes of Operation .............................................................................. 31
4.1 Detailed Object Specifications ....................................................................................................................... 31
4.1.1 Object 605Ah, 685Ah, and 705Ah: Quick Stop Option Code .............................................................. 31
4.1.2 Object 605Bh, 685Bh, and 705Bh: Shutdown Option Code ............................................................... 32
4.1.3 Object 605Ch, 685Ch, and 705Ch: Disable Operation Option Code ................................................. 32
4.1.4 Object 605Dh, 685Dh, and 705Dh: Halt Option Code ........................................................................... 32
4.1.5 Object 605Eh, 685Eh, and 705Eh: Fault Reaction Option Code ......................................................... 33
4.1.6 Object 6060h, 6860h, and 7060h: Modes of Operation ....................................................................... 33
4.1.7 Object 6061h, 6861h, and 7061h: Modes of Operation Display ........................................................ 34
4.1.8 Object 606Ah, 686Ah, and 706Ah: Sensor Selection Code ................................................................. 34
4.1.9 Object 6085h, 6885h, and 7085h: Quick Stop Deceleration................................................................ 35
4.1.10 Object 608Fh, 688Fh, and 708Fh: Position Encoder Resolution........................................................ 35
4.1.11 Object 60C5h, 68C5h, and 70C5h: Max Acceleration ............................................................................. 35
4.1.12 Object 60C6h, 68C6h, and 70C6h: Max Deceleration ............................................................................ 36
4.1.13 Object 60FDh, 68FDh, and 70FDh: Digital Inputs ................................................................................. 36
4.1.14 Object 6502h, 6D02h, and 7502h: Supported Drive Modes ................................................................ 37
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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2 Profile Position Mode ....................................................................................................................................... 38
4.2.1 Detailed object specifications .................................................................................................................. 38
4.2.1.1 Object 6040h, 6840h, and 7040h: Controlword ........................................................................... 39
4.2.1.2 Object 6041h, 6841h, and 7041h: Statusword .............................................................................. 40
4.2.1.3 Object 6062h, 6862h, and 7062h: Position Demand Value ...................................................... 41
4.2.1.4 Object 6063h, 6863h, and 7063h: Position Actual Internal Value .......................................... 41
4.2.1.5 Object 6064h, 6864h, and 7064h: Position Actual Value .......................................................... 41
4.2.1.6 Object 6065h, 6865h, and 7065h: Following Error Window .................................................... 42
4.2.1.7 Object 6067h, 6867h, and 7067h: Position Window .................................................................. 42
4.2.1.8 Object 6068h, 6868h, and 7068h: Position Window Time ....................................................... 43
4.2.1.9 Object 606Ch, 686Ch, and 706Ch: Velocity Actual Value ........................................................... 43
4.2.1.10 Object 607Ah, 687Ah, and 707Ah: Target Position ..................................................................... 43
4.2.1.11 Object 607Dh, 687Dh, and 707Dh: Software Position Limit .................................................... 44
4.2.1.12 Object 607Fh, 687Fh, and 707Fh: Maximum Profile Velocity ................................................... 44
4.2.1.13 Object 6081h, 6881h, and 7081h: Profile Velocity....................................................................... 44
4.2.1.14 Object 6083h, 6883h, and 7083h: Profile Acceleration .............................................................. 45
4.2.1.15 Object 6084h, 6884h, and 7084h: Profile Deceleration .............................................................. 45
4.2.1.16 Object 6086h, 6886h, and 7086h: Motion Profile Type .............................................................. 45
4.2.2 How to move a motor in pp mode ....................................................................................................... 46
4.3 Homing Mode ..................................................................................................................................................... 47
4.3.1 Connecting home switch, left switch, and right switch.................................................................. 48
4.3.1.1 TMCM-341/342/343 ............................................................................................................................. 48
4.3.1.2 TMCM-351 ............................................................................................................................................. 49
4.3.2 Connecting a brake ..................................................................................................................................... 50
4.3.2.1 TMCM-341/342/343 ............................................................................................................................. 50
4.3.2.2 TMCM-351 ............................................................................................................................................. 50
4.3.3 Homing Methods ......................................................................................................................................... 51
4.3.4 Detailed Object Definitions ...................................................................................................................... 54
4.3.4.1 Object 6040h, 6840h, and 7040h: Controlword ........................................................................... 54
4.3.4.2 Object 6041h, 6841h, and 7041h: Statusword .............................................................................. 55
4.3.4.3 Object 606Ch, 686Ch, and 706Ch: Velocity Actual Value ........................................................... 55
4.3.4.4 Object 607Ch, 687Ch, and 707Ch: Home Offset ........................................................................... 56
4.3.4.5 Object 6098h, 6898h, and 7098h: Homing Method .................................................................... 56
4.3.4.6 Object 6099h, 6899h, and 7099h: Homing Speeds ..................................................................... 57
4.3.4.7 Object 609Ah, 689Ah, and 709Ah: Homing Acceleration .......................................................... 57
4.3.4.8 Object 2100h: Home Offset Display .............................................................................................. 57
4.3.5 How to start a homing in hm mode .................................................................................................... 58
4.4 Velocity Mode ..................................................................................................................................................... 59
4.4.1 Detailed object definitions ....................................................................................................................... 59
4.4.1.1 Object 6040h, 6840h, and 7040h: Controlword ........................................................................... 59
4.4.1.2 Object 6041h, 6841h, and 7041h: Statusword .............................................................................. 60
4.4.1.3 Object 6042h, 6842h, and 7042h: vl Target Velocity .................................................................. 60
4.4.1.4 Object 6043h, 6843h, and 7043h: vl Velocity Demand .............................................................. 61
4.4.1.5 Object 6044h, 6844h, and 7044h: vl Velocity Actual Value ...................................................... 61
4.4.1.6 Object 6046h, 6846h, and 7046h: vl Velocity Min Max Amount.............................................. 61
4.4.1.7 Object 6048h, 6848h, and 7048h: vl Velocity Acceleration ....................................................... 62
4.4.1.8 Object 6049h, 6849h, and 7049h: vl Velocity Deceleration ...................................................... 62
4.4.2 How to Move a Motor in vl Mode .......................................................................................................... 63
4.5 Profile Velocity Mode ....................................................................................................................................... 64
4.5.1.1 Object 6040h, 6840h, and 7040h: Controlword ........................................................................... 64
4.5.1.2 Object 6041h, 6841h, and 7041h: Statusword .............................................................................. 65
4.5.1.3 Object 6062h, 6862h, and 7062h: Position Demand Value ...................................................... 65
4.5.1.4 Object 6063h, 6863h, and 7063h: Position Actual Internal Value .......................................... 66
4.5.1.5 Object 6064h, 6864h, and 7064h: Position Actual Value .......................................................... 66
4.5.1.6 Object 6065h, 6865h, and 7065h: Following Error Window .................................................... 66
4.5.1.7 Object 606Ch, 686Ch, and 706Ch: Velocity Actual Value ........................................................... 67
4.5.1.8 Object 607Dh, 687Dh, and 707Dh: Software Position Limit .................................................... 67
4.5.1.9 Object 6083h, 6883h, and 7083h: Profile Acceleration .............................................................. 67
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 4
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.5.1.10 Object 6084h, 6884h, and 7084h: Profile Deceleration .............................................................. 68
4.5.1.11 Object 60FFh, 62FFh, and 64FFh: Target Velocity ....................................................................... 68
4.5.2 How to Move a Motor in pv Mode......................................................................................................... 68
5 Manufacturer Specific Area ...................................................................................................................................... 69
5.1 Detailed Object Specifications ....................................................................................................................... 69
5.1.1 Object 2000h, 2200h, and 2400h: Microstep Resolution ..................................................................... 69
5.1.2 Object 2001h, 2201h, and 2401h: Fullstep Resolution ......................................................................... 69
5.1.3 Object 2002h, 2202h, and 2402h: Brake Delay Times .......................................................................... 70
5.1.4 Object 2003h, 2203h, and 2403h: Maximum Current ............................................................................ 70
5.1.5 Object 2004h, 2204h, and 2404h: Standby Current............................................................................... 71
5.1.6 Object 2005h, 2205h, and 2405h: Limit Switches ................................................................................. 71
5.1.7 Object 2006h, 2206h, and 2406h: Mixed Decay Threshold ................................................................. 72
5.1.8 Object 2007h, 2207h, and 2407h: Stall Detection Threshold ............................................................. 72
5.1.9 Object 2009h, 2209h, and 2409h: Fullstep Threshold .......................................................................... 72
5.1.10 Object 200Ah, 220Ah, and 240Ah: Enable Drive Delay Time ............................................................. 73
5.1.11 Object 200Bh, 220Bh, and 240Bh: Encoder parameters ...................................................................... 73
5.1.12 Object 200Ch, 220Ch, and 240Ch: Brake Current Feed ........................................................................ 74
5.1.13 Object 204Eh, 224Eh, and 244Eh: Boost Current ................................................................................ 74
5.1.14 Object 2085h, 2285h, and 2485h: Ramp Divisor .................................................................................... 74
5.1.15 Object 2086h, 2286h, and 2486h: Pulse Divisor .................................................................................... 75
5.1.16 Object 2087h, 2287h, and 2487h: Maximum Velocity ........................................................................... 75
5.1.17 Object 2088h, 2288h, and 2488h: Maximum Acceleration .................................................................. 76
5.1.18 Object 208Ch, 228Ch, and 248Ch: Velocity Dimension Index ............................................................ 76
5.1.19 Object 208Eh, 228Eh, and 248Eh: Acceleration Dimension Index .................................................... 77
5.1.20 Object 2100h, 2300h, and 2500h: Home Offset Display ...................................................................... 77
5.1.21 Object 2101h, 2301h, and 2501h: Actual stallGuard™ Load Value .................................................. 77
5.1.22 Object 2102h, 2302h, and 2502h: Driver Error Flags ............................................................................ 78
5.1.23 Object 2103h, 2303h, and 2503h: Pulse Divisor Display ..................................................................... 78
5.1.24 Object 2104h, 2304h, and 2504h: Maximum Velocity Display ........................................................... 78
5.1.25 Object 2105h, 2305h, and 2505h: Ramp Divisor Display ..................................................................... 79
5.1.26 Object 2106h, 2306h, and 2506h: Maximum Acceleration Display ................................................... 79
5.1.27 Object 2107h, 2307h, and 2507h: Microstep Resolution Display ...................................................... 79
5.1.28 Object 2700h: TMCL™ Direct Communication ...................................................................................... 79
5.1.29 Object 2701h: Manufacturer Specific Mode ........................................................................................... 80
5.1.30 Object 2702h: Digital Inputs ..................................................................................................................... 80
5.1.31 Object 2703h: Digital Outputs ................................................................................................................... 80
5.1.32 Object 2704h: CAN Bit Rate ....................................................................................................................... 81
5.1.33 Object 2705h: Node ID ................................................................................................................................ 81
5.1.34 Object 2706h: Store...................................................................................................................................... 82
5.1.35 Object 2707h: CAN bit Rate Load ............................................................................................................. 82
5.1.36 Object 2708h: Node ID load ...................................................................................................................... 82
5.1.37 Object 2709h: Encoder Interface .............................................................................................................. 82
5.1.38 Object 270Ah: Encoder Interface Display .............................................................................................. 83
5.1.39 Object 270Eh: Device Analog Inputs ...................................................................................................... 83
6 Emergency Messages ................................................................................................................................................ 84
7 Life Support Policy ..................................................................................................................................................... 86
8 Revision History .......................................................................................................................................................... 87
8.1 Firmware revision ............................................................................................................................................. 87
8.2 Document Revision ........................................................................................................................................... 88
9 References .................................................................................................................................................................... 89
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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Table of Figures
Figure 2.1 Overview CANopen NMT state machine .................................................................................................. 9
Figure 2.2 Communication architecture .................................................................................................................... 10
Figure 2.3 Device model ................................................................................................................................................ 11
Figure 3.1 Restore procedure ....................................................................................................................................... 17
Figure 4.1 Finite state machine ................................................................................................................................... 38
Figure 4.2 Homing mode function (motor 0) .......................................................................................................... 47
Figure 4.3: 68-pin connector of the TMCM-34x ........................................................................................................ 48
Figure 4.4: Pin order of the connector ...................................................................................................................... 48
Figure 4.5: Connectors of TMCM-351 .......................................................................................................................... 49
Figure 4.6 Homing on negative switch and index pulse ..................................................................................... 51
Figure 4.7 Homing on positive limit switch and index pulse ............................................................................ 51
Figure 4.8 Homing on positive home switch and index pulse .......................................................................... 52
Figure 4.9 Homing on negative home switch and index pulse......................................................................... 52
Figure 4.10 Homing without index pulse ................................................................................................................. 53
Figure 4.11 Homing on index pulse ........................................................................................................................... 53
Figure 4.12 Home offset definition ............................................................................................................................. 56
Figure 4.13 Transfer characteristic of the velocity acceleration ......................................................................... 62
Figure 5.1 Brake output timing .................................................................................................................................... 70
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 6
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
1 Preface
This document specifies objects and modes of operation of the TRINAMIC modules TMCM-341, TMCM-
342, TMCM-343, and TMCM-351 with CANopen firmware. As these products are stepper motor controller
and driver modules the use of the CiA DSP402 protocol (described in the CiA CANopen drives and
motion control device profile, Part 2) is fundamental. The CANopen firmware is designed to fulfill the
DS301 version 4.02 and DS402 version 3.o standards. The CiA conformance has also been tested. This
CANopen firmware has been developed to turn the ARM-based TRINAMIC motion control modules into
CANopen compatible ones. There are versions for each module. This manual assumes that the reader is
already familiar with the basics of the CANopen protocol (especially DS301 and DS402). On the
following pages you will find a short overview and afterwards the information will be more in detail.
If necessary, you can always turn the board back into a TMCL module by loading the TMCL firmware
into the drive again.
1.1 General Features of the CANopen Implementation
MAIN CHARACTERISTICS
Communication according to standard CiA-301 V4.1
CAN bit rate: 20… 1000kBit/s
CAN ID: 11 bit
Node ID: 1… 127 (use vendor specific objects)
NMT services: NMT slave
SDO communication
- 1 server
- Expedited transfer
- Segmented transfer
- No block transfer
PDO communication
- Producer
- Consumer
- RPDOs
Axis 0: 1, 2, 3, 4, 6
Axis 1: 65, 66, 67, 68, 70
Axis 2: 129, 130, 131, 132, 134
Transmission modes: asynchronous
Dynamic mapping with max. 3 mapping entries
Default mappings: according to CiA-402 for PDO 1, 2, 3 and 6, manufacturer specific for
PDO4
- TPDOs
Axis 0: 1, 2, 3, 4, 6
Axis 1: 65, 66, 67, 68, 70
Axis 2: 129, 130, 131, 132, 134
Transmission modes: asynchronous, asynchronous with event timer, synchronous
Dynamic mapping with max. 3 mapping entries
Default mappings: according to CiA-402 for PDO 1, 2, 3 and 6, manufacturer specific for
PDO
Further Characteristics
SYNC: consumer (TPDO3, TPDO6, TPDO67, TPDO70, TPDO131, and TPDO134 are synchronous
PDOs)
Emergency: producer
RTR: supported only for node guarding/life guarding
Heartbeat: consumer and producer
(http://wwwm namincom
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 7
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
1.2 Abbreviations
ABBREVIATIONS
CAN
Controller area network
CHGND
chassis ground / earth ground
COB
Communication object
FSA/
FSM
Finite state automaton/
Finite state machine
NMT
Network management
ID
Identifier
LSB
Least significant bit
MSB
Most significant bit
PDO
Process data object
PDS
Power drive system
RPDO
Receive process data object
SDO
Service data object
TPDO
Transmit process data object
EMCY
Emergency object
rw
Read and write
ro
Read only
hm
Homing mode
pp
Profile position mode
pv
Profile velocity mode
vm
Velocity mode
Table 1.1 Abbreviations
1.3 Firmware Update
The software running on the microprocessor consists of two parts, a boot loader and the CANopen
firmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC and
remains untouched throughout the whole lifetime, the CANopen firmware can easily be updated by
the user. New versions can be downloaded free of charge from the TRINAMIC website
(http://www.trinamic.com). The CANopen firmware can be loaded into the modules easily just by
using the firmware update function of the TMCL-IDE.
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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
2 Communication
2.1 Reference Model
The application layer comprises a concept to configure and communicate real-time-data which
synchronizes devices. The functionality the application layer offers to an application is logically
divided over different service data objects (SDO) in the application layer. A service object offers a
specific functionality and all the related services.
Applications interact by invoking services of a service object in the application layer. To realize these
services this object exchanges data via the CAN Network with peer service object(s) using a protocol.
The application and the application layer interact with service primitives.
SERVICE PRIMITIVES
Request
Indication
Response
Confirmation
Table 2.1 Service primitives
A service type defines the primitives that are exchanged between the application layer and the
cooperating applications for a particular service of a service object. Unconfirmed and confirmed
services are collectively called remote services.
SERVICE TYPES
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. This request is transferred to the peer service object(s) that
each passes it to their application as an indication. The result is not confirmed
back.
Confirmed
service
Can involve only one peer service object. The application issues a request to its
local service object. This request is transferred to the peer service object that
passes it to the other application as an indication. The other application issues a
response that is transferred to the originating service object that passes it as a
confirmation to the requesting application.
Provider
initiated service
Involves only the local service object. The service object (being the service
provider) detects an event not solicited by a requested service. This event is then
indicated to the application.
Table 2.2 Service types
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2.2 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
contains the following states:
Pre-operational
Operational
Stopped
Initialization
ID / Boot-up
Figure 2.1 Overview CANopen NMT state machine
After power-on or reset the device enters the Initialization state.
After the device initialization is finished, the device automatically transits to the Pre-operational
state and indicates this state transition by sending the boot-up message. This way the device
indicates that it is ready to work. A device that stays in Pre-operational state may start to transmit
SYNC-, time stamp- or heartbeat message. In contrast to the PDO communication which is disabled
in this state, the device can communicate via SDO.
The PDO communication is only possible within the Operational state. During Operational state the
device can use all supported communication objects.
A device that was switched to the Stopped state only reacts on received NMT commands. In
addition the device indicates the current NMT state by supporting the error control protocol during
Stopped state.
The transitions between states are made by issuing a network management (NMT) communication
object to the device. The NMT protocols are used to generate state machine change commands (e.g.
to start and to stop the device), detect remote device boot-ups and error conditions.
The Heartbeat message of a CANopen device contains the device status of the NMT state machine
and is sent cyclically by the CANopen device.
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The Figure 2.2 shows the situation of the state machine in this device profile.
Device control state machine
CANopen Communication Profile CiA DS301
Modes of operation:
[used in this manual / according
to CiA DSP 402]
Homing mode
Profile position mode
Profile velocity mode
Velocity mode
CANopen device profile CiA DSP 402
CAN
Figure 2.2 Communication architecture
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2.3 Device Model
Following the device model, the device consists of three parts: communication, object dictionary,
and application.
Communication This function unit provides the communication objects and the appropriate
functionality to transport data items via the underlying network structure.
Object dictionary The object dictionary is a collection of all the data items which have an
influence on the behavior of the application objects, the communication
objects and the state machine used on this device.
Application The application comprises the functionality of the device with respect to the
interaction with the process environment.
Communication Application
Object
dictionary
State machine Application
object
Application
object
Application
object
Application
object
Communication
object
Communication
object
Communication
object
Communication
object
Entry 1
Entry 2
Entry n
Bus system Process
Figure 2.3 Device model
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2.4 Object Dictionary
The most important part of a device profile is the object dictionary description. The Object
Dictionary is essentially a grouping of objects accessible via the network in an ordered pre-defined
fashion. Each object within the dictionary is addressed using a 16-bit index.
THE OVERALL LAYOUT OF THE STANDARD OBJECT DICTIONARY IS AS FOLLOWS:
Index (hex)
Object
0000
Not used
0001 - 001F
Static data types
0020 - 003F
Complex data types
0040 - 005F
Manufacturer specific complex data types
0060 - 007F
Device profile specific static data types
0080 - 009F
Device profile specific complex data types
00A0 - 0FFF
Reserved for further use
1000 - 1FFF
Communication profile area*1
2000 - 5FFF
Manufacturer specific profile area*2
6000 - 9FFF
Standardized device profile area*3
A000 - BFFF
Standardized interface profile area
C000 - FFFF
Reserved for further use
Table 2.3 Object Dictionary
*1 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.
*2 The manufacturer segment at indices 2000h through 5FFFh contains manufacturer specific
objects. These objects control special features of the TRINAMIC TMCM-34x resp. TMCM-351 modules.
*3 The standardized device profile area at indices 6000h through 9FFFh contains all data objects
common to a class of devices that can be read or written via the network. The device profiles use
entries from 6000h to 9FFFh to describe the device parameters and the device functionality.
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3 Communication Objects
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. It is composed of a 16-bit field which describes the device profile that is used and
a second 16-bit field which gives additional information about optional functionality of the device.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1000h
Device type
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
r0
no
UNSIGNED32
40192h
3.1.2 Object 1001h: Error Register
This object is an error register. The module can map internal errors and object 1001h is part of an
emergency object.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1001h
Error register
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
r0
yes
UNSIGNED8
no
STRUCTURE OF THE ERROR REGISTER
Bit
M/O
Description
0
M
Generic error
1
O
Current
2
O
Voltage
3
O
Temperature
4
O
Communication error
5
O
Device profile specific
6
O
Reserved (always 0)
7
O
Manufacturer specific
If a bit is set to 1, the specific error has occurred.
age me
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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.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1005h
COB-ID SYNC Message
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
no
UNSIGNED32
80h
3.1.4 Object 1008h: Manufacturer Device Name
This object contains the manufacturer device name.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1008h
Manufacturer device name
Variable
visible string
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
Const.
no
no
module specific:
TMCM-341
TMCM-342
TMCM-343
TMCM-351
3.1.5 Object 1009h: Manufacturer Hardware Version
This object contains the hardware version description.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1009h
Manufacturer hardware version
Variable
visible string
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
Const.
no
no
depends on hardware
version
3.1.6 Object 100Ah: Manufacturer Software Version
This object contains the software version description.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
100Ah
Manufacturer software version
Variable
visible string
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
Const.
no
no
according to software version
Storage wnte access structure
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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. The life time factor multiplied with the guard time gives the life time for the life
guarding protocol.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
100Ch
Guard time
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
ro, if life guarding is
not supported
no
UNSIGNED16
0000h
3.1.8 Object 100Dh: Life Time Factor
The life time factor multiplied with the guard time gives the life time for the life guarding protocol.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
100Dh
Life time factor
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
ro, if life guarding is
not supported
no
UNSIGNED8
00h
3.1.9 Object 1010h: Store Parameters
This object supports the saving of parameters in non volatile memory. By read access the device
provides information about its saving capabilities.
This command can only be carried out if the module is in ready to switch on mode.
SEVERAL PARAMETER GROUPS ARE DISTINGUISHED:
- Sub-index 0h contains the largest sub-index that is supported.
- Sub-index 1h saves all parameters.
- Sub-index 2h: saves communication parameters 100Ch, 100Dh, 1015h, 1017h, and 1029h.
- Sub-index 4h stores parameters for the motor axis 0.
- Sub-index 5h stores parameters for the motor axis 1.
- Sub-index 6h stores parameters for the motor axis 2.
- Sub-index 7h: saves device parameters / TRINAMIC specific parameters (2000h 270Eh).
In order to avoid storage of parameters by mistake, storage is only executed when a specific
signature is written to the appropriate Sub-Index. This signature is safe.
Storage write access structure
Signature
MSB
LSB
ISO 8859 ASCII
e
v
a
s
hex
65h
76h
61h
73h
On reception of the correct signature in the appropriate sub-index the device stores the parameter
and then confirms the SDO transmission (initiate download response). If the storing failed, the
device responds with an Abort SDO transfer (abort code: 0606 0000h).
Storage read access structure 32
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If a wrong signature is written, the device refuses to store and responds with Abort SDO transfer (abort
code: 0800 002xh).
On read access to the appropriate sub-index the device provides information about its storage
functionality with the following format.
Storage read access structure
UNSIGNED 32
MSB
LSB
bits its
31-2
1
0
reserved
1/0
1/0
Bit-number
Value
Meaning
31-2
0
reserved
1
0
1
Device does not save parameters autonomously
Device saves parameters autonomously
0
0
1
Device does not save parameters on command
Device saves parameters on command
Autonomous saving means that a device stores the storable parameters in a non-volatile manner
without user request.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1010h
Store parameters
ARRAY
UNSIGNED 32
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Largest sub-index supported
ro
no
1h-7Fh
no
01h
Save all parameters
rw
no
UNSIGNED32
no
02h
Save special communication
parameters
rw
no
UNSIGNED32
no
04h
Save motor axis 1 parameters
rw
no
UNSIGNED32
no
05h
Save motor axis 2 parameters
rw
no
UNSIGNED32
no
06h
Save motor axis 3 parameters
rw
no
UNSIGNED32
no
07h
Save device parameters
(TRINAMIC specific parameters)
rw
no
UNSIGNED32
no
Please mind the figures above which explain the value ranges of the write access and the read access
for the sub-indices.
3.1.10 Object 1011h: Restore Default 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.
This command can only be carried out if the module is in ready to switch on mode.
SEVERAL PARAMETER GROUPS ARE DISTINGUISHED:
- Sub-index 0h: contains the largest sub-index that is supported.
- Sub-index 1h: restores all parameters.
- Sub-index 2h: restores communication parameters 100Ch, 100Dh, 1015h, 1017h, and 1029h.
- Sub-index 4h: restores motor axis 0 parameters
- Sub-index 5h: restores motor axis 1 parameters
- Sub-index 6h: restores motor axis 2 parameters
- Sub-index 7h: restores device parameters / TRINAMIC specific parameters (2000h… 270Eh).
Structure of restore read access
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In order to avoid the restoring of default parameters by mistake, restoring is only executed when a
specific signature is written to the appropriate sub-index. The signature is load.
Signature
MSB
LSB
ASCII
d
a
o
l
hex
64h
61h
6Fh
6Ch
On reception of the correct signature in the appropriate sub-index the device restores the default
parameters and then confirms the SDO transmission (initiate download response). If the restoring
failed, the device responds with an Abort SDO Transfer (abort code: 0606 0000h). If a wrong
signature is written, the device refuses to restore the defaults and responds with an Abort SDO
Transfer (abort code: 0800 002xh).
The default values are set valid after the device is reset (reset node for sub-index 1h 7Fh, reset
communication for sub-index 2h) or power cycled.
reset / power cycle
default values valid
restore default
Figure 3.1 Restore procedure
On read access to the appropriate sub-index the device provides information about its default
parameter restoring capability with the following format.
Structure of restore read access
UNSIGNED 32
MSB
LSB
bits
31-1
0
reserved (0)
0/1
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1011h
Restore default parameters
ARRAY
UNSIGNED 32
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Largest sub-index supported
ro
no
1h-7Fh
no
01h
Restore all default parameters
rw
no
UNSIGNED32
no
02h
Restore special communication
parameters
rw
no
UNSIGNED32
no
04h
Restore motor axis 0 parameters
rw
no
UNSIGNED32
no
05h
Restore motor axis 1 parameters
rw
no
UNSIGNED32
no
06h
Restore motor axis 2 parameters
rw
no
UNSIGNED32
no
07h
Restore device parameters
(TRINAMIC specific parameters)
rw
no
UNSIGNED32
no
Please mind the figures above which explain the value ranges of the write access and the read
access for the sub-indices.
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3.1.11 Object 1014h: COB-ID Emergency Object
This object defines the COB-ID of the emergency object (EMCY).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1014h
COB-ID emergency object
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
no
UNSIGNED32
80h + NODE ID
3.1.12 Object 1015h: Inhibit Time EMCY
The inhibit time for the EMCY message can be adjusted via this entry. The time has to be a multiple
of 100µs.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1015h
Inhibit time EMCY
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
no
UNSIGNED16
0
3.1.13 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. The time has to be a multiple of 1ms.
MSB
LSB
bits
31-24
23-16
15-0
value
Reserved
Node-ID
Heartbeat time
encoded as
-
UNSIGNED8
UNSIGNED16
Table 3.1 Structure of consumer heartbeat time entry
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1016h
Consumer heartbeat time
ARRAY
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of entries
ro
no
0… 127
no
01h
Consumer heartbeat time
rw
no
UNSIGNED32
no
3.1.14 Object 1017h: Producer Heartbeat Time
The producer heartbeat time defines the cycle time of the heartbeat. The producer heartbeat time is
0 if it is not used. The time has to be a multiple of 1ms.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1017h
Producer heartbeat time
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
no
UNSIGNED16
0
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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 0286h.
- The manufacturer-specific Product code (sub-index 2h) identifies a specific device version.
- The Manufacturer-specific Revision number (sub-index 3h) consists of a major revision
number and a minor revision number.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
Category
1018h
Identity object
RECORD
Identity
Optional
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of entries
ro
no
0… 3
number of entries:3
01h
Vendor ID (TRINAMIC)
ro
no
UNSIGNED32
reads 0286h
02h
Product code
ro
no
UNSIGNED32
depends on device e.g. 341, 342, 343, 351
03h
Revision number
ro
no
UNSIGNED32
firmware revision number;
reads e.g. 2003h for version 2.3
04h
Serial number
ro
no
UNSIGNED32
serial number
3.1.16 Object 1023h: OS Command
The OS Command object is used as a command driven interface to programmable devices. The host
system puts the command into the object OS Command, which is of the type Command Par.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
Category
1023h
OS command
RECORD
Command Par
Optional
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of
supported entries
ro
no
3
number of entries: 3 (for direct TMCL
communication)
01h
Command (TMCL
command)
rw
no
Octet string
no
02h
Status (error code
of a TMCL
command)
ro
no
UNSIGNED8
no
03h
Reply (reply of a
TMCL command)
ro
no
Octet string
no
3.1.17 Object 1029h: Error Behavior
If a device failure is detected in operational state, the device can be configured to enter alternatively
the stopped state or remain in the current state in case of a device failure. Device failures include
the following errors:
- Communication error
- Application error
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1029h
Error behavior
ARRAY
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of error classes
ro
no
2h
2
01h
Communication error
rw
no
UNSIGNED8
0 (enter stopped state)
02h
Application error
rw
no
UNSIGNED8
1 (remain in current state)
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3.1.18 Objects 1400h-1405h: Receive PDO Communication Parameter
These objects contain the communication parameters for the PDOs of motor 0 the device is able to
receive. The sub-index 0h contains the number of valid entries within the communication record. Its
value is at least 2.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1400h-1405h
Receive PDO parameter
RECORD
PDO CommPar
1400h
RPDO 1
RECORD
PDO CommPar
1401h
RPDO 2
RECORD
PDO CommPar
1402h
RPDO 3
RECORD
PDO CommPar
1403h
RPDO 4
RECORD
PDO CommPar
1405h
RPDO 6
RECORD
PDO CommPar
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Largest sub-index
supported
ro
no
Number of
entries: 2
2
01h
COB-ID used by
PDO
rw
no
UNSIGNED32
Index 1400h: 200h + Node-ID
Index 1401h: 300h + Node-ID
Index 1402h: 400h + Node-ID
Index 1403h: 500h + Node-ID
Index 1405h: 0
02h
Transmission type
rw
no
UNSIGNED8
Index 1400h: Ffh
Index 1401h: Ffh
Index 1402h: Ffh
Index 1403h: Ffh
Index 1405h: Ffh
3.1.19 Objects 1440h-1445h: Receive PDO Communication Parameter
This object contains the communication parameters for the PDOs of motor 1 the device is able to
receive. The sub-index 0h contains the number of valid entries within the communication record. Its
value is at least 2.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1440h-1445h
Receive PDO parameter
RECORD
PDO CommPar
1440h
RPDO 1
RECORD
PDO CommPar
1441h
RPDO 2
RECORD
PDO CommPar
1442h
RPDO 3
RECORD
PDO CommPar
1443h
RPDO 4
RECORD
PDO CommPar
1445h
RPDO 6
RECORD
PDO CommPar
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Largest sub-index
supported
ro
no
Number of
entries: 2
2
01h
COB-ID used by
PDO
rw
no
UNSIGNED32
Index 1440h: 0
Index 1441h: 0
Index 1442h: 0
Index 1443h: 0
Index 1445h: 0
02h
Transmission type
rw
no
UNSIGNED8
Index 1440h: Ffh
Index 1441h: Ffh
Index 1442h: Ffh
Index 1443h: Ffh
Index 1445h: Ffh
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3.1.20 Objects 1480h-1485h: Receive PDO Communication Parameter
These objects contain the communication parameters for the PDOs of motor 2 the device is able to
receive. The sub-index 0h contains the number of valid entries within the communication record. Its
value is at least 2.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1400h-1405h
Receive PDO parameter
RECORD
PDO CommPar
1480h
RPDO 1
RECORD
PDO CommPar
1481h
RPDO 2
RECORD
PDO CommPar
1482h
RPDO 3
RECORD
PDO CommPar
1483h
RPDO 4
RECORD
PDO CommPar
1485h
RPDO 6
RECORD
PDO CommPar
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Largest sub-index
supported
ro
no
Number of
entries: 2
2
01h
COB-ID used by
PDO
rw
no
UNSIGNED32
Index 1480h: 0
Index 1481h: 0
Index 1482h: 0
Index 1483h: 0
Index 1485h: 0
02h
Transmission type
rw
no
UNSIGNED8
Index 1480h: Ffh
Index 1481h: Ffh
Index 1482h: Ffh
Index 1483h: Ffh
Index 1485h: Ffh
n n n n n n
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3.1.21 Objects 1600h-1605h: Receive PDO Mapping
These objects contain the mapping for the PDOs of motor 0 the device is able to receive. The sub-
index 0h 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/received with the
corresponding PDO. The sub-indices from 1h to the number of entries contain the information about
the mapped application variables. These entries describe the PDO contents by their index, sub-index
and length. The values are hexadecimally coded.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1600h-1605h
Receive PDO mapping
RECORD
PDO Mapping
1600h
Mapping for RPDO 1
RECORD
PDO Mapping
1601h
Mapping for RPDO 2
RECORD
PDO Mapping
1602h
Mapping for RPDO 3
RECORD
PDO Mapping
1603h
Mapping for RPDO 4
RECORD
PDO Mapping
1605h
Mapping for RPDO 6
RECORD
PDO Mapping
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of mapped
application objects in
PDO
rw
no
1… 3
0 deactivated
Index 1600h: 1
Index 1601h: 2
Index 1602h: 2
Index 1603h: 2
Index 1605h: 2
01h
Mapping entry 1
rw
no
UNSIGNED32
Index 1600h: 60400010h
Index 1601h: 60400010h
Index 1602h: 60400010h
Index 1603h: 60400010h
Index 1605h: 60400010h
02h
Mapping entry 2
rw
no
UNSIGNED32
Index 1600h: 0
Index 1601h: 60600008 h
Index 1602h: 607A0020h
Index 1603h: 60FF0020h
Index 1605h: 60420010h
03h
Mapping entry 3
rw
no
UNSIGNED32
Index 1600h: 0
Index 1601h: 0
Index 1602h: 0
Index 1603h: 0
Index 1605h: 0
n n n n n n
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3.1.22 Objects 1640h-1645h: Receive PDO Mapping
These objects contain the mapping for the PDOs of motor 1 the device is able to receive. The sub-
index 0h 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/received with the
corresponding PDO. The sub-indices from 1h to the number of entries contain the information about
the mapped application variables. These entries describe the PDO contents by their index, sub-index
and length. All three values are hexadecimal coded.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1640h-1645h
Receive PDO mapping
RECORD
PDO Mapping
1640h
Mapping for RPDO 65
RECORD
PDO Mapping
1641h
Mapping for RPDO 66
RECORD
PDO Mapping
1642h
Mapping for RPDO 67
RECORD
PDO Mapping
1643h
Mapping for RPDO 68
RECORD
PDO Mapping
1645h
Mapping for RPDO 70
RECORD
PDO Mapping
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of mapped
application objects in
PDO
rw
no
1… 3
0 deactivated
Index 1640h: 1
Index 1641h: 2
Index 1642h: 2
Index 1643h: 2
Index 1645h: 2
01h
Mapping entry 1
rw
no
UNSIGNED32
Index 1640h: 68400010h
Index 1641h: 68400010h
Index 1642h: 68400010h
Index 1643h: 68400010h
Index 1645h: 68400010h
02h
Mapping entry 2
rw
no
UNSIGNED32
Index 1640h: 0
Index 1641h: 68600008 h
Index 1642h: 687A0020h
Index 1643h: 68FF0020h
Index 1645h: 68420010h
03h
Mapping entry 3
rw
no
UNSIGNED32
Index 1640h: 0
Index 1641h: 0
Index 1642h: 0
Index 1643h: 0
Index 1645h: 0
n n n n n n
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3.1.23 Objects 1680h-1685h: Receive PDO Mapping
These objects contain the mapping for the PDOs of motor 2 the device is able to receive. The sub-
index 0h 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/received with the
corresponding PDO. The sub-indices from 1h to the number of entries contain the information about
the mapped application variables. These entries describe the PDO contents by their index, sub-index
and length. All three values are hexadecimal coded.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1680h-1685h
Receive PDO mapping
RECORD
PDO Mapping
1680h
Mapping for RPDO 129
RECORD
PDO Mapping
1681h
Mapping for RPDO 130
RECORD
PDO Mapping
1682h
Mapping for RPDO 131
RECORD
PDO Mapping
1683h
Mapping for RPDO 132
RECORD
PDO Mapping
1685h
Mapping for RPDO 134
RECORD
PDO Mapping
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of mapped
application objects in
PDO
rw
no
1… 3
0 deactivated
Index 1680h: 1
Index 1681h: 2
Index 1682h: 2
Index 1683h: 2
Index 1685h: 2
01h
Mapping entry 1
rw
no
UNSIGNED32
Index 1680h: 70400010h
Index 1681h: 70400010h
Index 1682h: 70400010h
Index 1683h: 70400010h
Index 1685h: 70400010h
02h
Mapping entry 2
rw
no
UNSIGNED32
Index 1680h: 0
Index 1681h: 70600008 h
Index 1682h: 707A0020h
Index 1683h: 70FF0020h
Index 1685h: 70420010h
03h
Mapping entry 3
rw
no
UNSIGNED32
Index 1680h: 0
Index 1681h: 0
Index 1682h: 0
Index 1683h: 0
Index 1685h: 0
n n
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3.1.24 Objects 1800h-1805h: Transmit PDO Communication Parameter
These objects contain the communication parameters for the PDOs of motor 0 the device is able to
transmit.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1800h-1805h
Transmit PDO communication
parameter
RECORD
PDO CommPar
1800h
TPDO 1 transmit
communication parameter
RECORD
PDO CommPar
1801h
TPDO 2 transmit0
communication parameter
RECORD
PDO CommPar
1802h
TPDO 3 transmit
communication parameter
RECORD
PDO CommPar
1803h
TPDO 4 transmit
communication parameter
RECORD
PDO CommPar
1805h
TPDO 6 transmit
communication parameter
RECORD
PDO CommPar
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Largest sub-index supported
ro
no
2… 5
Number of
entries: 5
5
01h
TPDO 1-4, 6: COB-ID
rw
no
UNSIGNED32
Index 1800h: 180h + Node-ID
Index 1801h: 280h + Node-ID
Index 1802h: 380h + Node-ID
Index 1803h: 480h + Node-ID
Index 1805h: 0
02h
Transmission type
rw
no
UNSIGNED8
Index 1800h: ffh
Index 1801h: ffh
Index 1802h: 1
Index 1803h: 1
Index 1805h: 1
03h
Inhibit time
rw
no
UNSIGNED16
0
04h
Compatibility entry
ro
no
UNSIGNED8
0
05h
Event timer
rw
no
0 not used
UNSIGNED16
0
n n
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3.1.25 Objects 1840h-1845h: Transmit PDO Communication Parameter
These objects contain the communication parameters for the PDOs of motor 1 the device is able to
transmit.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1840h-1845h
Transmit PDO communication
parameter
RECORD
PDO CommPar
1840h
TPDO 65 transmit
communication parameter
RECORD
PDO CommPar
1841h
TPDO 66 transmit0
communication parameter
RECORD
PDO CommPar
1842h
TPDO 67 transmit
communication parameter
RECORD
PDO CommPar
1843h
TPDO 68 transmit
communication parameter
RECORD
PDO CommPar
1845h
TPDO 70 transmit
communication parameter
RECORD
PDO CommPar
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Largest sub-index supported
ro
no
2… 5
Number of
entries: 5
5
01h
TPDO 1-4, 6: COB-ID
rw
no
UNSIGNED32
Index 1840h: 0
Index 1841h: 0
Index 1842h: 0
Index 1843h: 0
Index 1845h: 0
02h
Transmission type
rw
no
UNSIGNED8
Index 1840h: ffh
Index 1841h: ffh
Index 1842h: 1
Index 1843h: 1
Index 1845h: 1
03h
Inhibit time
rw
no
UNSIGNED16
0
04h
Compatibility entry
ro
no
UNSIGNED8
0
05h
Event timer
rw
no
0 not used
UNSIGNED16
0
n n
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3.1.26 Objects 1880h-1885h: Transmit PDO Communication Parameter
These objects contain the communication parameters for the PDOs of motor 2 the device is able to
transmit.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1880h-1885h
Transmit PDO communication
parameter
RECORD
PDO CommPar
1880h
TPDO 129 transmit
communication parameter
RECORD
PDO CommPar
1881h
TPDO 130 transmit0
communication parameter
RECORD
PDO CommPar
1882h
TPDO 131 transmit
communication parameter
RECORD
PDO CommPar
1883h
TPDO 132 transmit
communication parameter
RECORD
PDO CommPar
1885h
TPDO 134 transmit
communication parameter
RECORD
PDO CommPar
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Largest sub-index supported
ro
no
2… 5
Number of
entries: 5
5
01h
TPDO 1-4, 6: COB-ID
rw
no
UNSIGNED32
Index 1880h: 0
Index 1881h: 0
Index 1882h: 0
Index 1883h: 0
Index 1885h: 0
02h
Transmission type
rw
no
UNSIGNED8
Index 1880h: ffh
Index 1881h: ffh
Index 1882h: 1
Index 1883h: 1
Index 1885h: 1
03h
Inhibit time
rw
no
UNSIGNED16
0
04h
Compatibility entry
ro
no
UNSIGNED8
0
05h
Event timer
rw
no
0 not used
UNSIGNED16
0
D0 D0 D0 D0
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3.1.27 Objects 1A00h-1A05h: Transmit PDO Mapping Parameter
These objects contain the mapping for the PDOs the device is able to transmit.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1A00h-1A05h
Transmit PDO mapping
parameter
RECORD
PDO mapping
1A00h
TPDO 1: transmit PDO
mapping parameter
RECORD
PDO mapping
1A01h
TPDO 2: transmit PDO
mapping parameter
RECORD
PDO mapping
1A02h
TPDO 3: transmit PDO
mapping parameter
RECORD
PDO mapping
1A03h
TPDO 4: transmit PDO
mapping parameter
RECORD
PDO mapping
1A05h
TPDO 6: transmit PDO
mapping parameter
RECORD
PDO mapping
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of mapped application
objects in PDO
rw
no
0 deactivated
Number of entries:
1… 3
Index 1A00h: 1
Index 1A01h: 2
Index 1A02h: 2
Index 1A03h: 2
Index 1A05h: 2
01h
Mapping entry 1
rw
no
UNSIGNED32
Index 1A00h: 60410010h
Index 1A01h: 60410010h
Index 1A02h: 60410010h
Index 1A03h: 60410010h
Index 1A05h: 60410010h
02h
Mapping entry 2
rw
no
UNSIGNED32
Index 1A00h: 0
Index 1A01h: 60610008h
Index 1A02h: 60640020h
Index 1A03h: 606c0020h
Index 1A05h: 60440010h
03h
Mapping entry 3
rw
no
UNSIGNED32
Index 1A00h: 0
Index 1A01h: 0
Index 1A02h: 0
Index 1A03h: 0
Index 1A05h: 0
D0 D0 D0 D0
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3.1.28 Objects 1A40h-1A45h: Transmit PDO Mapping Parameter
These objects contain the mapping for the PDOs of motor 1 the device is able to transmit.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1A40h-1A45h
Transmit PDO mapping
parameter
RECORD
PDO mapping
1A40h
TPDO 65: transmit PDO
mapping parameter
RECORD
PDO mapping
1A41h
TPDO 66: transmit PDO
mapping parameter
RECORD
PDO mapping
1A42h
TPDO 67: transmit PDO
mapping parameter
RECORD
PDO mapping
1A43h
TPDO 68: transmit PDO
mapping parameter
RECORD
PDO mapping
1A45h
TPDO 70: transmit PDO
mapping parameter
RECORD
PDO mapping
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of mapped application
objects in PDO
rw
no
0 deactivated
Number of entries:
1… 3
Index 1A40h: 1
Index 1A41h: 2
Index 1A42h: 2
Index 1A43h: 2
Index 1A45h: 2
01h
Mapping entry 1
rw
no
UNSIGNED32
Index 1A40h: 68410010h
Index 1A41h: 68410010h
Index 1A42h: 68410010h
Index 1A43h: 68410010h
Index 1A45h: 68410010h
02h
Mapping entry 2
rw
no
UNSIGNED32
Index 1A40h: 0
Index 1A41h: 68610008h
Index 1A42h: 68640020h
Index 1A43h: 686c0020h
Index 1A45h: 68440010h
03h
Mapping entry 3
rw
no
UNSIGNED32
Index 1A40h: 0
Index 1A41h: 0
Index 1A42h: 0
Index 1A43h: 0
Index 1A45h: 0
PDO PDO r PDO PDO
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3.1.29 Objects 1A80h-1A85h: Transmit PDO Mapping Parameter
These objects contain the mapping for the PDOs of motor 2 the device is able to transmit.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1A80h-1A85h
Transmit PDO mapping
parameter
RECORD
PDO mapping
1A80h
TPDO 129: transmit PDO
mapping parameter
RECORD
PDO mapping
1A81h
TPDO 130: transmit PDO
mapping parameter
RECORD
PDO mapping
1A82h
TPDO 131: transmit PDO
mapping parameter
RECORD
PDO mapping
1A83h
TPDO 132: transmit PDO
mapping parameter
RECORD
PDO mapping
1A85h
TPDO 134: transmit PDO
mapping parameter
RECORD
PDO mapping
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of mapped application
objects in PDO
rw
no
0 deactivated
Number of entries:
1… 3
Index 1A80h: 1
Index 1A81h: 2
Index 1A82h: 2
Index 1A83h: 2
Index 1A85h: 2
01h
Mapping entry 1
rw
no
UNSIGNED32
Index 1A80h: 70410010h
Index 1A81h: 70410010h
Index 1A82h: 70410010h
Index 1A83h: 70410010h
Index 1A85h: 70410010h
02h
Mapping entry 2
rw
no
UNSIGNED32
Index 1A80h: 0
Index 1A81h: 70610008h
Index 1A82h: 70640020h
Index 1A83h: 706c0020h
Index 1A85h: 70440010h
03h
Mapping entry 3
rw
no
UNSIGNED32
Index 1A80h: 0
Index 1A81h: 0
Index 1A82h: 0
Index 1A83h: 0
Index 1A85h: 0
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4 Device Profile Objects (CiA402) and Modes of
Operation
The PDS (power drive system) behavior depends on the activated mode of operation. The PDS
implements several modes of operation. 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.
The control device writes to the modes of operation object in order to select the operation mode.
The drive device provides the modes of operation display object to indicate the actual activated
operation mode. Controlword, statusword, and set-points are used mode-specific. This implies the
responsibility of the control device to avoid inconsistencies and erroneous behavior.
THE FOLLOWING OPERATION MODES CAN BE CHOSEN:
- Profile position mode
- Homing mode
- Velocity mode
- Profile velocity mode
Please refer to object 6060h (section 4.1.6) for information about how to choose an operation mode.
4.1 Detailed Object Specifications
4.1.1 Object 605Ah, 685Ah, and 705Ah: Quick Stop Option Code
This object indicates what action is performed when the quick stop function is executed. The slow
down ramp is the deceleration value of the used mode of operations. The following quick stop
option codes are supported in the current version of the CANopen firmware:
VALUE DEFINITION
Value
Definition
1
Slow down on slow down ramp and transit into switch on disabled
2
Slow down on quick stop ramp and transit into switch on disabled
5
Slow down on slow down ramp and stay in quick stop active
6
Slow down on quick stop ramp and stay in quick stop active
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
605Ah (motor 0)
Quick stop option code
Variable
SIGNED16
685Ah (motor 1)
705Ah (motor 2)
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
See value definition above
2
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4.1.2 Object 605Bh, 685Bh, and 705Bh: 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 slow down ramp is the deceleration value of the used mode of
operations. The shutdown option code always has the value 0 as only this is supported.
VALUE DEFINITION
Value
Definition
0
Disable drive function (switch-off the drive power stage)
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
605Bh (motor 0)
685Bh (motor 1)
705Bh (motor 2)
Shutdown option code
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
r0
Refer to CiA402-3
See value definition above
0
4.1.3 Object 605Ch, 685Ch, and 705Ch: Disable Operation Option Code
These objects indicate 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. The slow down ramp is the deceleration value of the used mode of operation.
VALUE DEFINITION
Value
Definition
1
Slow down with slow down ramp; disable of the drive function
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
605Ch (motor 0)
685Ch (motor 1)
705Ch (motor 2)
Disable operation option code
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
See value definition above
1
4.1.4 Object 605Dh, 685Dh, and 705Dh: 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. The halt option code always has the
value 1 as only this is supported.
VALUE DEFINITION
Value
Definition
1
Slow down on slow down ramp and stay in operation enabled
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
605Dh (motor 0)
685Dh (motor 1)
705Dh (motor 2)
Halt option code
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
r0
Refer to CiA402-3
See value definition above.
1
de
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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.1.5 Object 605Eh, 685Eh, and 705Eh: Fault Reaction Option Code
This object indicates what action is performed when fault is detected in the power drive system. The
slow down ramp is the deceleration value of the used mode of operation. The fault reaction option
code always has the value 2 as only this is supported.
VALUE DEFINITION
Value
Definition
2
Slow down on quick stop ramp
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
605Eh (motor 0)
685Eh (motor 1)
705Eh (motor 2)
Fault reaction option code
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
r0
Refer to CiA402-3
See value definition above
2
4.1.6 Object 6060h, 6860h, and 7060h: Modes of Operation
This object indicates the requested operation mode. Supported operating modes are:
VALUE DEFINITION
Value
Definition
0
No mode*
1
Profile position mode
2
Velocity mode
3
Profile velocity mode
6
Homing mode
* A motor will not run when the operating mode is set to 0. It will be stopped when the motor is running in one of the
supported operating modes and the operating mode is then switched to 0.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6060h (motor 0)
6860h (motor 1)
7060h (motor 2
Modes of operation
Variable
SIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
See value definition above
0
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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.1.7 Object 6061h, 6861h, and 7061h: Modes of Operation Display
This object shows the operating mode that is set.
VALUE DEFINITION
Value
Definition
0
No mode*
1
Profile position mode
2
Velocity mode
3
Profile velocity mode
6
Homing mode
* The motor will not run when the operating mode is set to 0. It will be stopped when the motor is running in one of the
supported operating modes and the operating mode is then switched to 0.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6061h (motor 0)
6861h (motor 1)
7061h (motor 2)
Modes of operation
display
Variable
SIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
See value definition above
0
4.1.8 Object 606Ah, 686Ah, and 706Ah: Sensor Selection Code
This object provides the source of the velocity sensor actual value. It selects whether an encoder is to
be used or not.
VALUE DEFINITION
Value
Definition
0
Encoder used
-1
No encoder
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
606Ah (motor 0)
686Ah (motor 1)
706Ah (motor 2)
Sensor selection code
Variable
SIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
See value definition above.
-1
mutur revuluttunx
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4.1.9 Object 6085h, 6885h, and 7085h: Quick Stop Deceleration
These objects indicate the configured deceleration used to stop a motor when the quick stop
function is activated and the quick stop code object (605Ah/685Ah/705Ah) is set to 2 [or 6]. The value
is given in the same unit as profile acceleration object 6083h. The units can be chosen with objects
208Eh/228Eh/248Eh, described in paragraph 0. The objects 208Eh/228Eh/248Eh read 0 when internal
units are selected or 179 when user units (PPS/s) are selected.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6085h (motor 0)
6885h (motor 1)
7085h (motor 2)
Quick stop deceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
UNSIGNED32
1000
4.1.10 Object 608Fh, 688Fh, and 708Fh: Position Encoder Resolution
These objects define the resolution of the encoder. The position encoder resolution is calculated by
the following formula:
  

All values are dimensionless.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
608Fh (motor 0)
688Fh (motor 1)
708Fh (motor 2)
Encoder resolution
Array
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Description
Entry category
Access
PDO Mapping
Value Range
Default Value
00h
Highest sub index
supported
Mandatory
c
Refer to CiA402
02h
2
01h
Encoder
increments
Mandatory
rw
Refer to CiA402
UNSIGNED32
1
02h
Motor revolutions
Mandatory
ro
Refer to CiA402
UNSIGNED32
2
4.1.11 Object 60C5h, 68C5h, and 70C5h: Max Acceleration
This object indicates the configured maximal acceleration. It is used to limit the acceleration to an
acceptable value in order to prevent the motor and the moved mechanics from being destroyed. It is
given in internal or user specific units (depending on object 208Ch, paragraph 5.1.18, object 2087h and
object 2088h, paragraph 5.1.16 and paragraph 5.1.17.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
60C5h (motor 0)
68C5h (motor 1)
70C5h (motor 2)
Max acceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
UNSIGNED32
Depends on the units
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4.1.12 Object 60C6h, 68C6h, and 70C6h: Max Deceleration
This object indicates the configured maximal deceleration. It is used to limit the acceleration to an
acceptable value in order to prevent the motor and the moved mechanics from being destroyed. The
max deceleration is given in internal or user specific units (depending on object 208Ch, paragraph
5.1.18, object 2087h and object 2088h, paragraph 5.1.16 and paragraph 5.1.17). Object 60C6h has the
same unit as the max acceleration object 60C5h.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
60C6h (motor 0)
68C6h (motor 1)
70C6h (motor 2)
Max deceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
UNSIGNED32
Depends on the units
4.1.13 Object 60FDh, 68FDh, and 70FDh: Digital Inputs
This object contains the states of the digital inputs of the module. Starting from bit 0, every bit reflects
the state of one digital input. The number of valid bits depends on the number of digital inputs on the
module used.
VALUE DEFINITION
Value
Definition
0b
Switched off
1b
Switched on
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
60FDh (motor 0)
68FDh (motor 1)
70FDh (motor 2)
Digital inputs
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
r0
Refer to CiA402-3
UNSIGNED32
0000 0000h
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4.1.14 Object 6502h, 6D02h, and 7502h: Supported Drive Modes
00000025h which means that the following modes are provided by the drive:
- 0 = no mode
- 1 = profile position mode
- 2 = velocity mode
- 3 = profile velocity mode
- 6 = homing mode
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6502h (motor 0)
6D02h (motor 1)
7502h (motor 2)
Supported drive modes
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
r0
Refer to CiA402-3
See above
00000025h
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4.2 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 objects 6060h/6860h/7060h (section 4.1.6) for information about how to choose an
operation mode. Object 6061h/6861h/7061h (section 4.1.7) show the operation mode for each motor
that is set.
4.2.1 Detailed object specifications
The following text offers detailed object specifications. For a better understanding, it is necessary to
see how the state machine works.
Power disabled Fault
Power enabled
Start
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enable
Quick stop active
Fault reaction active
Fault
Controlword 6040h
Statusword 6041h
0
1
2
3
45
6
7
8
9
10 12
16
11
13
13
13
automatically
15
14
automatically
automatically
Figure 4.1 Finite state machine
NOTES ON STATE TRANSITIONS
- Commands directing a change in state are processed completely and the new state achieved
before additional state change commands are processed.
- Transitions 0 and 1 occur automatically at drive power-on or reset. Transition 14 occurs
automatically, too. All other state changes must be directed by the host.
- Drive function disabled indicates that no current is being supplied to the motor.
- Drive function enabled indicates that current is available for the motor and profile position
and profile velocity reference values may be processed.
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4.2.1.1 Object 6040h, 6840h, and 7040h: Controlword
The controlword indicates the received command controlling the power drive system finite state
automation (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to
Figure 4.1 Finite state machine for detailed information.
STRUCTURE OF CONTROLWORD / VALUE DEFINITION
15 11
nu
10
r oms h fr
98764
oms
3 2 1 0
eo qs ev so
MSB LSB
LEGEND: nu = not used; r = reserved; oms = operation mode specific; h = halt;
fr = fault reset; eo = enable operation; qs = quick stop; ev = enable voltage; so = switch on
OPERATION MODE SPECIFIC BITS IN PP MODE
Bit
Name
Definition
4
New set point
0-to-1: The next positioning will be started after the last
one has completed.
5
Change immediately
Not supported
6
Absolute/relative
0 = new position is absolute; 1 = new position is relative
9
Change set point
Not supported
COMMAND CODING
Command
Bits of controlword
Transitions
Bit 7
Bit 3
Bit 2
Bit 1
Bit 0
Shutdown
0
x
1
1
0
2, 6, 8
Switch on
0
0
1
1
1
3
Switch on + enable
operation
0
1
1
1
1
3 + 4 (NOTE)
Disable voltage
0
x
x
0
x
7, 9, 10, 12
Quick stop
0
x
0
1
x
7, 10, 11
Disable operation
0
0
1
1
1
5
Enable operation
0
1
1
1
1
4, 16
Fault reset
x
x
x
x
15
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6040h (motor 0)
6840h (motor 1)
7040h (motor 2)
Controlword
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
See command
coding above
Device and operation mode specific
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 40
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2.1.2 Object 6041h, 6841h, and 7041h: Statusword
The statusword provides the status of the PDS FSA. It reflects the status of the CiA402 state
machine. Please refer to Figure 4.1 Finite state machine for detailed information. The object is
structured as defined below.
For more information about the coding refer to the CANopen Drives and motion control device
profile, part 2 please.
STRUCTURE OF STATUSWORD / VALUE DEFINITION
15 11 10
tr rm ms w
9876 43210
f oe so rtso
MSB LSB
LEGEND: dir = direction; mot = motor activity; oms = operation mode specific; ila = internal limit
active; tr = target reached; rm = remote; ms = manufacturer specific; w = warning; sod = switch
on disabled; qs = quick stop; ve = voltage enabled; f = fault; oe = operation enabled; so =
switched on; rtso = ready to switch on
5
sod qs veilaomsdir
12
mot
1314
TRINAMIC SPECIFIC BITS
Bit
Name
Definition
14
Motor activity
0 = motor stop; 1 = motor rotates
15
Direction of rotation
This bit determines/shows the direction of rotation
OPERATION MODE SPECIFIC BITS IN PP MODE
Bit
Name
Definition
10
Target reached
Set when the motor is within the target position window
12
Set point acknowledge
0 = set point processed; 1 = set point still in process
13
Following error
Not supported
STATE CODING
Statusword
PDS FSA state
xxxx xxxx x0xx 0000b
Not ready to switch on
xxxx xxxx x1xx 0000b
Switch on disabled
xxxx xxxx x01x 0001b
Ready to switch on
xxxx xxxx x01x 0011b
Switched on
xxxx xxxx x01x 0111b
Operation enabled
xxxx xxxx x00x 0111b
Quick stop active
xxxx xxxx x0xx 1111b
Fault reaction active
xxxx xxxx x0xx 1000b
Fault
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6041h (motor 0)
6841h (motor 1)
7041h (motor 2)
Statusword
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
See state coding
above
no
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 41
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2.1.3 Object 6062h, 6862h, and 7062h: Position Demand Value
These objects provide the demanded position value. The value is given in microsteps. The position
demand value indicates the actual position that the motor should have. It is not to be confused
with the position actual internal value (objects 6063h/6863h/7063h) and position actual value (objects
6064h/6864h/7064h).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6062h (motor 0)
6862h (motor 1)
7062h (motor 2)
Position demand value
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
SIGNED32
no
4.2.1.4 Object 6063h, 6863h, and 7063h: Position Actual Internal Value
These objects provide the actual value of an encoder or a motor. Please use the sensor selection
objects (see paragraph 4.1.8) for selecting the specific motor or the encoder first. The position actual
internal value indicates the actual position of an encoder or a motor re-scaled to the microstep
resolution. The value is given in microsteps.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6063h (motor 0)
6863h (motor 1)
7063h (motor 2)
Position actual internal
value
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
SIGNED32
no
4.2.1.5 Object 6064h, 6864h, and 7064h: Position Actual Value
These objects provide the actual value of a position measurement device. They always contain the
same value as the related position actual internal value objects (6063h/6863h/7063h).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6064h (motor 0)
6864h (motor 1)
7064h (motor 2)
Position actual value
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
SIGNED32
no
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 42
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2.1.6 Object 6065h, 6865h, and 7065h: Following Error Window
This object indicates the configured range of tolerated position values symmetrically to the position
demand value. If the position actual value is out of the following error window, a following error
occurs. A following error may occur when a drive is blocked, e.g., unreachable profile velocity occurs.
The value is given in microsteps. If the value of the following error window is 0 or FFFF FFFFh, the
following control will be switched off.
When the difference between motor position (object 6062h) and encoder position (object 6063h or
6064h) is greater than the value set here, the motor will be stopped and an emergency message will be
sent. Setting this object to zero will turn off this feature completely.
Setting this object to a too low value will lead to false alarms.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6065h (motor 0)
6865h (motor 1)
7065h (motor 2)
Following error
window
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
UNSIGNED32
0… 8388607
4.2.1.7 Object 6067h, 6867h, and 7067h: Position Window
This object indicates the configured symmetrical range of accepted positions relative to the target
position. If the value of the actual position is within the position window, this target position is
regarded as having been reached. The value is given in microsteps. If the value of the position window
is FFFF FFFFh, the position window control is switched off.
If this object is set to zero, the target reached event will be signaled when the demand position
(6062h) has reached the target position (607Ah).
When the position window is set to a value greater than zero, the target reached event will be
signaled when the actual position value (6064h) is within the (target position position window)
and (target position + position window).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6067h (motor 0)
6867h (motor 1)
7067h (motor 2)
Position window
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
UNSIGNED32
0… 8388607
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 43
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2.1.8 Object 6068h, 6868h, and 7068h: Position Window Time
This object indicates the configured time, during which the actual position within the position window
is measured. The value is given in ms. If this object is set to a value greater than zero and also the
position window (6067h) is set to a value greater than zero the target reached event will not be
signaled until the actual position (6064h) is at least as many milliseconds within the position window
as defined by this object.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6068h (motor 0)
6868h (motor 1)
7068h (motor 2)
Position window time
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
UNSIGNED16
0
4.2.1.9 Object 606Ch, 686Ch, and 706Ch: Velocity Actual Value
These objects give the actual velocity value derived either from a velocity sensor or from a position
sensor of the related motor.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
606Ch
686Ch
706Ch
Velocity actual value
Variable
INTEGER32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
INTEGER32
no
4.2.1.10 Object 607Ah, 687Ah, and 707Ah: Target Position
The target position is the position that the drive should move to in profile position mode using the
current settings of motion control parameters (such as velocity, acceleration, deceleration, motion
profile type etc.). The value of these objects is interpreted as absolute or relative depending on the
abs/rel flag in the controlword. It is given in microsteps.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
607Ah (motor 0)
687Ah (motor 1)
707Ah (motor 2)
Target position
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
SIGNED32
-2147483647… +2147483647
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 44
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2.1.11 Object 607Dh, 687Dh, and 707Dh: Software Position Limit
This object indicates the configured maximal and minimal software position limits. These parameters
define the absolute position limits for the position demand value (6062h) and the position actual value
(6064h). Every new target position is checked against these limits. The limit positions are always relative
to the machine home position. Before being compared with the target position (607Ah), they are
corrected internally by the home offset as follows:
Corrected min position limit = min position limit home offset
Corrected max position limit = max position limit home offset
The limit positions are given in microsteps (same as target position). Two limits for moving the motor
in positioning mode can be set here. It will then not be possible to leave this window.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
607Dh (motor 0)
687Dh (motor 1)
707Dh (motor 2)
Software position limit
Array
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Description
Entry category
Access
PDO Mapping
Value Range
Default Value
01h
Min position limit
Mandatory
rw
Refer to CiA402-3
SIGNED32
-2147483647
02h
Max position limit
Mandatory
rw
Refer to CiA402-3
SIGNED32
+2147483647
4.2.1.12 Object 607Fh, 687Fh, and 707Fh: Maximum Profile Velocity
This object indicates the configured maximal allowed velocity in either direction during a profiled
motion. It is the maximum velocity that can be used for positioning. The value is given in internal or
user specific units (depending on object 208Ch, paragraph 5.1.18).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
607Fh (motor 0)
687Fh (motor 1)
707Fh (motor 2)
Maximum profile velocity
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
UNSIGNED32
2047
4.2.1.13 Object 6081h, 6881h, and 7081h: Profile Velocity
This object indicates the configured velocity normally attained at the end of the acceleration ramp
during a profiled motion and is valid for both directions of motion. The profile velocity is the maximum
velocity used when driving to a new position. It is given in internal or user specific units (depending
on object 208Ch, paragraph 5.1.18)
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6081h (motor 0)
6881h (motor 1)
7081h (motor 2)
Profile velocity
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
UNSIGNED32
1000
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 45
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2.1.14 Object 6083h, 6883h, and 7083h: Profile Acceleration
This object indicates the configured acceleration. Object 6083h sets the maximum acceleration to be
used in profile positioning mode.
Please choose the units for object 6083h with object 208Eh, described in paragraph 5.1.19. Object 208Eh
reads 0 when internal units are selected or 179 when user units (PPS/s) are selected.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6083h (motor 0)
6883h (motor 1)
7083h (motor 2)
Profile acceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
UNSIGNED32
1000
4.2.1.15 Object 6084h, 6884h, and 7084h: Profile Deceleration
This object indicates the configured deceleration. It sets the maximum deceleration used in profile
positioning mode.
Please choose the units for object 6084h with object 208Eh, described in paragraph 5.1.19. Object 208Eh
reads 0 when internal units are selected or 179 when user units (PPS/s) are selected. The deceleration
corresponds to the acceleration.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6084h (motor 0)
6884h (motor 1)
7084h (motor 2)
Profile deceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
UNSIGNED32
1000
4.2.1.16 Object 6086h, 6886h, and 7086h: Motion Profile Type
These objects indicate the configured type of motion profile used to perform a profiled motion. Set
these objects to 0 for trapezoid ramps. Only sub-index 00h is supported.
VALUE DEFINITION
Value
Definition
0
Linear ramp, trapezoidal profile
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6086h (motor 0)
6886h (motor 1)
7086h (motor 2)
Motion profile type
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
0
0
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 46
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2.2 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.
- If you do not have any limit switches connected, first disable the limit switch inputs by
writing 3 to object 2005h.
- Select pp mode by writing 1 to object 6060h.
- Write 6 to object 6040h to switch to READY_TO_SWITCH_ON state.
- Write 7 to object 6040h to switch to SWITCHED_ON state.
- Write 15 to object 6040h to switch to OPERATION_ENABLED state.
- Write the desired target position (e.g. 500000) to object 607Ah.
- Mark the new target position as active by writing 31 to object 6040h. The motor starts
moving now.
- Reset the activation by writing 15 to object 6040h (this can be done while the motor is still
moving).
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 47
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.3 Homing Mode
This clause 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.
There is no output data except for those bits in the statusword, which return the status or result of
the homing process and the demand to the position control loops.
There are four sources of the homing signal available: these are positive and negative limit
switches, the home switch and the index pulse from an encoder.
Figure 4.2 shows the defined input objects as well as the output objects. The user can specify the
speeds, acceleration and method of homing. The home offset object 607Ch allows displacing zero in
the coordinate system for the home position.
Homing
method
Controlword 6040h
Homing method 6098h
Homing speeds 6099h
Homing acceleration 609Ah
Home offset 607Ch
Statusword 6041h
Position demand internal value 60FCh
or
Position demand value 6062h
Figure 4.2 Homing mode function (motor 0)
BY CHOOSING A HOMING METHOD, THE FOLLOWING IS DETERMINED:
- the homing signal (positive limit switch, negative limit switch, and home switch),
- the direction of actuation and where appropriate, and
- the position of the index pulse.
The home position and the zero position are offset by the home offset (see object 607Ch).
THERE ARE FOUR SOURCES OF HOMING SIGNAL AVAILABLE:
- negative and positive limit switches
- home switch
- index pulse of an encoder
For the operation of positioning drives, an exact knowledge of the absolute position is normally
required. Since for cost reasons drives often do not have an absolute encoder, a homing operation
is necessary.
Please refer to objects 6060h/6860h/7060h (section 4.1.6) for information about how to choose an
operation mode. Objects 6061h/6861h/7061h (section 4.1.7) show the operation modes that are set for
each motor.
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TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 48
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.3.1 Connecting home switch, left switch, and right switch
First of all it is necessary to connect the switches. The tables and figures below will show you the right
way.
4.3.1.1 TMCM-341/342/343
The 68-pin connector provides communication to a host, configuration of the EEPROM and connection
of SPI drivers as well as connection of reference switches. Pin 1 of this connector is located in the
lower left corner on the top site, while the connector is pointing towards the user.
Figure 4.3: 68-pin connector of the TMCM-34x
PCB
1
268
67
Figure 4.4: Pin order of the connector
Please connect home switch, left switch, and right switch with the power and I/O connector as follows:
CONNECTING SWITCHES
Pin
Name
Function
19
REF_R
Right stop switch input for motor 0
21
REF_L
Left stop switch input for motor 0
45
HOME
Input 0 for motor 0
23
REF_R
Right stop switch input for motor 1
25
REF_L
Left stop switch input for motor 1
47
HOME
Input 1 for motor 1
27
REF_R
Right stop switch input for motor 2
29
REF_L
Left stop switch input for motor 2
49
HOME
Input 2 for motor 2
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TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 49
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.3.1.2 TMCM-351
For the reference switch inputs (two reference switch inputs are supported for each motor) there are
two connector options: either one detachable screw connector (for prototyping, smaller series) or three
separate crimp connectors (for higher volume series).
Analog input 0 / 1
connector
Encoder_0
connector
Encoder_1
connector
Encoder_2
connector
I/O
connector
SPI
connector
CAN
connector
RS232
connector
USB
connector
Reference
connector
Motor
connector
Power
connector
RS485
connector
J1: RS485 bus termination
J2: RS232 / RS485 selection
J3: CAN bus termination
Analog input 2 / 3
connector
J4 - J12: Encoder input termination
Figure 4.5: Connectors of TMCM-351
Please connect home switch, left switch, and right switch with the reference connector and the I/O
connector as follows:
CONNECTING SWITCHES
Pin
Name
Function
1
REF_0_R
Right stop switch input
2
REF_0_L
Left stop switch input
11
HOME_0
Input 0, 24V compatible
5
REF_1_R
Right stop switch input
6
REF_1_L
Left stop switch input
12
HOME_1
Input 1, 24V compatible
9
REF_2_R
Right stop switch input
10
REF_2_L
Left stop switch input
13
HOME_2
Input 2, 24V compatible
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 50
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.3.2 Connecting a brake
The modules provide the opportunity to connect a brake for each motor.
4.3.2.1 TMCM-341/342/343
Please connect the brakes with the power and I/O connector as follows:
CONNECTING BRAKES
Pin
Name
Function
46
OUT_0
Connector for brake of motor o
48
OUT_1
Connector for brake of motor 1
50
OUT_2
Connector for brake of motor 2
4.3.2.2 TMCM-351
Please connect the brakes with the I/O connector of the module as follows:
CONNECTING BRAKES
Pin
Name
Function
1
OUT_0
Connector for brake of motor o
2
OUT_1
Connector for brake of motor 1
3
OUT_2
Connector for brake of motor 2
with:
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 51
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.3.3 Homing Methods
There are several different methods of homing. For choosing your homing method, refer to objects
6098h/6898h/7098h (4.3.4.5).
OVERVIEW: HOMING METHODS
Method no.
Description
0
No homing. This is the default setting.
1
Search the left end switch, than search the next encoder index pulse.
2
Search the right end switch, than search the next encoder index pulse.
3
Search the positive edge of the home switch, than search the next encoder index pulse.
5
Search the negative edge of the home switch, than search the next encoder index pulse.
17
Search the left end switch.
18
Search the right end switch.
19
Search the positive edge of the home switch.
21
Search the negative edge of the home switch.
33
Search next index pulse in negative direction.
34
Search next index pulse in positive direction.
35
The actual position is used as home position. All position values (objects 6062h/6862h/7062h,
6063h/6863h/7063h, and 6064h/6864h/7064h) are set to zero, but the motor will not move.
METHOD 1: HOMING ON NEGATIVE LIMIT SWITCH AND INDEX PULSE
Using this method, the initial direction of movement shall be leftward if the negative limit switch is
inactive (here: low). The home position shall be at the first index pulse to the right of the position
where the negative limit switch becomes inactive.
1
Index pulse
Negative limit switch
Figure 4.6 Homing on negative switch and index pulse
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
Index pulse
Positive limit switch
Figure 4.7 Homing on positive limit switch and index pulse
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 52
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
METHOD 3: HOMING ON POSITIVE HOME SWITCH AND INDEX PULSE
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 index pulse to either to the left or the right of the point
where the home switch changes state. If the initial position is situated so that the direction of
movement shall reverse during homing, the point at which the reversal takes place is anywhere
after a change of state of the home switch.
Index pulse
Home switch
3
3
Figure 4.8 Homing on positive home switch and index pulse
METHOD 5: HOMING ON NEGATIVE HOME SWITCH AND INDEX PULSE
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 index pulse to either to the left or the right of the point
where the home switch changes state. If the initial position is situated so that the direction of
movement shall reverse during homing, the point at which the reversal takes place is anywhere
after a change of state of the home switch.
Index pulse
Home switch
5
5
Figure 4.9 Homing on negative home switch and index pulse
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 53
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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. Method 19
(similar to method 3) is shown in Figure 4.10.
Method no.
Description
17
Search the left end switch. (Similar to method 1)
18
Search the right end switch. (Similar to method 2)
19
Search the positive edge of the home switch. (Similar to method 3)
21
Search the negative edge of the home switch. (Similar to method 5.)
Home switch
19
19
Figure 4.10 Homing without index pulse
METHOD 33 AND 34: HOMING ON NEXT INDEX PULSE
Using these methods, the direction of homing is negative or positive respectively. The home
position shall be at the index pulse found in the selected direction as shown in Figure 4.11.
Index pulse
33
34
Figure 4.11 Homing on index pulse
METHOD 35: HOMING ON INDEX PULSE / 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.
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 54
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4.3.4 Detailed Object Definitions
4.3.4.1 Object 6040h, 6840h, and 7040h: Controlword
These objects indicate the received commands controlling the power drive system finite state
automaton (PDS FSA). The CiA-402 state machine can be controlled using the controlword. Please
refer to Figure 4.1 Finite state machine for detailed information.
STRUCTURE OF CONTROLWORD / VALUE DEFINITION
15 9
see 4.2.1.1
8
Halt Reserved (0)
765
Homing operation start
4 0
MSB LSB
see 4.2.1.1 see 4.2.1.1
3
OPERATION MODE SPECIFIC BITS IN HM MODE
Bit
Name
Definition
4
Homing operation start
Set to 1 to start homing; setting to 0 stops homing
8
Halt
Not supported
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6040h (motor 0)
6840h (motor 1)
7040h (motor 2)
Controlword
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
See command coding above
Device and operation mode specific
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4.3.4.2 Object 6041h, 6841h, and 7041h: Statusword
These objects provide the status of the PDS FSA. They reflect the status of the CiA402 state machine
for each motor axis. Please refer to Figure 4.1 Finite state machine for detailed information. The
objects are structured as defined below.
For more information about the coding refer to the CANopen Drives and motion control device
profile, part 2 please.
STRUCTURE OF STATUSWORD / VALUE DEFINITION
15 14
see 4.2.1.2
13
Homing error Homing attained
12 11 10
Target reached
9 0
MSB LSB
see 4.2.1.2 see 4.2.1.2
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
Homing attained
Set when the zero position has been found
13
Homing error
Not supported
DEFINITION OF BIT 10, BIT 12, AND BIT 13
Bit 13
Bit 12
Bit 10
Definition
0
0
0
Homing procedure is in progress
0
0
1
Homing procedure is interrupted or not reached
0
1
0
Homing is attained, but target is not reached
0
1
1
Homing procedure is completed successfully
1
0
0
Homing error occurred, velocity is not 0
1
0
1
Homing error occurred, velocity is 0
1
1
x
reserved
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6041h (motor 0)
6841h (motor 1)
7041h (motor 2)
Statusword
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
See state coding above
no
4.3.4.3 Object 606Ch, 686Ch, and 706Ch: Velocity Actual Value
These objects give the actual velocity value for the related motor derived either from a velocity
sensor or from a position sensor.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
606Ch
686Ch
706Ch
Velocity actual value
Variable
INTEGER32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
INTEGER32
no
$4,,
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 56
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4.3.4.4 Object 607Ch, 687Ch, and 707Ch: Home Offset
This object indicates the configured difference between the zero position for the application and the
machine home position/home switch (found during homing). While homing, the machine home
position is found and once the homing is completed, the zero position is offset from the home
position by adding the home offset to the home position. The effect of setting the home position to
a non-zero value depends on the selected homing method. The value of this object is given in
microsteps. Negative values indicate the opposite direction.
Home offset
Zero position Home switch
Figure 4.12 Home offset definition
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
607Ch (motor 0)
687Ch (motor 1)
707Ch (motor 2)
Home offset
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
SIGNED32
-2147483647… +2147483647
4.3.4.5 Object 6098h, 6898h, and 7098h: Homing Method
The homing method to be used in homing mode can be selected here. The actual firmware supports
the following homing methods.
VALUE DEFINITION
Value
Definition
0
No homing. This is the default value, but there is actually no homing method 0.
1
Search the left end switch; then search the next encoder index pulse.
2
Search the right end switch; then search the next encoder index pulse.
3
Search the positive edge of the home switch; then search the next encoder index pulse.
5
Search the negative edge of the home switch; then search the next encoder index pulse.
17
Search the left end switch.
18
Search the right end switch.
19
Search the positive edge of the home switch.
21
Search the negative edge of the home switch.
33
Search next index pulse in negative direction.
34
Search next index pulse in positive direction.
35
The actual position is used as home position. All position values (objects 6062h/6862h/7062h,
6063h/6863h/7063h, and 6064h/6864h/7064h) are set to zero, but the motor will not move.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6098h (motor 0)
6898h (motor 1)
7098h (motor 2)
Homing method
Variable
SIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
0, 1, 2, 3, 5, 17, 18, 19, 21, 33, 34, 35
0
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 57
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4.3.4.6 Object 6099h, 6899h, and 7099h: Homing Speeds
These objects indicate the configured speeds used during homing procedure. The values are given
in units, which can be selected with objects 208Ch/228Ch/248Ch, described in paragraph 5.1.18.
Using the homing speeds objects, a fast and a slow homing speed can be set. In most homing
modes, the home switch is searched with the fast speed first. When the home switch has been
found, the motor will be decelerated to the slow speed (using the homing acceleration, described in
paragraph 4.3.4.7) and then stopped at the exact switch point.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6099h (motor 0)
6899h (motor 1)
7099h (motor 2)
Homing speeds
ARRAY
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
Fast homing speed
rw
Refer to CiA402-3
UNSIGNED32
Depends on the unit setting
02h
Slow homing speed
rw
Refer to CiA402-3
UNSIGNED32
Depends on the unit setting
4.3.4.7 Object 609Ah, 689Ah, and 709Ah: Homing Acceleration
This object indicates the configured acceleration and deceleration to be used during homing operation.
The values for accelerating to the fast homing speed and for decelerating to the slow homing speed
can be set here. The values are given in units, which can be selected with object 208Eh/228Eh/248Eh,
described in paragraph 0.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
609Ah (motor 0)
689Ah (motor 1)
709Ah (motor 2)
Homing acceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
00h
rw
Refer to CiA402-3
UNSIGNED32
4.3.4.8 Object 2100h: Home Offset Display
These objects show the configured difference between the zero position for the application and the
machine home position/home switch (found during homing). The value is given in microsteps.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2100h
Home offset display
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
no
Refer to home offset
0
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4.3.5 How to start a homing in hm mode
Here is a little example that shows how to home the motor in hm 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. The home switch must be connected to the home switch input. It can be operated
manually.
- Select hm mode by writing 6 to object 6060h.
- Write 6 to object 6040h to switch to READY_TO_SWITCH_ON state.
- Write 7 to object 6040h to switch to SWITCHED_ON state.
- Write 15 to object 6040h to switch to OPERATION_ENABLED state.
- Select homing method 19 by writing 19 to object 6098h.
- Set the homing speeds by writing e.g. 1500 to object 6099h sub index 1 and e.g. 1000 to
object 6099h sub index 2.
- 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.
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 59
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4.4 Velocity Mode
The velocity mode is used to control the velocity of the drive without a special regard of the
position. It contains limit functions.
THE OPERATION OF THE REFERENCE VALUE GENERATOR AND THE INPUT PARAMETERS INCLUDE:
- Velocity
- Acceleration
- Deceleration
- Emergency stop
Please refer to object 6060h (section 4.1.6) for information about how to choose an operation mode.
Object 6061 h (section 4.1.7) shows the operation mode that is set.
4.4.1 Detailed object definitions
4.4.1.1 Object 6040h, 6840h, and 7040h: Controlword
These objects indicate the received commands 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 4.1 Finite state machine for detailed information.
STRUCTURE OF CONTROLWORD / VALUE DEFINITION
15 9
see 4.2.1.1
8
Halt reference ramp
765
unlock ramp
4 0
MSB LSB
see 4.2.1.1 see 4.2.1.1
3
enable ramp
There are no mode specific bits supported in vl mode.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6040h (motor 0)
6840h (motor 1)
7040h (motor 2)
Controlword
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
See command coding above
Operation mode specific
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4.4.1.2 Object 6041h, 6841h, and 7041h: Statusword
These objects provide the status of the PDS FSA. They reflect the status of the CiA402 state machine
for each motor. Please refer to Figure 4.1 Finite state machine for detailed information. The objects
are structured as defined below.
For more information about the coding refer to the CANopen Drives and motion control device
profile, part 2 please.
STRUCTURE OF STATUSWORD / VALUE DEFINITION
15 14
see 4.2.1.2
13 12 11 10 9 0
MSB LSB
reserved (0) See 4.2.1.2see 4.2.1.2 reserved (0)
There are no mode specific bits supported in vl mode.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6041h (motor 0)
6841h (motor 1)
7041h (motor 2)
Controlword
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
See state coding
above
No
4.4.1.3 Object 6042h, 6842h, and 7042h: vl Target Velocity
This object indicates the required velocity of the system. It is the target velocity when the velocity
mode is active. Use this object to control the velocity of the motor in velocity mode. When this object
is changed the motor will be accelerated or decelerated to the new velocity.
The range depends on the chosen units, which can be internal or user-specific. Please refer to object
208Ch/228Ch/248Ch (paragraph 5.1.18) for more information about that.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6042h (motor 0)
6842h (motor 1)
7042h (motor 2)
vl target velocity
Variable
SIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
SIGNED32
Depends on the units.
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4.4.1.4 Object 6043h, 6843h, and 7043h: vl Velocity Demand
The object provides the instantaneous velocity generated by the ramp function. It shows the last target
velocity that has been set using object 6042h, 6842h, and 7042h.
The value is given in the same unit as the target velocity. Please refer to object 208Ch/228Ch/248Ch
(paragraph 5.1.18) for more information about that.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6043h (motor 0)
6843h (motor 1)
7043h (motor 2)
vl velocity demand
Variable
SIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
SIGNED32
0
4.4.1.5 Object 6044h, 6844h, and 7044h: vl Velocity Actual Value
This object shows the actual velocity of the motor when the motor is in velocity mode.
The value is given in the same unit as vl target velocity and vl velocity demand. Please refer to object
208Ch/228Ch/248Ch (paragraph 5.1.18) for more information about that.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6044h (motor 0)
6844h (motor 1)
7044h (motor 2)
vl velocity actual value
Variable
SIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
SIGNED32
0
4.4.1.6 Object 6046h, 6846h, and 7046h: vl Velocity Min Max Amount
These objects indicate the configured minimum and maximum amounts of velocity in velocity mode
for all three motors.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6046h (motor 0)
6846h (motor 1)
7046h (motor 2)
vl velocity min max amount
ARRAY
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Highest sub-index supported
c
Refer to CiA402-3
02 h
2
01h
Minimum velocity amount
rw/ro
Refer to CiA402-3
UNSIGNED32
0
02h
Maximum velocity amount
rw/ro
Refer to CiA402-3
UNSIGNED32
2047
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4.4.1.7 Object 6048h, 6848h, and 7048h: vl Velocity Acceleration
These objects indicate the configured delta speed and delta time of the slope of the acceleration
ramp for each motor. The objects provide the accelerations used in velocity mode. These values are
also used for the deceleration. The values of the delta speed are given in internal or in user units
(rpm/s).
   

Figure 4.13 Transfer characteristic of the velocity acceleration
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6048h (motor 0)
6848h (motor 1)
7048h (motor 2)
vl velocity acceleration
Record
vl acceleration deceleration
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Highest sub-index supported
c
Refer to CiA402-3
02 h
2
01h
Delta speed
rw
Refer to CiA402-3
UNSIGNED32
1000
02h
Delta time
ro
Refer to CiA402-3
UNSIGNED16
1msec
4.4.1.8 Object 6049h, 6849h, and 7049h: vl Velocity Deceleration
These objects contain the same values as set in the objects 6048h, 6848h, and 7048h. A separate
declaration value is not supported. The deceleration is according to the acceleration.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6049h (motor 0)
6849h (motor 1)
7049h (motor 2)
vl velocity deceleration
Record
vl acceleration deceleration
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Highest sub-index supported
c
Refer to CiA402-3
02 h
2
01h
Delta speed
ro
Refer to CiA402-3
UNSIGNED32
1000
02h
Delta time
ro
Refer to CiA402-3
UNSIGNED16
1msec
time
velocity
delta_time
delta_speed
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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.4.2 How to Move a Motor in vl Mode
Here is a little example that shows how to get a motor running in vl mode. In this little example
we assume that the module has been reset (and then switched to pre-operational or operationla) by
NMT commands before.
- If you do not have any limit switches connected, first disable the limit switch inputs by
writing 3 to object 2005h.
- Select vl mode by writing 2 to object 6060h.
- Write 6 to object 6040h to switch to READY_TO_SWITCH_ON state.
- Write 7 to object 6040h to switch to SWITCHED_ON state.
- Write 15 to object 6040h to switch to OPERATION_ENABLED state.
- Write the desired target speed (e.g. 500) to object 6042h. The motor now accelerates to that
speed.
- Stop the motor by writing 0 to object 6042h.
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4.5 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
- Monitoring of velocity actual value using a threshold
THE OPERATION OF THE REFERENCE VALUE GENERATOR AND ITS INPUT PARAMETERS INCLUDE:
- Profile velocity
- Profile acceleration
- Profile deceleration
- Emergency stop
- Motion profile type
- Detailed object definitions
4.5.1.1 Object 6040h, 6840h, and 7040h: Controlword
These objects indicate the received commands controlling the power drive system finite state
automaton (PDS FSA). The CiA-402 state machine can be controlled using these objects. Please refer
to Figure 4.1 for detailed information.
STRUCTURE OF CONTROLWORD / VALUE DEFINITION
15 9
see 4.2.1.1
8
Halt Reserved
764 0
MSB LSB
see 4.2.1.1 see 4.2.1.1
3
There are no mode specific bits supported in this mode.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6040h (motor 0)
6840h (motor 1)
7040h (motor 2)
Controlword
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
See command
coding above
Device and operation mode specific
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4.5.1.2 Object 6041h, 6841h, and 7041h: Statusword
These objects provide the status of the PDS FSA. They reflect the status of the CiA402 state machine
for each motor. Please refer to Figure 4.1 Finite state machine for detailed information. The objects
are structured as defined below.
For more information about the coding refer to the CANopen drives and motion control device
profile, part 2 please.
STRUCTURE OF STATUSWORD / VALUE DEFINITION
15 14
see 4.2.1.2
13 12 11 10 9 0
MSB LSB
Max slippage error see 4.2.1.2Speed Target reached see 4.2.1.2
OPERATION MODE SPECIFIC BITS IN PV MODE
Bit
Name
Definition
10
Target reached
Indicates that the desired speed is reached
12
Speed
Not supported
13
Max slippage error
Not supported
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6041h (motor 0)
6841h (motor 1)
7041h (motor 2)
Controlword
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
See state coding
above
no
4.5.1.3 Object 6062h, 6862h, and 7062h: Position Demand Value
These objects provide the demanded position values. The values are given in microsteps. The
position demand value objects indicate the actual positions that the motors should have. These
objects are not to be confused with the position actual internal value (paragraph 4.5.1.4) and the
position actual value (paragraph 4.5.1.5).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6062h (motor 0)
6862h (motor 1)
7062h (motor 2)
Position demand value
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
SIGNED32
no
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4.5.1.4 Object 6063h, 6863h, and 7063h: Position Actual Internal Value
These objects indicate the actual position of the encoder of each motor, re-scaled to the microstep
resolution. If necessary, the data unit may be transformed from user-defined units to increments.
The value is given in microsteps or encoder steps, depending on objects 606Ah, 686Ah, and 706Ah
(4.1.8).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6063h (motor 0)
6863h (motor 1)
7063h (motor 2)
Position actual internal
value
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
SIGNED32
no
4.5.1.5 Object 6064h, 6864h, and 7064h: Position Actual Value
These objects provide the actual values of the position measurement devices. They always contain
the same values as objects 6063h, 6863h, and 7063h. The values are given in microsteps.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6064h (motor 0)
6864h (motor 1)
7064h (motor 2)
Position actual value
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
SIGNED32
no
4.5.1.6 Object 6065h, 6865h, and 7065h: Following Error Window
These objects indicate the configured ranges of tolerated position values symmetrically to the
position demand values. If a position actual value is out of the following error window, a following
error occurs. A following error may occur when a drive is blocked, unreachable profile velocity
occurs, or at wrong closed-loop coefficients. The values are given in microsteps. If the value of the
following error window is 0 or FFFF FFFFh, the following control will be switched off.
If the difference between motor position (objects 6062h, 6862h, and 7062h) and encoder position
(objects 6063h, 6863h, and 7063h or 6064h, 6864h, and 7064h) is greater than the value set here, the
related motors will be stopped and emergency messages will be sent.
Setting these objects to zero will turn off this feature completely. Setting these objects to a too low
value will lead to false alarms.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6065h (motor 0)
6865h (motor 1)
7065h (motor 2)
Following error
window
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
UNSIGNED32
0… 8388607
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4.5.1.7 Object 606Ch, 686Ch, and 706Ch: Velocity Actual Value
These objects give the actual velocity values derived either from the velocity sensors or from the
position sensors of the related motors.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
606Ch (motor 0)
686Ch (motor 1)
706Ch (motor 2)
Velocity actual value
Variable
INTEGER32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
Refer to CiA402-3
INTEGER32
no
4.5.1.8 Object 607Dh, 687Dh, and 707Dh: Software Position Limit
These objects indicate the configured maximum and minimum software position limits for each axis.
These parameters define the absolute position limits for the position demand value (4.5.1.3) and the
position actual value (4.5.1.5). The position actual vale is always checked against these limits. The
limit position is always relative to the machine home position. Before being compared with the
specific target position, they have to be corrected internally by the home offset as follows:
This calculation needs only be performed when home offset or software position limit is changed.
The limit positions are given in microsteps (same as target position). Two limits for each motor for
moving them in positioning mode can be set here. Overstepping the window will lead to an
emergency message and the specific motor will be stopped.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
607Dh (motor 0)
687Dh (motor 1)
707Dh (motor 2)
Software position limit
Array
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
Min position limit
rw
Refer to CiA402-3
SIGNED32
-2147483647… +2147483647
02h
Max position limit
rw
Refer to CiA402-3
SIGNED32
-2147483647… +2147483647
4.5.1.9 Object 6083h, 6883h, and 7083h: Profile Acceleration
These objects indicate the configured acceleration. The three profile acceleration objects set the
maximum acceleration for each axis to be used in profile velocity mode.
Please choose the units for these objects with objects 208Eh/228Eh/248Eh, described in paragraph 0.
The objects 208Eh/228Eh/248Eh read 0 when internal units are selected or 179 when user units (PPS/s)
are selected.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6083h (motor 0)
6883h (motor 1)
7083h (motor 2)
Profile acceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
UNSIGNED32
Depends on the units
Corrected min position limit = min position limit - home offset
Corrected max position limit = max position limit - home offset
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 68
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4.5.1.10 Object 6084h, 6884h, and 7084h: Profile Deceleration
These objects indicate the configured deceleration. They set the maximum deceleration for each axis
used in profile velocity mode.
Please choose the units for these objects with objects 208Eh/228Eh/248Eh, described in paragraph
5.1.19. The objects 208Eh/228Eh/248Eh read 0 when internal units are selected or 179 when user units
(PPS/s) are selected. The deceleration is according to the acceleration.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6084h (motor 0)
6884h (motor 1)
7084h (motor 2)
Profile deceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
UNSIGNED32
Depends on the units
4.5.1.11 Object 60FFh, 62FFh, and 64FFh: Target Velocity
The target velocity objects set the target velocity for the related motors when using profile velocity
mode. They are used as input for the trajectory generator. The drive then accelerates or decelerates
to that velocity using the acceleration and deceleration set by objects 6083h/6883h/7083h (4.2.1.14)
and 6084h/6884h/7084h (4.2.1.15). The values are given in units, which can be selected with objects
208Ch/228Ch/248Ch, described in paragraph 5.1.18.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
60FFh
68FFh
70FFh
Target velocity
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
Refer to CiA402-3
SIGNED32
-2147483647… +2147483647 /
depends on selected units
4.5.2 How to Move a Motor in pv Mode
Here is a little example that shows how to get a motor running in pv 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.
- If you do not have any limit switches connected, first disable the limit switch inputs by
writing 3 to object 2005h.
- Select pv mode by writing 3 to object 6060h.
- Write 6 to object 6040h to switch to READY_TO_SWITCH_ON state.
- Write 7 to object 6040h to switch to SWITCHED_ON state.
- Write 15 to object 6040h to switch to OPERATION_ENABLED state.
- Write the desired target speed (e.g. 1500) to object 60FFh. The motor now accelerates to that
speed.
- Stop the motor by writing 0 to object 60FFh.
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 69
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5 Manufacturer Specific Area
The manufacturer segment contains manufacturer specific objects. These objects control the special
features of the TRINAMIC motion control devices TMCM-341/342/343 and TMCM-351.
5.1 Detailed Object Specifications
5.1.1 Object 2000h, 2200h, and 2400h: Microstep Resolution
These objects set the microstep resolution for each axis. A value of 6 means 64 microsteps (26). They
are only writeable in the SWITCHED_ON_DISABLED state, but always readable.
VALUE DESCRIPTION
Value
Description
0
1 step
1
2 microsteps
2
4 microsteps
3
8 microsteps
4
16 microsteps
5
32 microsteps
6
64 microsteps
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2000h (motor 0)
2200h (motor 1)
2400h (motor 2)
Microstep resolution
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
no
0… 8
6
5.1.2 Object 2001h, 2201h, and 2401h: Fullstep Resolution
These objects show the fullstep resolutions of each axis.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2001h (motor 0)
2201h (motor 1)
2401h (motor 2)
Fullstep resolution
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
ro
no
200
200
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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5.1.3 Object 2002h, 2202h, and 2402h: Brake Delay Times
With this object the delay times for applying and releasing an (optional) brake can be defined. Please
see also object 200Ah, 220Ah, and 240Ah for an additional delay between enabling the power stage and
releasing the brake. Both times are given in ms.
ON
ON
OFF
OFF
t1t2t3
Operation Enable
Brake
Bridge
200Ah2002h
sub index
2
2002h
sub index
1
Figure 5.1 Brake output timing
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2002h (motor 0)
2202h (motor 1)
2402h (motor 2)
Brake delay times
ARRAY
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01h
Time between applying brake / disabling
power stage
rw
no
0… 65535
0
02h
Time between releasing brake / switching
the state machine to operational
rw
no
0… 65535
0
5.1.4 Object 2003h, 2203h, and 2403h: Maximum Current
These objects define the currents used when the motors are moving. A value of 255 means 100% of
the maximum current of a drive.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2003h (motor 0)
2203h (motor 1)
2403h (motor 2)
Maximum current
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
no
0… 255
228
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 71
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5.1.5 Object 2004h, 2204h, and 2404h: 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.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2004h (motor 0)
2204h (motor 1)
2404h (motor 2)
Standby current
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
no
0… 255
20
5.1.6 Object 2005h, 2205h, and 2405h: Limit Switches
These objects define which limit switches are to be used for related specific motor axes. Bit 0 stands
for the left and bit 1 stands for the right limit switch. If a bit is set, the corresponding limit switch
will not be used. So, this object has to be set to the value 3 if limit switches are not connected. The
objects can only be written when the drive is in the SWITCHED_ON_DISABLED state (but is always
readable).
The limit switches can also be inverted using bit 2 and bit 3:
- Bit 2 inverts the left limit switch
- Bit 3 inverts the right limit switch
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2005h (motor 0)
2205h (motor 1)
2405h (motor 2)
Limit switches
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
no
0… 7
0
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.
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04) 72
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5.1.7 Object 2006h, 2206h, and 2406h: Mixed Decay Threshold
This object defines the behavior of the mixed decay feature of the drive. When it is set to the value
-1, fast decay is always used. When it is set to a value between 0… 2047, fast decay