PANDRIVE™
PANdrive™ for Stepper
PD42-1270 CANopen® Firmware Manual
Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
The PD42-1270 is a full mechatronic solution, made up of TMCM-1270 stepper control module and a
NEMA 17 (42mm flange size) stepper motor. The PD42-1270 CANopen® firmware allows to control
the module using the CANopen® protocol, making use of the Trinamic TMC5130 motion controller
and motor driver. Dynamic current control, and quiet, smooth and efficient operation are combined with StealthChop™, DcStep™, StallGuard™and CoolStep™ features.
Features
•
•
•
•
•
•
•
•
•
•
Applications
• Laboratory Automation
• Manufacturing
• Semiconductor Handling
• Robotics
• Factory Automation
• CNC
Simplified Block Diagram
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at: www.trinamic.com
Read entire documentation.
Single Axis Stepper motor control
Supply voltage 24V DC
CANopen® CiA-402 Drive Profile
Encoder Support
DcStep™
Integrated SixPoint™ ramp motion
controller
StealthChop™ silent PWM mode
SpreadCycle™ smart mixed decay
StallGuard2™ load detection
CoolStep™ automatic current scaling
• Life Science
• Biotechnology
• Liquid Handling
2 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Contents
1 Preface
1.1 General Features of this CANopen Implementation . . . . .
1.2 Abbreviations used in this Manual . . . . . . . . . . . . . . .
1.3 Firmware Update . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Trinamic’s unique Features — easy to use with CANopen®
1.4.1
StallGuard2™ . . . . . . . . . . . . . . . . . . . . . .
1.4.2
CoolStep™ . . . . . . . . . . . . . . . . . . . . . . . .
1.5 SixPoint™ Motion Controller . . . . . . . . . . . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
7
. 7
. 8
. 8
. 9
. 9
. 9
. 10
2 Communication
2.1 Reference Model .
2.2 NMT State Machine
2.3 Indicator LEDs . . .
2.3.1
Run LED .
2.3.2
Error LED .
2.4 Device Model . . .
2.5 Object Dictionary .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
12
12
14
15
15
15
16
16
3 Communication Area
3.1 Detailed Object Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1
Object 1000h : Device Type . . . . . . . . . . . . . . . . . . . . . . .
3.1.2
Object 1001h : Error Register . . . . . . . . . . . . . . . . . . . . . .
3.1.3
Object 1005h : COB-ID SYNC Message . . . . . . . . . . . . . . . . .
3.1.4
Object 1008h : Manufacturer Device Name . . . . . . . . . . . . . .
3.1.5
Object 1009h : Manufacturer Hardware Version . . . . . . . . . . .
3.1.6
Object 100Ah : Manufacturer Software Version . . . . . . . . . . . .
3.1.7
Object 100Ch : Guard Time . . . . . . . . . . . . . . . . . . . . . . .
3.1.8
Object 100Dh : Life Time Factor . . . . . . . . . . . . . . . . . . . . .
3.1.9
Object 1010h : Store Parameters . . . . . . . . . . . . . . . . . . . .
3.1.10 Object 1011h : Restore Parameters . . . . . . . . . . . . . . . . . . .
3.1.11 Object 1014h : COB-ID Emergency Object . . . . . . . . . . . . . . .
3.1.12 Object 1015h : Inhibit Time EMCY . . . . . . . . . . . . . . . . . . . .
3.1.13 Object 1016h : Consumer Heartbeat Time . . . . . . . . . . . . . . .
3.1.14 Object 1017h : Producer Heartbeat Time . . . . . . . . . . . . . . .
3.1.15 Object 1018h : Identity Object . . . . . . . . . . . . . . . . . . . . . .
3.1.16 Object 1023h : OS Command . . . . . . . . . . . . . . . . . . . . . .
3.1.17 Object 1029h : Error Behaviour . . . . . . . . . . . . . . . . . . . . .
3.1.18 Objects 1400h – 1403h : Receive PDO Communication Parameter .
3.1.19 Objects 1600h – 1603h : Receive PDO Mapping Parameter . . . . .
3.1.20 Objects 1800h – 1803h : Transmit PDO Communication Parameter
3.1.21 Objects 1A00h – 1A03h : Transmit PDO Mapping Parameter . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
18
18
18
18
19
20
20
20
21
21
21
23
24
24
25
26
26
27
27
28
28
29
31
4 Manufacturer specific Area
4.1 Objects related to CoolStep™ . . . . . . . . . . .
4.2 Detailed Object Specifications . . . . . . . . . . .
4.2.1
Object 2000h : Microstep Resolution . .
4.2.2
Object 2001h : Fullstep Resolution . . .
4.2.3
Object 2002h : Brake Delay Times . . .
4.2.4
Object 2003h : Maximum Current . . .
4.2.5
Object 2004h : Standby Current . . . . .
4.2.6
Object 2005h : Switch Parameters . . .
4.2.7
Object 200Ah : Enable Drive Delay Time
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
33
33
35
35
35
35
36
37
37
38
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
3 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
4.2.8
4.2.9
4.2.10
4.2.11
4.2.12
4.2.13
4.2.14
4.2.15
4.2.16
4.2.17
4.2.18
4.2.19
4.2.20
4.2.21
4.2.22
4.2.23
4.2.24
4.2.25
4.2.26
4.2.27
4.2.28
4.2.29
4.2.30
4.2.31
4.2.32
4.2.33
4.2.34
4.2.35
4.2.36
4.2.37
4.2.38
4.2.39
4.2.40
4.2.41
4.2.42
4.2.43
4.2.44
4.2.45
4.2.46
4.2.47
4.2.48
4.2.49
4.2.50
4.2.51
4.2.52
4.2.53
4.2.54
4.2.55
4.2.56
4.2.57
4.2.58
4.2.59
4.2.60
4.2.61
Object 200Bh : Encoder Parameters . . . . . . . .
Object 200Ch : Brake Current Feed . . . . . . . . .
Object 2010h : Profile Start Velocity . . . . . . . .
Object 2011h : Profile A1 . . . . . . . . . . . . . . .
Object 2012h : Profile V1 . . . . . . . . . . . . . . .
Object 2013h : Profile D1 . . . . . . . . . . . . . . .
Object 2015h : Ramp Wait Time . . . . . . . . . . .
Object 2089h : Setting Delay . . . . . . . . . . . . .
Object 208Ch : Velocity Dimension Index . . . . .
Object 208Eh : Acceleration Dimension Index . . .
Object 2092h : Chopper Blank Time . . . . . . . .
Object 2093h : Chopper Mode . . . . . . . . . . . .
Object 2094h : Chopper Hysteresis Decrement . .
Object 2095h : Chopper Hysteresis End . . . . . .
Object 2096h : Chopper Hysteresis Start . . . . . .
Object 2097h : Chopper Off Time . . . . . . . . . .
Object 2098h : Smart Energy Current Minimum .
Object 2099h : Smart Energy Current Down Step .
Object 209Ah : Smart Energy Hysteresis . . . . . .
Object 209Bh : Smart Energy Current Up Step . .
Object 209Ch : Smart Energy Hysteresis Start . . .
Object 209Dh : Smart Energy Filter Enable . . . .
Object 209Eh : StallGuard2 Threshold . . . . . . .
Object 20A1h : Short Protection Disable . . . . . .
Object 20A3h : Vsense . . . . . . . . . . . . . . . .
Object 20A4h : Stop on Stall . . . . . . . . . . . . .
Object 20A5h : Smart Energy Threshold Speed . .
Object 20B0h : PWM Threshold Speed . . . . . . .
Object 20B1h : PWM Gradient . . . . . . . . . . . .
Object 20B2h : PWM Amplitude . . . . . . . . . . .
Object 20B3h : DcStep Minimum Speed . . . . . .
Object 20B4h : DcStep Time . . . . . . . . . . . . .
Object 20B5h : DcStep StallGuard . . . . . . . . . .
Object 20B6h : Fullstep Threshold Speed . . . . .
Object 20B7h : High Speed Chopper Mode . . . .
Object 20B8h : High Speed Fullstep Mode . . . . .
Object 20B9h : Power Down Ramp . . . . . . . . .
Object 2100h : Home Offset Display . . . . . . . .
Object 2101h : Actual Load Value . . . . . . . . . .
Object 2102h : Driver Error Flags . . . . . . . . . .
Object 2107h : Microstep Resolution Display . . .
Object 210Bh : Step Counter . . . . . . . . . . . . .
Object 2121h : PWM Scale Value . . . . . . . . . .
Object 2122h : Measured Velocity . . . . . . . . . .
Object 2700h : TMCL Direct Communication . . .
Object 2701h : Manufacturer Specific Mode . . . .
Object 2702h : Device Digital Inputs . . . . . . . .
Object 2703h : Device Digital Outputs . . . . . . .
Object 2704h : CAN Bit Rate . . . . . . . . . . . . .
Object 2705h : Node ID . . . . . . . . . . . . . . . .
Object 2706h : Store . . . . . . . . . . . . . . . . .
Object 2707h : CAN Bit Rate Load . . . . . . . . . .
Object 2708h : Node ID Load . . . . . . . . . . . .
Object 270Eh : Device Analog Inputs . . . . . . . .
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
38
39
39
40
40
41
41
41
42
42
43
43
44
44
45
45
45
46
46
47
47
48
48
49
49
50
50
51
51
52
52
52
53
53
54
54
54
55
55
56
56
57
57
58
58
59
59
60
61
61
62
62
63
63
4 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
4.2.62
Object 5FFFh : Bootloader mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
5 Profile specific Area
5.1 Detailed Object Specifications . . . . . . . . . . . . . . . .
5.1.1
Object 605Ah : Quick Stop Option Code . . . . .
5.1.2
Object 605Bh : Shutdown Option Code . . . . .
5.1.3
Object 605Ch : Disable Operation Option Code .
5.1.4
Object 605Dh : Halt Option Code . . . . . . . . .
5.1.5
Object 605Eh : Fault Reaction Option Code . . .
5.1.6
Object 6060h : Modes of Operation . . . . . . .
5.1.7
Object 6061h : Modes of Operation Display . . .
5.1.8
Object 60FDh : Digital Inputs . . . . . . . . . . .
5.1.9
Object 6502h : Supported Drive Modes . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
65
65
65
66
66
67
67
68
69
70
70
6 Profile Position Mode
6.1 Detailed Object Specifications . . . . . . . . . . . . . .
6.1.1
Object 6040h : Control Word . . . . . . . . .
6.1.2
Object 6041h : Status Word . . . . . . . . . .
6.1.3
Object 6062h : Position Demand Value . . .
6.1.4
Object 6063h : Position Actual Internal Value
6.1.5
Object 6064h : Position Actual Value . . . . .
6.1.6
Object 6065h : Following Error Window . . .
6.1.7
Object 6067h : Position Window . . . . . . .
6.1.8
Object 6068h : Position Window Time . . . .
6.1.9
Object 606Ch : Velocity Actual Value . . . . .
6.1.10 Object 607Ah : Target Position . . . . . . . .
6.1.11 Object 607Dh : Software Position Limit . . .
6.1.12 Object 6081h : Profile Velocity . . . . . . . . .
6.1.13 Object 6082h : End Velocity . . . . . . . . . .
6.1.14 Object 6083h : Profile Acceleration . . . . . .
6.1.15 Object 6084h : Profile Deceleration . . . . . .
6.1.16 Object 6085h : Quick Stop Deceleration . . .
6.1.17 Object 60F2h : Positioning Option Code . . .
6.2 How to move a Motor in pp Mode . . . . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
72
72
73
74
75
76
76
77
77
78
78
79
79
80
80
81
81
81
82
83
7 Profile Velocity Mode
7.1 Detailed Object Specifications . . . . . . . . . . . . . .
7.1.1
Object 6040h : Control Word . . . . . . . . .
7.1.2
Object 6041h : Status Word . . . . . . . . . .
7.1.3
Object 6062h : Position Demand Value . . .
7.1.4
Object 6063h : Position Actual Internal Value
7.1.5
Object 6064h : Position Actual Value . . . . .
7.1.6
Object 6065h : Following Error Window . . .
7.1.7
Object 606Ch : Velocity Actual Value . . . . .
7.1.8
Object 607Dh : Software Position Limit . . .
7.1.9
Object 6083h : Profile Acceleration . . . . . .
7.1.10 Object 6085h : Quick Stop Deceleration . . .
7.1.11 Object 60FFh : Target Velocity . . . . . . . . .
7.2 How to move a Motor in pv Mode . . . . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
84
84
84
85
87
87
87
88
88
89
89
90
90
91
8 Homing Mode
8.1 Homing Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1
Homing Method 1: Homing on negative Limit Switch and Index Pulse .
8.1.2
Homing Method 2: Homing on positive Limit Switch and Index Pulse .
8.1.3
Homing Method 3: Homing on positive Home Switch and Index Pulse
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
92
93
93
94
94
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
5 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
8.1.4
Homing Method 5: Homing on negative Home Switch and Index Pulse
8.1.5
Homing Method 17: Homing on negative Limit Switch . . . . . . . . . .
8.1.6
Homing Method 18: Homing on positive Limit Switch . . . . . . . . . .
8.1.7
Homing Method 19: Homing on positive Home Switch . . . . . . . . . .
8.1.8
Homing Method 21: Homing on negative Home Switch . . . . . . . . .
8.1.9
Homing Method 33 and 34: Homing on next Index Pulse . . . . . . . .
8.1.10 Homing Method 35: Current Position as Home Position . . . . . . . . .
8.2 Detailed Object Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.1
Object 6040h : Control Word . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.2
Object 6041h : Status Word . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.3
Object 606Ch : Velocity Actual Value . . . . . . . . . . . . . . . . . . . . .
8.2.4
Object 607Ch : Home Offset . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.5
Object 6098h : Homing Method . . . . . . . . . . . . . . . . . . . . . . . .
8.2.6
Object 6099h : Homing Speeds . . . . . . . . . . . . . . . . . . . . . . . .
8.2.7
Object 609Ah : Homing Acceleration . . . . . . . . . . . . . . . . . . . . .
8.3 How to start a Homing in hm Mode . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
. 94
. 95
. 95
. 96
. 96
. 96
. 97
. 98
. 98
. 99
. 100
. 101
. 102
. 102
. 102
. 103
9 Cyclic synchronous Position Mode
9.1 Detailed Object Specifications . . . . . . . . . . . . . .
9.1.1
Object 6040h : Control Word . . . . . . . . .
9.1.2
Object 6041h : Status Word . . . . . . . . . .
9.1.3
Object 6062h : Position Demand Value . . .
9.1.4
Object 6063h : Position Actual Internal Value
9.1.5
Object 6064h : Position Actual Value . . . . .
9.1.6
Object 606Ch : Velocity Actual Value . . . . .
9.1.7
Object 607Ah : Target Position . . . . . . . .
9.1.8
Object 607Dh : Software Position Limit . . .
9.1.9
Object 60B0h : Position Offset . . . . . . . . .
9.1.10 Object 60C2h : Interpolation Time Period . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
104
. 104
. 104
. 105
. 107
. 107
. 107
. 108
. 108
. 109
. 109
. 110
10 Cyclic synchronous Velocity Mode
10.1 Detailed Object Specifications . . . . . . . . . . . .
10.1.1 Object 6040h : Control Word . . . . . . .
10.1.2 Object 6041h : Status Word . . . . . . . .
10.1.3 Object 606Ch : Velocity Actual Value . . .
10.1.4 Object 60FFh : Target Velocity . . . . . . .
10.1.5 Object 607Dh : Software Position Limit .
10.1.6 Object 60B1h : Velocity Offset . . . . . . .
10.1.7 Object 60C2h : Interpolation Time Period
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
111
. 111
. 111
. 112
. 114
. 114
. 114
. 115
. 115
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
11 Emergency Messages (EMCY)
117
12 SDO Abort Codes
120
13 Figures Index
122
14 Tables Index
123
15 Supplemental Directives
15.1 Producer Information . . . . . . . . . .
15.2 Copyright . . . . . . . . . . . . . . . . . .
15.3 Trademark Designations and Symbols .
15.4 Target User . . . . . . . . . . . . . . . .
15.5 Disclaimer: Life Support Systems . . . .
15.6 Disclaimer: Intended Use . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
127
. 127
. 127
. 127
. 127
. 127
. 127
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
6 / 129
15.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
16 Revision History
129
16.1 Firmware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
16.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
1
7 / 129
Preface
This document specifies objects and modes of operation of the Trinamic PD42-1270 stepper motor control PANdrive™ with CANopen firmware. The CANopen firmware is designed to fulfill the CANopen DS402
and DS301 standards. This manual assumes that the reader is already familiar with the basics of the
CANopen protocol, defined by the DS301 and DS402 standards of the CAN-CiA.
If necessary, it is always possible to turn the PD42-1270 into a TMCL module by loading the PD42-1270
TMCL firmware again with the help of the firmware update function of the TMCL-IDE 3.0. First switch to
the bootloader as described in Section 1.3 and then load the desired file.
1.1
General Features of this 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 for changing the node ID)
• 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
– Transmission modes: asynchronous.
– Dynamic mapping with max. 3 mapping entries.
– Default mappings: according to CiA-402 for first three PDOs of each axis, manufacturer specific
for other PDOs of each axis.
• TPDOs
– Axis 0: 1, 2, 3, 4
– Transmission modes: asynchronous, asynchronous with event timer, synchronous.
– Dynamic mapping with max. 3 mapping entries.
– Default mappings: according to CiA-402 for first three PDOs of each axis, manufacturer specific
for other PDOs of each axis.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
8 / 129
Further Characteristics
• SYNC: consumer (TPDOs 3 are synchronous PDOs)
• Emergency: producer
• RTR: supported only for node guarding/life guarding
• Heartbeat: consumer and producer
1.2
Abbreviations used in this Manual
Abbreviations
CAN
Controller area network
CHGND
chassis ground / earth ground
COB
Communication object
FSA
Finite state automaton
FSM
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: Abbreviations used in this Manual
1.3
Firmware Update
The software running on the microprocessor consists of two parts, a bootloader and the CANopen firmware
itself. Whereas the bootloader 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. The
new firmware can be loaded into the module via the firmware update function of the TMCL-IDE, using the
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
9 / 129
CAN interface of the module.
To reset the module to bootloader mode, write the hex number 12345678h to object 5FFFh . Both LEDs
of the PD42-1270 will turn on and remain lighting. Now the new firmware can be uploaded using the
Firmware Update Tool of the TMCL-IDE 3.0.
1.4
1.4.1
Trinamic’s unique Features — easy to use with CANopen®
StallGuard2™
StallGuard2™ is a high-precision sensorless load measurement using the back EMF of the coils. It can be
used for stall detection as well as other uses at loads below those which stall the motor. The StallGuard2™
measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum
motor load, the value reaches zero or is near zero. This is the most energy-efficient point of operation for
the motor.
stallGuard2
Load [Nm]
Initial stallGuard2 (SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 1: stallGuard2 Load Measurement as a Function of Load
1.4.2
CoolStep™
CoolStep™ is a load-adaptive automatic current scaling based on the load measurement via StallGuard2™
adapting the required current to the load. Energy consumption can be reduced by as much as 75%. CoolStep™ allows substantial energy savings, especially for motors which see varying loads or operate at a
high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to 50%,
even a constant-load application allows significant energy savings because CoolStep™ automatically enables torque reserve when required. Reducing power consumption keeps the system cooler, increases
motor life, and allows cost reduction.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
0,9
10 / 129
Efficiency with coolStep
0,8
Efficiency with 50v torque reserve
0,7
0,6
0,5
Efficiency
0,4
0,3
0,2
0,1
0
0
50
100
150
200
250
300
350
Velocity [RPM]
Figure 2: Energy Efficiency Example with CoolStep
1.5
SixPoint™ Motion Controller
TRINAMIC’s SixPoint™ motion controller is a new type of ramp generator which offers faster machine operation compared to the classical linear acceleration ramps. The SixPoint™ ramp generator allows adapting
the acceleration ramps to the torque curves of a stepper motor. It uses two different acceleration settings
for the acceleration phase and also tow different deceleration settings for the deceleration phase. Start
and stop speeds greater than zero can also be used.
Figure 3: Typical motion profile with TRINAMIC’s SixPoint™ motion controller
A six point ramp begins using the start speed VSTART (which can also be zero). Then, the acceleration value
A1 will be used to accelerate the motor to the speed V1. When the speed V1 has been reached, the motor
will be further accelerated using the acceleration value A2 until it has reached the speed VMAX . The deceleration phase begins using the deceleration value D2. After reaching the speed V1 again the deceleration
value D2 will be used to declerate to the stop speed VSTOP (which can also be zero).
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
11 / 129
The SixPoint™ ramp can be configured using the following objects:
Parameter Name
Object Index
Start velocity (VSTART )
2010h
Acceleration A1
2011h
Velocity V1
2012h
Acceleration A2
6083h
Maximum positioning velocity (VMAX )
6081h
Deceleration D2
6084h
Deceleration D1
2013h
Stop velocity VSTOP
6082h
Wait time WAIT
2015h
Table 2: SixPoint Ramp Parameters
Setting the velocity V1 (object 2012h ) to zero switches off the SixPoint™ ramp. In this case, a trapezoidal
ramp defined by the parameters VSTART , A2, VMAX , D2 and VSTOP will be used.
Note
The SixPoint™ ramp will only be used in profile positioning mode (pp mode). Profile velocity mode (pv mode) will always use a trapezoidal ramp, defined just by
the acceleration (object 6083h ), the speed given using object 60FFh and the start
and stop speed (objects 2010h and 6082h ). The deceleration parameters will not
be used in pv mode.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
2
2.1
12 / 129
Communication
Reference Model
The application layer comprises a concept to configure and communicate real-time-data as well as the
mechanisms for synchronization between devices. The functionality which the application layer offers
to an application is logically divided over different service data objects (SDO) in the application layer. 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
Primitive
Definition
Request
Issued by the application to the application layer to request a service.
Indication
Issued by the application layer to the application to report an internal event detected
by the application layer or indicate that a service is requested.
Response
Issued by the application to the application layer to respond to a previous received
indication.
Confirmation
Issued by the application layer to the application to report the result of a previously
issued request.
Table 3: 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.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
13 / 129
Service Types
Type
Definition
Local service
Involves only the local service object. The application issues a request to
its local service object that executes the requested service without communicating with peer service object(s).
Unconfirmed service
Involves one or more peer service objects. The application issues a request
to its local service object. 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 4: Service Types
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
2.2
14 / 129
NMT State Machine
The finite state machine (FSM) or simply state machine is a model of behavior composed of a finite number
of states, transitions between those states, and actions. It shows which way the logic runs when certain
conditions are met.
Starting and resetting the device is controlled via the state machine. The NMT state machine consists of
the states shown in figure 4.
Initialization
ID / Boot-up
Pre-operational
Stopped
Operational
Figure 4: 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 that 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 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.
The NMT state machine (or DS301 state machine) is not to be confused with the DS402 state machine.
There is only one NMT state machine for the entire device, but for each motor there is a DS402 state
machine which controls the motor. There are no links between these state machines, with one exception:
When the NMT state machine is being switched to the stopped state, all DS402 state machines that are in
OPERATION_ENABLED state will be switch to FAULT state.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
15 / 129
CANopen device profile CiA DSP 402
Modes of operation:
Profile Position (pp)
Profile Velocity (pv)
Homing (hm)
...
Device control state machine
CANopen Communication Profile CiA DS301
NMT State Machine
CAN
Figure 5: Communication Architecture
2.3
Indicator LEDs
As defined by the CiA-303 standard part 3, one green and one red LED are used to indicate the NMT state
and error state of the device.
2.3.1
Run LED
The green LED (also called CANopen run LED) shows the NMT state of the device:
• Single flash (200ms on, 1000ms off): The device is in NMT Stopped state.
• Blinking (200ms on, 200ms off): The device is in NMT Pre-operational state.
• On: The device is in NMT Operational state.
Other run LED blink codes are not used by the PD42-1270 module.
2.3.2
Error LED
The red LED (also called CANopen error LED) shows possible error conditions:
• Off: No error. The device is in working condition.
• Single Flash (200ms on, 1000ms off): Warning limit reached. Too many error frames on the CAN bus.
Possible reasons: master not yet initialized or wrong bit rate setting.
• Double Flash (200ms on, 200ms off, 200ms on, 1000ms off): Error control event. A node guard event
or a heartbeat event (heartbeat consumer) has occured.
• On: Bus off. The CAN controller of the device is in bus off state.
Other error LED blink codes are not used by the PD42-1270 module.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
2.4
16 / 129
Device Model
A CANopen device mainly consists of the following parts:
• 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.
Application
Communication
Object dictionary
State machine
Communication
object
Application
object
Entry 1
Entry 2
Communication
object
Application
object
Communication
object
Application
object
Entry n
Application
object
Communication
object
Bus system
Process
Figure 6: Device Model
2.5
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 shown in table 5:
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
17 / 129
Object Dictionary
Index
Object
0000h
Not used.
0001h – 001Fh
Static data types.
0020h – 003Fh
Complex data types.
0040h – 005Fh
Manufacturer specific complex data types.
0060h – 007Fh
Device profile specific static data types.
0080h – 009Fh
Device profile specific complex data types.
00A0h – 0FFFh
Reserved for further use.
1000h – 1FFFh
Communication profile area.
2000h – 5FFFh
Manufacturer specific profile area.
6000h – 9FFFh
Standardized device profile area.
A000h – BFFFh
Standardized interface profile area.
C000h – FFFFh
Reserved for further use.
Table 5: Object Dictionary
The communication profile area at indices 1000h through 1FFFh contains the communication specific parameters for the CAN network. These entries are common to all devices.
The manufacturer segment at indices 2000h through 5FFFh contains manufacturer specific objects. These
objects control the special features of the Trinamic PD42-1270 motion control device.
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. They describe the device parameters and
the device functionality of the device profile.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
3
18 / 129
Communication Area
The communication area contains all objects that define the communication parameters of the CANopen
device according to the DS301 standard.
3.1
Detailed Object Specifications
3.1.1
Object 1000h : Device Type
This object contains information about the device type. The object 1000h describes the type of device
and its functionality. It is composed of a 16-bit field which describes the device profile that is used and a
second 16-bit field which provides additional information about optional functionality of the device.
Object Description
Index
Name
Object Type
Data Type
1000h
Device type
Variable
UNSIGNED32
Table 6: Object Description (1000h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
UNSIGNED32
FFFC0192h
Table 7: Entry Description (1000h )
3.1.2
Object 1001h : Error Register
This object contains error information. The CANopen device maps internal errors into object 1001h . It is
part of an emergency object.
Object Description
Index
Name
Object Type
Data Type
1001h
Error register
Variable
UNSIGNED8
Table 8: Object Description (1001h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
UNSIGNED8
0
Table 9: Entry Description (1001h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
19 / 129
Error Register Bits
Bit
Definition
0
Generic error
1
Current
2
Voltage
3
Temperature
4
Communication error
5
Device profile specific
6
Reserved (always 0)
7
Manufacturer specific
Table 10: Error Register Bits
3.1.3
Object 1005h : COB-ID SYNC Message
This object defines the COB-ID of the synchronization object (SYNC). Further, it defines whether the module generates the SYNC.
Value Definition
Bit
Name
Definition
30
Generate
0: Device does not generate SYNC message
1: Device generates SYNC message
29
Frame
Not supported, always set to 0.
28. . . 11
29 bit ID
Not supported, always set to 0.
10. . . 0
11 bit ID
11 bit COB-ID.
Table 11: Value Definition (1005h )
Object Description
Index
Name
Object Type
Data Type
1005h
COB-ID SYNC message
Variable
UNSIGNED32
Table 12: Object Description (1005h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
80h
Table 13: Entry Description (1005h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
3.1.4
Object 1008h : Manufacturer Device Name
This object contains the name of the device as given by the manufacturer.
Object Description
Index
Name
Object Type
Data Type
1008h
Manufacturer Device Name
Variable
Visible String
Table 14: Object Description (1008h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
—
PD42-1270
Table 15: Entry Description (1008h )
3.1.5
Object 1009h : Manufacturer Hardware Version
This object contains the hardware version description.
Object Description
Index
Name
Object Type
Data Type
1009h
Manufacturer Hardware Version
Variable
Visible String
Table 16: Object Description (1009h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
—
Depends on device, e.g. 1.00
Table 17: Entry Description (1009h )
3.1.6
Object 100Ah : Manufacturer Software Version
This object contains the software version description.
Object Description
Index
Name
Object Type
Data Type
100Ah
Manufacturer Software Version
Variable
Visible String
Table 18: Object Description (100Ah )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
20 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
21 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
—
Depends on device, e.g. 1.00.
Table 19: Entry Description (100Ah )
3.1.7
Object 100Ch : Guard Time
The objects at index 100Ch and 100Dh shall indicate the configured guard time respectively the life time
factor. The life time factor multiplied with the guard time gives the life time for the life guarding protocol.
Object Description
Index
Name
Object Type
Data Type
100Ch
Guard Time
Variable
UNSIGNED16
Table 20: Object Description (100Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED16
0
Table 21: Entry Description (100Ch )
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 Type
Data Type
100Dh
Life Time Factor
Variable
UNSIGNED8
Table 22: Object Description (100Dh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED8
0
Table 23: Entry Description (100Dh )
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.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
22 / 129
The PD42-1270 module supports saving of the following parameter groups:
• Sub-index 1: save all parameters.
• Sub-index 2: save communication parameters.
• Sub-index 3: save device profile parameters (not used).
• Sub-index 4: save motor 0 parameters.
• Sub-index 5: save device parameters (other non axis-related parameters).
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 "save" (65766173h , see also table 24).
Note
Save Signature
e
v
a
s
65h
76h
61h
73h
Table 24: Save Signature
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: 06060000h ). If a wrong signature is written, the device
refuses to store and responds with abort SDO transfer (abort code: 0800002xh ).
On read access, each sub-index provides information if it is possible to store the parameter group. It
reads 1 if yes and 0 if no.
Object Description
Index
Name
Object Type
Data Type
1010h
Store Parameters
Array
UNSIGNED32
Table 25: Object Description (1010h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
23 / 129
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
0
Highest supported sub-index
ro
no
UNSIGNED8
5
1
Save all parameters
rw
no
UNSIGNED32
1
2
Save communication parameters
rw
no
UNSIGNED32
1
3
Save device profile parameters
rw
no
UNSIGNED32
0
4
Save motor 0 parameters
rw
no
UNSIGNED32
1
5
Save device parameters
rw
no
UNSIGNED32
1
Table 26: Entry Description (1010h )
3.1.10
Object 1011h : Restore Parameters
With this object the default values of parameters according to the communication or device profile are
restored. By read access the device provides information about its capabilities to restore these values.
The PD42-1270 module supports restoring of the following parameter groups:
• Sub-index 1: restore all parameters.
• Sub-index 2: restore communication parameters.
• Sub-index 3: restore device profile parameters (not used).
• Sub-index 4: restore motor 0 parameters.
• Sub-index 5: restore device parameters (other non axis-related parameters).
In order to avoid restoring the parameters by mistake, restoring is only executed
when a specific signature is written to the appropriate sub-Index. This signature
is "load" (64616F6Ch , see also table 27).
Note
Load Signature
d
a
o
l
64h
61h
6Fh
6Ch
Table 27: Load Signature
On reception of the correct signature in the appropriate sub-index the device restores the parameter and
then confirms the SDO transmission (initiate download response). If the restoring failed, the device responds with an abort SDO transfer (abort code: 06060000h ). If a wrong signature is written, the device
refuses to restore and responds with abort SDO transfer (abort code: 0800002xh ).
On read access, each sub-index provides information if it is possible to restore the parameter group. It
reads 1 if yes and 0 if no.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
24 / 129
After the default values have been restored they will become active after the next rest or power cycle of
the PD42-1270.
Object Description
Index
Name
Object Type
Data Type
1011h
Restore parameters
Array
UNSIGNED32
Table 28: Object Description (1011h )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
0
Highest supported sub-index
ro
no
UNSIGNED8
5
1
Restore all parameters
rw
no
UNSIGNED32
1
2
Restore communication parameters
rw
no
UNSIGNED32
1
3
Restore device profile parameters
rw
no
UNSIGNED32
0
4
Restore motor 0 parameters
rw
no
UNSIGNED32
1
5
Restore device parameters
rw
no
UNSIGNED32
1
Table 29: Entry Description (1011h )
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 Type
Data Type
1014h
COB-ID emergency object
Variable
UNSIGNED32
Table 30: Object Description (1014h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
80h + Node ID
Table 31: Entry Description (1014h )
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.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
25 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Object Description
Index
Name
Object Type
Data Type
1015h
COB-ID emergency object
Variable
UNSIGNED16
Table 32: Object Description (1015h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED16
0
Table 33: Entry Description (1015h )
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.
Value Definition
Bits
Name
Definition
31. . . 24
Reserved
—
23. . . 16
Node ID
Heartbeat Producer Node ID
15. . . 0
Heartbeat time
Time in 1ms
Table 34: Value Definition (1016h )
Object Description
Index
Name
Object Type
Data Type
1016h
Consumer heartbeat time
Array
UNSIGNED32
Table 35: Object Description (1016h )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
0
Number of entries
ro
no
UNSIGNED8
1
1
Consumer heartbeat time 1
rw
no
UNSIGNED32
0
Table 36: Entry Description (1016h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
26 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
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 Type
Data Type
1017h
Producer heartbeat time
Variable
UNSIGNED16
Table 37: Object Description (1017h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED16
0
Table 38: Entry Description (1017h )
3.1.15
Object 1018h : Identity Object
The object 1018h contains general information about the device:
• The vendor ID (sub-index 01h ) contains a unique value allocated to each manufacturer. The vendor
ID of Trinamic is 286h .
• 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 Type
Data Type
1018h
Identity object
Record
Identity
Table 39: Object Description (1018h )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
0
Number of entries
ro
no
0. . . 3
3
1
Vendor ID
ro
no
UNSIGNED32
0286h
2
Product code
ro
no
UNSIGNED32
1270
3
Revision number
ro
no
UNSIGNED32
e.g. 20003h for version 2.3
Table 40: Entry Description (1018h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
27 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
3.1.16
Object 1023h : OS Command
After switching to TMCL command mode using object 2700h , this object can be used to send TMCL commands to the PD42-1270 module. A TMCL command can be written to sub-index 1. After the command
has been executed, the status code and the TMCL reply can be read from sub-index 2 and sub-index 3.
Object Description
Index
Name
Object Type
Data Type
1023h
OS Command
Record
Command
Table 41: Object Description (1023h )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
0
Number of entries
ro
no
—
3
1
TMCL command
rw
no
Octet string (7 bytes)
—
2
Reply
ro
no
UNSIGNED8
—
3
TMCL reply
ro
no
Octet string (7 bytes)
—
Table 42: Entry Description (1023h )
3.1.17
Object 1029h : Error Behaviour
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 Type
Data Type
1029h
Error behaviour
Array
UNSIGNED8
Table 43: Object Description (1029h )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
0
Number of error classes
ro
no
—
2
1
Communication error
rw
no
UNSIGNED8
0 (enter stopped state)
2
Application error
rw
no
UNSIGNED8
1 (remain in current state)
Table 44: Entry Description (1029h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
3.1.18
28 / 129
Objects 1400h – 1403h : Receive PDO Communication Parameter
This object contains the communication parameters for the RPDOs which the device is able to receive. The
sub-index 0 contains the number of valid entries within the communication record. Its value normally is
2, as this object consists of two other entries.
Sub-index 1 contains the COB-ID used by this PDO (in bits 10. . . 0). Bit 30 (RTR bit) defines if this PDO uses
RTRs. As RTRs are not supported for PDOs by this CANopen implementation, this bit must always be set
in order to turn off RTR support for this PDO. Bit 31 defines if this PDO is active or not. If this bit is set, the
PDO is inactive, and if this bit is clear, the PDO is active. Before making any changes to a PDO definition,
set this bit to inactivate the PDO.
Sub-Index 2 contains the transmission type of the RPDO. This can be FFh or FEh for event-driven, or 1. . . 240
for synchronous (1 means that the PDO will be processed with every SYNC message, and 4 for example
means that the PDO will be processed with every 4th SYNC message). Other values are not supported.
Object Description
Index
Name
Object Type
Data Type
1400h – 1403h
Receive PDO parameter
RECORD
RPDO CommPar
1400h
RPDO 1
RECORD
RPDO CommPar
1401h
RPDO 2
RECORD
RPDO CommPar
1402h
RPDO 3
RECORD
RPDO CommPar
1403h
RPDO 4
RECORD
RPDO CommPar
Table 45: Object Description (1400h )
Entry Description
Sub-index
Description
Access
Value Range
Default Value
0
Largest sub-index
supported
ro
2
2
1
COB-ID used by
PDO
rw
UNSIGNED32
Index 1400h :
Index 1401h :
Index 1402h :
Index 1403h :
200h
300h
400h
500h
2
Transmission type
rw
UNSIGNED8
Index 1400h :
Index 1401h :
Index 1402h :
Index 1403h :
FFh
FFh
FFh
FEh
+ Node-ID
+ Node-ID
+ Node-ID
+ Node-ID
Table 46: Entry Description (1400h )
3.1.19
Objects 1600h – 1603h : Receive PDO Mapping Parameter
These objects contain the mapping parameters for the RPDOs the device is able to receive. The sub-index
0 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 received with the corresponding RPDO. The sub-indices
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
29 / 129
from 1 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.
Object Description
Index
Name
Object Type
Data Type
1600h – 1603h
Receive PDO mapping parameter
RECORD
PDO Mapping
1600h
RPDO 1
RECORD
PDO Mapping
1601h
RPDO 2
RECORD
PDO Mapping
1602h
RPDO 3
RECORD
PDO Mapping
1603h
RPDO 4
RECORD
PDO Mapping
Table 47: Object Description (1600h )
Entry Description
Sub-index
Description
Access
Value Range
Default Value
0
Number
of
mapped
application objects in
PDO
rw
0. . . 3
Index 1600h :
Index 1601h :
Index 1602h :
Index 1603h :
1
2
2
2
1
Mapping entry 1
rw
UNSIGNED32
Index 1600h :
Index 1601h :
Index 1602h :
Index 1603h :
60400010h
60400010h
60400010h
60400010h
2
Mapping entry 2
rw
UNSIGNED32
Index 1600h :
Index 1601h :
Index 1602h :
Index 1603h :
0
60600008h
607A0020h
60FF0020h
3
Mapping entry 3
rw
UNSIGNED32
Index 1600h :
Index 1601h :
Index 1602h :
Index 1603h :
0h
0h
0h
0h
Table 48: Entry Description (1600h )
Before making changes to PDO definitions, first mark the PDO as inactive by setting bit 31 of its COB-ID
(see section 3.1.18). Then, set its number of mapped PDO entries to zero (sub-index 0 of the appropriate
PDO mapping object). Now, the mapppings themself can be changed. After that, set the number of map
objects to the desired value, and finally activate the PDO by clearing bit 31 of its COB-ID.
3.1.20
Objects 1800h – 1803h : Transmit PDO Communication Parameter
This object contains the communication parameters for the TPDOs which the device is able to transmit.
The sub-index 0 contains the number of valid entries within the communication record. Its value normally
is 5, as this object consists of five other entries.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
30 / 129
Sub-index 1 contains the COB-ID used by this PDO (in bits 10. . . 0). Bit 30 (RTR bit) defines if this PDO uses
RTRs. As RTRs are not supported for PDOs by this CANopen implementation, this bit must always be set
in order to turn off RTR support for this PDO. Bit 31 defines if this PDO is active or not. If this bit is set, the
PDO is inactive, and if this bit is clear, the PDO is active. Before making any changes to a PDO definition,
set this bit to inactivate the PDO.
Sub-index 2 contains the transmission type of the RPDO. This can be FFh or FEh for event-driven or 1. . . 240
for synchronous (1 means that the PDO will be sent with every SYNC message, and 4 for example means
that the PDO will be sent with every 4th SYNC message). Other values are not supported.
Sub-index 3 contains the inhibit time, given in units of 0.1ms. After a TPDO has been sent, it will not be
sent again before the inhibit time has elapsed.
Sub-index 4 is not used.
Sub-index 5 contains the event timer value in milliseconds. When this is set to a value greater than 0 the
TPDO will be sent repeatedly each time the event timer has elapsed. It will also be sent when the value
has changed before the event timer has elapsed, but not before the inhibit time has elapsed.
Object Description
Index
Name
Object Type
Data Type
1800h – 1803h
Transmit PDO communication parameter
RECORD
TPDO CommPar
1800h
TPDO 1
RECORD
TPDO CommPar
1801h
TPDO 2
RECORD
TPDO CommPar
1802h
TPDO 3
RECORD
TPDO CommPar
1803h
TPDO 4
RECORD
TPDO CommPar
Table 49: Object Description (1800h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
31 / 129
Entry Description
Sub-index
Description
Access
Value Range
Default Value
0
Largest sub-index
supported
ro
5
5
1
COB-ID
rw
UNSIGNED32
Index 1800h :
Index 1801h :
Index 1802h :
Index 1803h :
180h
280h
380h
480h
2
Transmission type
rw
UNSIGNED8
Index 1800h :
Index 1801h :
Index 1802h :
Index 1803h :
FFh
FFh
01h
01h
3
Inhibit time
rw
UNSIGNED16
0
4
Compatibility
entry
ro
UNSIGNED8
0
5
Event timer
rw
UNSIGNED16
0
+ Node-ID
+ Node-ID
+ Node-ID
+ Node-ID
Table 50: Entry Description (1800h )
3.1.21
Objects 1A00h – 1A03h : Transmit PDO Mapping Parameter
These objects contain the mapping parameters for the TPDOs the device is able to transmit. The subindex 0 contains the number of valid entries within the mapping record. This number of entries is also
the number of the application variables which shall be transmitted with the corresponding TPDO. The
sub-indices from 1 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.
Object Description
Index
Name
Object Type
Data Type
1A00h – 1A03h
Transmit PDO mapping parameter
RECORD
PDO Mapping
1A00h
TPDO 1
RECORD
PDO Mapping
1A01h
TPDO 2
RECORD
PDO Mapping
1A02h
TPDO 3
RECORD
PDO Mapping
1A03h
TPDO 4
RECORD
PDO Mapping
Table 51: Object Description (1A00h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
32 / 129
Entry Description
Sub-index
Description
Access
Value Range
Default Value
0
Number
of
mapped
aaplication objects in
PDO
rw
0. . . 3
Index 1A00h :
Index 1A01h :
Index 1A02h :
Index 1A03h :
1
2
2
2
1
Mapping entry 1
rw
UNSIGNED32
Index 1A00h :
Index 1A01h :
Index 1A02h :
Index 1A03h :
60410010h
60410010h
60410010h
60410010h
2
Mapping entry 2
rw
UNSIGNED32
Index 1A00h :
Index 1A01h :
Index 1A02h :
Index 1A03h :
0
60610008h
60640020h
606C0020h
3
Mapping entry 3
rw
UNSIGNED32
Index 1A00h :
Index 1A01h :
Index 1A02h :
Index 1A03h :
0h
0h
0h
0h
Table 52: Entry Description (1A00h )
Before making changes to PDO definitions, first mark the PDO as inactive by setting bit 31 of its COB-ID
(see section 3.1.20). Then, set its number of mapped PDO entries to zero (sub-index 0 of the appropriate
PDO mapping object). Now, the mapppings themself can be changed. After that, set the number of map
objects to the desired value, and finally activate the PDO by clearing bit 31 of its COB-ID.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
33 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
4
Manufacturer specific Area
The manufacturer segment contains manufacturer specific objects. These objects control the special features of the Trinamic Motion Control device PD42-1270.
4.1
Objects related to CoolStep™
Figure 7 shows an overview of the CoolStep™ related objects for motor #0. Please bear in mind that the figure only shows one example for a drive. There are objects which concern the configuration of the current.
Other objects are for velocity regulation and for time adjustment. The CoolStep™ feature is sometimes
also called SmartEnergy.
The following adjustments have to be made:
• Thresholds for current and velocity have to be identified and set.
• The StallGuard2™ feature has to be adjusted and enabled.
• The reduction or increasing of the current in the CoolStep™ area (depending on the load) has to be
configured.
coolStep™ adjustment points and thresholds
Velocity
Current
2003h
209Ah
20A4h
20A5h
The current depends on
the load of the motor.
20A6h
2003h
2003h
2004h
2004h
2004h
Time
2089h
coolStep area
area without coolStep
Current and objects
Time object
Velocity and objects
stallGuard2 objects
Figure 7: CoolStep Adjustment Points and Thresholds
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
34 / 129
CoolStep Adjustment Objects
Object
Name
Description
2003h
Absolute maximum current
The maximum value is 255. This value means 100%
of the maximum current of the module. The current
adjustment is within the range 0. . . 255 and can be adjusted in 32 steps (0. . . 255 divided by eight; step 0 =
0. . . 7, step 1 = 8. . . 15 and so on).
The most important motor setting, since too high values
might cause motor damage!
2004h
Standby current
The current limit two seconds after the motor has
stopped.
2098h
SmartEnergy current minimum
Sets the lower motor current limit for CoolStep operation by scaling the run current (object 2003h ) value.
This can be:
0: for 1/2 of the run current
1: for 1/4 of the run current
2099h
SmartEnergy current down step
Sets the speed of current decrement when the StallGuard2 reading is above the upper threshold.
0: slow decrement
3: fast decrement
209Bh
SmartEnergy current up step
Sets the current increment step when the StallGuard2
below the lower threshold.
0: slow increment
3: fast increment / fast reaction to rising load
209Ah
SmartEnergy hysteresis
Sets the distance between the lower and the upper
threshold for StallGuard2 reading. Above the upper
threshold the motor current becomes decreased.
20A4h
Stop on stall
Below this speed the motor will not be stopped. Above
this speed the motor will stop in case StallGuard2 load
value reaches zero.
20A5h
SmartEnergy threshold speed.
Above this speed CoolStep becomes enabled.
2089h
Standby delay
Standstill period before the current is changed down to
standby current. The standard value is 200 which is 2
seconds.
Table 53: CoolStep related Objects
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
4.2
Detailed Object Specifications
4.2.1
Object 2000h : Microstep Resolution
35 / 129
This object sets the microstep resolution of the drive. A value of 8 selects 256 (28 ) microsteps per full step.
Object Description
Index
Name
Object Type
Data Type
2000h
Microstep Resolution
Variable
UNSIGNED8
Table 54: Object Description (2000h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 8
8
Table 55: Entry Description (2000h )
4.2.2
Object 2001h : Fullstep Resolution
This object sets the fullstep resolution of the motor connected to the drive. Its default value is 200 because most motors are 1.8° motors.
Object Description
Index
Name
Object Type
Data Type
2001h
Motor full step resolution
Variable
UNSIGNED16
Table 56: Object Description (2001h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 65535
200
Table 57: Entry Description (2001h )
4.2.3
Object 2002h : Brake Delay Times
With this object the delay times for applying and releasing an (optional) brake can be defined. Please see
also object 200Ah for an additional delay between enabling the power stage and releasing the brake. Both
times are given in ms.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
36 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Brake
Bridge
ON
OFF
ON
OFF
t1
t2
200Ah
Operation Enable
2002hsub index2
t3
2002hsub index1
Figure 8: Brake Output Timing
Object Description
Index
Name
Object Type
Data Type
2002h
Brake delay times
Array
UNSIGNED16
Table 58: Object Description (2002h )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Time between applying brake /
disabling power stage
rw
no
0. . . 65535
0
2
Time between releasing brake /
switching the state machine to
operational
rw
no
0..65535
0
Table 59: Entry Description (2002h )
4.2.4
Object 2003h : Maximum Current
This object defines the current used when the motor is moving. A value of 255 means 100% of the maximum current of the drive.
Object Description
Index
Name
Object Type
Data Type
2003h
Maximum current
Variable
UNSIGNED8
Table 60: Object Description (2003h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 255
128
Table 61: Entry Description (2003h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
4.2.5
37 / 129
Object 2004h : Standby Current
This object defines the current used when the motor is standing (two seconds after the last move). A value
of 255 means 100% of the maximum current of the drive.
Object Description
Index
Name
Object Type
Data Type
2004h
Maximum current
Variable
UNSIGNED8
Table 62: Object Description (2004h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 255
8
Table 63: Entry Description (2004h )
4.2.6
Object 2005h : Switch Parameters
This object defines which limit switches are to be used. 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 object 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
The polarity of the home switch can be set using bit 5.
Object Description
Index
Name
Object Type
Data Type
2005h
Limit switches
Variable
UNSIGNED32
Table 64: Object Description (2005h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 63
0
Table 65: Entry Description (2005h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
38 / 129
Bit Definitions
Bit
Definition
0
Left limit switch deactivated if set.
1
Right limit switch deactivated if set.
2
Left limit switch inverted if set.
3
Right limit switch inverted if set.
4
Home switch deactivated if set.
5
Home switch inverted if set.
Table 66: Bit Definitions (2005h )
4.2.7
Object 200Ah : Enable Drive Delay Time
This is an additional delay time (in milliseconds) between enabling the power stage and releasing the
brake. It can be used to prevent the brake from being released too early (before the hold current in the
motor has been reached). Please see also object 4.2.3.
Object Description
Index
Name
Object Type
Data Type
200Ah
Enable drive delay time
Variable
UNSIGNED16
Table 67: Object Description (200Ah )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 65535
0
Table 68: Entry Description (200A)h
4.2.8
Object 200Bh : Encoder Parameters
This object defines encoder parameters. These are the polarity of the encoder null channel, the direction
of rotaion (set it to 1 if the direction is reversed compared to the motor) and if the position is to be intialized with the encoder position. It is only writable in SWITCHED_ON_DISABLED state.
Object Description
Index
Name
Object Type
Data Type
200Bh
Encoder parameters
Array
UNSIGNED8
Table 69: Object Description (200Bh )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
39 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Null channel polarity
rw
no
0/1
0
2
Direction of rotation
rw
no
0/1
0
3
Initialize position
rw
no
0/1
1
Table 70: Entry Description (200Bh )
4.2.9
Object 200Ch : Brake Current Feed
This object configures how much current has to be fed into the brake to apply and to release it. 0 means
0%, 255 means 100% of the maximum current (this depends on the module). In most cases it is needed
to feed current into the brake to release it. Setting both values to 0 disables the automatic brake control.
This object is only writable in SWITCHED_ON_DISABLED state.
Object Description
Index
Name
Object Type
Data Type
200Ch
Brake current feed
Array
UNSIGNED8
Table 71: Object Description (200Ch )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Apply current
rw
no
0. . . 255
0
2
Release current
rw
no
0. . . 255
0
Table 72: Entry Description (200Ch )
4.2.10
Object 2010h : Profile Start Velocity
This object contains the velocity with which a positioning ramp will be started.
Object Description
Index
Name
Object Type
Data Type
2010h
Profile Start Velocity
Variable
UNSIGNED32
Table 73: Object Description (2010h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
40 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 268435455
0
Table 74: Entry Description (2010h )
4.2.11
Object 2011h : Profile A1
This object contains the acceleration value used for ramping up from the start velocity (object 2011h , see
section 4.2.10) to the velocity V1 (object (h 2012), see section 4.2.12).
Object Description
Index
Name
Object Type
Data Type
2011h
Profile A1
Variable
UNSIGNED32
Table 75: Object Description (2011h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 16777215
0
Table 76: Entry Description (2011h )
4.2.12
Object 2012h : Profile V1
This object contains the velocity used for the first segment of a positioning ramp.
Object Description
Index
Name
Object Type
Data Type
2012h
Profile V1
Variable
UNSIGNED32
Table 77: Object Description (2012h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 16777215
0
Table 78: Entry Description (2012h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
4.2.13
41 / 129
Object 2013h : Profile D1
This object contains the deceleration value used for decelerating from the maximum positioning velocity
to the velocity V1 (object 2012h , see section 4.2.12).
Object Description
Index
Name
Object Type
Data Type
2013h
Profile D1
Variable
UNSIGNED32
Table 79: Object Description (2013h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 16777215
0
Table 80: Entry Description (2013h )
4.2.14
Object 2015h : Ramp Wait Time
This object defines the waiting time after ramping down to zero velocity before the next movement or
direction inversion can start. Time range is 0 to 2 seconds. This setting avoids excess acceleration e.g.
from positive stop velocity to negative start velocity.
Object Description
Index
Name
Object Type
Data Type
2015h
Ramp Wait Time
Variable
UNSIGNED16
Table 81: Object Description (2015h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 65535 [0.000032s]
0
Table 82: Entry Description (2015h )
4.2.15
Object 2089h : Setting Delay
This object has to be used for setting a standstill period before the current is changed down to standby
current.
Unit: 10msec
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
42 / 129
Object Description
Index
Name
Object Type
Data Type
2089h
Setting Delay
Variable
UNSIGNED16
Table 83: Object Description (2089h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 400
0
Table 84: Entry Description (2089h )
4.2.16
Object 208Ch : Velocity Dimension Index
With this object different units can be chosen:
• Writing 0 selects internal units.
• Writing 181 sets PPS for velocity and PPS/s for acceleration.
This can only be changed in SWITCHED_ON_DISABLED mode.
Object Description
Index
Name
Object Type
Data Type
208Ch
Velocity Dimension Index
Variable
UNSIGNED8
Table 85: Object Description (208Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/181
181
Table 86: Entry Description (208Ch )
4.2.17
Object 208Eh : Acceleration Dimension Index
With this object, the unit for acceleration can be read out. The unit can be set using object 208Ch . Object
208Eh reads 0 when internal units are selected and 179 when PPS/s is selected.
Object Description
Index
Name
Object Type
Data Type
208Eh
Acceleration Dimension Index
Variable
UNSIGNED8
Table 87: Object Description (208Eh )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
43 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
0/179
179
Table 88: Entry Description (208Eh )
4.2.18
Object 2092h : Chopper Blank Time
This object serves for selecting the comparator blank time. This time needs to safely cover the switching
event and the duration of the ringing on the sense resistor. For low current drivers, a setting of 1 or 2 is
good. For higher current applications a setting of 2 or 3 will be required.
Object Description
Index
Name
Object Type
Data Type
2092h
Chopper Blank Time
Variable
UNSIGNED8
Table 89: Object Description (2092h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 3
2
Table 90: Entry Description (2092h )
4.2.19
Object 2093h : Chopper Mode
Select the chopper mode using this object:
• 0 – spreadCycle chopper
• 1 – classic constant off time chopper
Object Description
Index
Name
Object Type
Data Type
2093h
Chopper Mode
Variable
UNSIGNED8
Table 91: Object Description (2093h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 92: Entry Description (2093h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
4.2.20
44 / 129
Object 2094h : Chopper Hysteresis Decrement
This object serves for the hysteresis decrement setting. This setting determines the slope of the hysteresis
during on time and during fast decay time.
• 0 – fast decrement
• 3 – very slow decrement
Object Description
Index
Name
Object Type
Data Type
2094h
Chopper Hysteresis Decrement
Variable
UNSIGNED8
Table 93: Object Description (2094h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 3
0
Table 94: Entry Description (2094h )
4.2.21
Object 2095h : Chopper Hysteresis End
This object provides the setting of the hysteresis end value after a number of decrements. The decrement
interval time is controlled by object 2094h (section 4.2.20).
Possible values are:
• -3. . . -1 – negative hysteresis end setting
• 0 – zero hysteresis end setting
• 1. . . 12 – positive hysteresis end setting
Object Description
Index
Name
Object Type
Data Type
2095h
Chopper Hysteresis End
Variable
SIGNED8
Table 95: Object Description (2095h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
-3. . . 12
0
Table 96: Entry Description (2095h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
4.2.22
45 / 129
Object 2096h : Chopper Hysteresis Start
This object provides the hysteresis start setting. Please notice that this value is an offset to the hysteresis
end value.
Object Description
Index
Name
Object Type
Data Type
2096h
Chopper Hysteresis Start
Variable
UNSIGNED8
Table 97: Object Description (2096h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 8
3
Table 98: Entry Description (2096h )
4.2.23
Object 2097h : Chopper Off Time
The off time setting controls the minimum chopper frequency. Under normal circumstances, an off time
within the range of 5µs to 20µs is used. Off time setting for constant tOFF chopper: NCLK = 12 + 32 ∗ tOF F .
Minimum is 64 clocks.
Setting this parameter to zero completely disables all driver transistors and so lets the motor free-wheel.
Object Description
Index
Name
Object Type
Data Type
2097h
Chopper Off Time
Variable
UNSIGNED8
Table 99: Object Description (2097h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0 / 2. . . 15
5
Table 100: Entry Description (2097h )
4.2.24
Object 2098h : Smart Energy Current Minimum
This object provides the setting of the lower motor current limit for CoolStep™ operation by scaling the
CS value.
Possible values are:
• 0 – 1/2 of maximum motor current setting (section 4.2.4)
• 1 – 1/4 of maximum motor current setting (section 4.2.4)
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
46 / 129
Object Description
Index
Name
Object Type
Data Type
2098h
Smart Energy Current Minimum
Variable
UNSIGNED8
Table 101: Object Description (2098h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 102: Entry Description (2098h )
4.2.25
Object 2099h : Smart Energy Current Down Step
This object provides the setting of the number of StallGuard2 readings above the upper threshold necessary for each current decrement of the motor current.
Possible values are:
• 0 – 32 measurements – slowest decrement
• 1 – 8 measurements
• 2 – 2 measurements
• 3 – 1 measurements – fastest decrement
Object Description
Index
Name
Object Type
Data Type
2099h
Smart Energy Current Down Step
Variable
UNSIGNED8
Table 103: Object Description (2099h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 3
0
Table 104: Entry Description (2099h )
4.2.26
Object 209Ah : Smart Energy Hysteresis
This object sets the distance between the lower and the upper threshold for StallGuard2 reading. Above
the upper threshold the motor current becomes decreased.
Hysteresis: (SmartEnergy hysteresis value + 1) ∗ 32
Upper StallGuard2 threshold: (SmartEnergy hysteresis start + SmartEnergy hysteresis + 1) ∗ 32
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
47 / 129
Object Description
Index
Name
Object Type
Data Type
209Ah
Smart Energy Hysteresis
Variable
UNSIGNED8
Table 105: Object Description (209Ah )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 15
0
Table 106: Entry Description (209Ah )
4.2.27
Object 209Bh : Smart Energy Current Up Step
This object sets the current increment step. The current becomes incremented for each measured StallGuard2 value below the lower threshold (see smart energy hysteresis start (object 209Ch , section 4.2.28).
Possible values are:
• 0 – 1 step – slowest increment
• 1 – 2 steps
• 2 – 4 steps
• 3 – 8 steps – fastest increment
Object Description
Index
Name
Object Type
Data Type
209Bh
Smart Energy Current Up Step
Variable
UNSIGNED8
Table 107: Object Description (209Bh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 3
0
Table 108: Entry Description (209Bh )
4.2.28
Object 209Ch : Smart Energy Hysteresis Start
This object serves to set the lower threshold for the StallGuard2 value (see smart Energy current up step
(section 4.2.27). Setting this to 0 disables the CoolStep™ function.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
48 / 129
Object Description
Index
Name
Object Type
Data Type
209Ch
Smart Energy Hysteresis Start
Variable
UNSIGNED8
Table 109: Object Description (209Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 15
0
Table 110: Entry Description (209Ch )
4.2.29
Object 209Dh : Smart Energy Filter Enable
This object is used to set the StallGuard2 filter for more precision of the measurement. It reduces the
measurement frequency to one measurement per four fullsteps if set.
In most cases it is expedient to set the filtered mode when using CoolStep™. Use the standard mode for
step loss detection.
Possible values are:
• 0 – standard mode
• 1 – filtered mode
Object Description
Index
Name
Object Type
Data Type
209Dh
Smart Energy Filter Enable
Variable
UNSIGNED8
Table 111: Object Description (209Dh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 112: Entry Description (209Dh )
4.2.30
Object 209Eh : StallGuard2 Threshold
This signed value controls the StallGuard2 threshold level for stall output and sets the optimum measurement range for readout. A lower value gives a higher sensitivity. Zero is the starting value. A higher value
makes StallGuard2 less sensitive and requires more torque to indicate a stall.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
49 / 129
Object Description
Index
Name
Object Type
Data Type
209Eh
StallGuard2 Threshold
Variable
SIGNED8
Table 113: Object Description (209Eh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
-63. . . 63
0
Table 114: Entry Description (209Eh )
4.2.31
Object 20A1h : Short Protection Disable
This object is used to enable or to disable the short to ground protection. Normally there is no need to
change this. Use the default value.
Possible values are:
• 0 – Short to GND protection enabled
• 1 – Short to GND protection disabled
Object Description
Index
Name
Object Type
Data Type
20A1h
Short Protection Disable
Variable
UNSIGNED8
Table 115: Object Description (20A1h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 116: Entry Description (20A1h )
4.2.32
Object 20A3h : Vsense
This object is used for setting the sense resistor voltage based current scaling. Use the default value and
change only when recommended by Trinamic.
Possible settings are:
• 0 - Full scale sense resistor voltage is 1/18 VDD
• 1 - Full scale sense resistor voltage is 1/36 VDD
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
50 / 129
Object Description
Index
Name
Object Type
Data Type
20A3h
Vsense
Variable
UNSIGNED8
Table 117: Object Description (20A3h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 118: Entry Description (20A3h )
4.2.33
Object 20A4h : Stop on Stall
Below this speed the motor will not be stopped. Above this speed the motor will be stopped in case the
StallGuard2 load value reaches zero.
Object Description
Index
Name
Object Type
Data Type
20A4h
Stop on Stall
Variable
UNSIGNED32
Table 119: Object Description (20A4h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 2147483647
0
Table 120: Entry Description (20A4h )
4.2.34
Object 20A5h : Smart Energy Threshold Speed
The CoolStep™ functionality will be enabled when the actual speed is above this speed. It will be disabled
again when the actual speed drops below this value.
Object Description
Index
Name
Object Type
Data Type
20A5h
Smart Energy Threshold Speed
Variable
UNSIGNED32
Table 121: Object Description (20A5h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
51 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 2147483647
0
Table 122: Entry Description (20A5h )
4.2.35
Object 20B0h : PWM Threshold Speed
The StealthChop feature will be switched on when the value of this object is greater than zero and the
actual velocity is lower than the value set by this object.
Object Description
Index
Name
Object Type
Data Type
20B0h
PWM Threshold Speed
Variable
UNSIGNED32
Table 123: Object Description (20B0h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 16777215
0
Table 124: Entry Description (20B0h )
4.2.36
Object 20B1h : PWM Gradient
Velocity dependent gradient for the PWM amplitude (StealthChop). Setting this value to 0 turns off StealthChop.
Object Description
Index
Name
Object Type
Data Type
20B1h
PWM Gradient
Variable
UNSIGNED8
Table 125: Object Description (20B1h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 255
0
Table 126: Entry Description (20B1h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
4.2.37
52 / 129
Object 20B2h : PWM Amplitude
Maximum PWM amplitude when switching to StealthChop mode. Do not set too low. Values above 64
are recommended.
Object Description
Index
Name
Object Type
Data Type
20B2h
PWM Amplitude
Variable
UNSIGNED8
Table 127: Object Description (20B2h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 255
0
Table 128: Entry Description (20B2h )
4.2.38
Object 20B3h : DcStep Minimum Speed
Minimum speed for switching to DcStep. The motor driver will not switch to DcStep mode when the actual
velocity is below this value. Setting this object to zero completely switches off DcStep.
Object Description
Index
Name
Object Type
Data Type
20B3h
DcStep Minimum Speed
Variable
UNSIGNED32
Table 129: Object Description (20B3h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 16777215
0
Table 130: Entry Description (20B3h )
4.2.39
Object 20B4h : DcStep Time
This setting controls the reference pulse width for DcStep load measurement. It must be optimized for
robust operation with maximum motor torque. A higher value allows higher torque and higher velocity, a
lower value allows operation down to a lower velocity as set by the minimum DcStep speed (object 20B3h ,
see section 4.2.38).
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
53 / 129
Object Description
Index
Name
Object Type
Data Type
20B4h
DcStep Time
Variable
UNSIGNED16
Table 131: Object Description (20B4h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 1023
0
Table 132: Entry Description (20B4h )
4.2.40
Object 20B5h : DcStep StallGuard
This setting controls stall detection in DcStep mode. Increase this value for higher sensitivity.
Object Description
Index
Name
Object Type
Data Type
20B5h
DcStep StallGuard
Variable
UNSIGNED8
Table 133: Object Description (20B5h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 255
0
Table 134: Entry Description (20B5h )
4.2.41
Object 20B6h : Fullstep Threshold Speed
Depending on the settings of objects 20B7h and 20B8h (see sections 4.2.42 and 4.2.43) the driver switches
to fullstep mode and/or to a different chopper mode when the speed set by this object is exceeded.
Object Description
Index
Name
Object Type
Data Type
20B6h
Fullstep Threshold Speed
Variable
UNSIGNED32
Table 135: Object Description (20B6h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
54 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 16777215
0
Table 136: Entry Description (20B6h )
4.2.42
Object 20B7h : High Speed Chopper Mode
The motor driver will switch to a different chopper mode when this object is set to 1 and the measured
speed is greater than the threshold speed set by object 20B6h (see section 4.2.41).
Object Description
Index
Name
Object Type
Data Type
20B7h
High Speed Chopper Mode
Variable
UNSIGNED8
Table 137: Object Description (20B7h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 138: Entry Description (20B7h )
4.2.43
Object 20B8h : High Speed Fullstep Mode
The motor driver will switch to fullstep mode when this object is set to 1 and the measured speed is
greater than the threshold speed set by object 20B6h (see section 4.2.41).
Object Description
Index
Name
Object Type
Data Type
20B8h
High Speed Chopper Mode
Variable
UNSIGNED8
Table 139: Object Description (20B8h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 140: Entry Description (20B8h )
4.2.44
Object 20B9h : Power Down Ramp
The value set by this object controls the number of clock cycles for motor power down after a motion as
soon as the motor has stopped and the setting time (set by object 2089h , please see section 4.2.15) has
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
expired. The smooth transition avoids a motor jerk upon power down.
• 0=instant power down.
• 15=longest possible power down ramp.
Object Description
Index
Name
Object Type
Data Type
20B9h
Power Down Ramp
Variable
UNSIGNED8
Table 141: Object Description (20B9h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 15
7
Table 142: Entry Description (20B9h )
4.2.45
Object 2100h : Home Offset Display
This object shows the home offset. The value is given in microsteps.
Object Description
Index
Name
Object Type
Data Type
2100h
Home Offset Display
Variable
SIGNED32
Table 143: Object Description (2100h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
-2147483648. . . 2147483647
0
Table 144: Entry Description (2100h )
4.2.46
Object 2101h : Actual Load Value
This object shows the actual load value used for stall detection (StallGuard2™).
Object Description
Index
Name
Object Type
Data Type
2101h
Actual Load Value
Variable
UNSIGNED16
Table 145: Object Description (2101h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
55 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
0. . . 1023
0
Table 146: Entry Description (2101h )
4.2.47
Object 2102h : Driver Error Flags
This object shows the error flags of the motor driver IC.
Error Flags
Bit
Name
Meaning
7
OT
Overtemperature
6
OTPW
Temperature pre-warning
5
UV
Undervoltage
4
OCHS
Overcurrent high side
3
OLB
Open load on bridge B
2
OLA
Open load on bridge A
1
OCB
Overcurrent on bridge B
0
OCA
Overcurrent on bridge A
Table 147: Driver Error Flags (2102h )
Object Description
Index
Name
Object Type
Data Type
2102h
Driver Error Flags
Variable
UNSIGNED8
Table 148: Object Description (2102h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
0. . . 255
0
Table 149: Entry Description (2102h )
4.2.48
Object 2107h : Microstep Resolution Display
This object shows the microstep resolution, set by object 2000h (please see section 4.2.1).
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
56 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
57 / 129
Object Description
Index
Name
Object Type
Data Type
2107h
Microstep resolution display
Variable
UNSIGNED8
Table 150: Object Description (2107h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
0. . . 8
8
Table 151: Entry Description (2107h )
4.2.49
Object 210Bh : Step Counter
This object shows the overall number of microsteps done by this motor so far. The value can be read as
a 64 bit value (sub-index 3) or split into two 32 bit values (sub-index 1 and sub-index 2).
Object Description
Index
Name
Object Type
Data Type
210Bh
Step Counter
Variable
RECORD
Table 152: Object Description (210Bh )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Lower 32 Bits
ro
no
0. . . ffffffffh
0
2
Higher 32 Bits
ro
no
0. . . ffffffffh
0
3
64 Bit Value
ro
no
0. . . ffffffffffffffffh
0
Table 153: Entry Description (210Bh )
4.2.50
Object 2121h : PWM Scale Value
Actual PWM scale value used when the motor driver is operaing in StealthChop mode.
Object Description
Index
Name
Object Type
Data Type
2121h
PWM Scale Value
Variable
UNSIGNED8
Table 154: Object Description (2121h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
58 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
0. . . 255
—
Table 155: Entry Description (2121h )
4.2.51
Object 2122h : Measured Velocity
This object contains the velocity measured by the motor driver. This value is important only when the
motor driver is operating in DcStep mode.
Object Description
Index
Name
Object Type
Data Type
2122h
Measured Velocity
Variable
SIGNED32
Table 156: Object Description (2122h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
-16777215. . . 16777215
—
Table 157: Entry Description (2122h )
4.2.52
Object 2700h : TMCL Direct Communication
After writing the make signature 656b616dh to this object the drive switches to TMCL mode. The drive
can then only be controlled via TMCL commands written to the OS command object 1023/01h .
The drive can only be reset to normal CANopen functionality using the DS-301 reset application command.
Object Description
Index
Name
Object Type
Data Type
2700h
TMCL Direct Communication
Variable
UNSIGNED32
Table 158: Object Description (2700h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
656b616dh
0
Table 159: Entry Description (2700)h
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
4.2.53
59 / 129
Object 2701h : Manufacturer Specific Mode
Writing the make signature to this object turns on the manufacturer specific mode. The manufacturer
specific mode can be turned off again by writing the kill signature to this object. The manufacturer specific
mode has the following features:
• PDOs do not need to be disabled and re-enabled when the PDO mapping is to be changed.
• The RTR bit in the COB-ID of PDO definitions is ignored.
read:
write:
0
=
manufacturer specific mode is inactive
1
=
manufacturer specific mode is active
656b616dh
=
make signature
6c6c696bh
=
kill signature
Object Description
Index
Name
Object Type
Data Type
2701h
Manufacturer Specific Mode
Variable
UNSIGNED32
Table 160: Object Description (2701h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
see above
0
Table 161: Entry Description (2701)h
4.2.54
Object 2702h : Device Digital Inputs
Bits 23. . . 16 of this object reflect the states of the general purpose inputs of the module. The number of
available inputs depends on the module type.
Bit Definitions
Bit
Description
16
IN0
17
IN1
18
IN2
Table 162: Bit Definitions (2702h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
60 / 129
Object Description
Index
Name
Object Type
Data Type
2702h
Device Digital Inputs
Variable
UNSIGNED32
Table 163: Object Description (2702h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
–
0
Table 164: Entry Description (2702)h
4.2.55
Object 2703h : Device Digital Outputs
With this object the digital outputs (general purpose outputs) can be set. Bits 23. . . 16 of sub index 1 switch
the outputs of the module. Bits 23. . . 16 of sub index 2 determine which outputs can be switched. The
number of available digital outputs depends on the module type.
Bit Definitions
Bit
Description
16
OUT0
Table 165: Bit Definitions (2703h )
Object Description
Index
Name
Object Type
Data Type
2703h
Device Digital Outputs
Variable
ARRAY
Table 166: Object Description (2703h )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Physical outputs
rw
yes
UNSIGNED32
0
2
Output mask
rw
no
UNSIGNED32
0
Table 167: Entry Description (2703h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
61 / 129
Output #0 can also be used for automatically controlling a brake that can be
connected to the module via this output. In order to be able to control output #0
via this object the autmatic brake control function has to be disabled. Do this by
writing 0 to sub-index 1 and sub-index 2 of object 200Ch .
Note
4.2.56
Object 2704h : CAN Bit Rate
With this object it is possible to change the CAN bit rate. To do this, first write the new value to this object.
Then, store the new setting by writing the save signature to object 2706h. After that, reset the module.
The new setting then becomes active.
Object Description
Index
Name
Object Type
Data Type
2704h
CAN Bit Rate
Variable
UNSIGNED16
Table 168: Object Description (2704h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
20,50,100,125,250,500,800,1000
1000
Table 169: Entry Description (2704)h
How to change the bit rate of a module:
• Write new bit rate in object 2704h .
• Write the save signature 65766173h to sub-index 1 of object 2706h .
• Reset module.
4.2.57
Object 2705h : Node ID
On modules that do not have address switches the node ID can be selected using this object. On modules
with address switches the node ID is normally selected using the address switches. Only when the address
switches are set to an invalid value (0 or >127) this object overrides the address switch setting.
To change the node ID, first write the new node ID to this object. Then, store the new setting by writing
the save signature to object 2706h . After that, reset the module. The new setting then becomes active.
Object Description
Index
Name
Object Type
Data Type
2705h
Node ID
Variable
UNSIGNED8
Table 170: Object Description (2705h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
62 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
1. . . 127
1
Table 171: Entry Description (2705)h
How to change the node ID of a module:
• Write new node ID to object 2705h .
• Write save signature 65766173h to sub-index 1 of object 2706h .
• Reset the module.
4.2.58
Object 2706h : Store
Writing the save signature to this object permanently saves changes made to objects 2704h and 2705h .
The save signature is 65766173h .
Object Description
Index
Name
Object Type
Data Type
2706h
Store
Variable
UNSIGNED32
Table 172: Object Description (2706h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
save signature: 65766173h
1
Table 173: Entry Description (2706)h
4.2.59
Object 2707h : CAN Bit Rate Load
This object shows the selected CAN bit rate.
Object Description
Index
Name
Object Type
Data Type
2707h
CAN Bit Rate Load
Variable
UNSIGNED8
Table 174: Object Description (2707h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
63 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
20. . . 1000
depends on bit rate
Table 175: Entry Description (2707)h
4.2.60
Object 2708h : Node ID Load
This object shows the selected node ID.
Object Description
Index
Name
Object Type
Data Type
2708h
Node ID Load
Variable
UNSIGNED8
Table 176: Object Description (2708h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
1..127
Depends on node ID setting
Table 177: Entry Description (2708h )
4.2.61
Object 270Eh : Device Analog Inputs
This object shows the values of the analog inputs of the device.
Object Description
Index
Name
Object Type
Data Type
270Eh
Device Analog Inputs
Array
UNSIGNED32
Table 178: Object Description (270Eh )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Analog input 0
ro
yes
0. . . 4095
–
Table 179: Entry Description (270Eh )
4.2.62
Object 5FFFh : Bootloader mode
Writing the magic number 12345678h to this object switches the module to bootloader mode. This is only
necessary for performing a firmware update.
This object always reads as zero.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Object Description
Index
Name
Object Type
Data Type
5FFFh
Bootloader mode
Variable
UNSIGNED32
Table 180: Object Description (5FFFh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
12345678h
0
Table 181: Entry Description (5FFFh )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
64 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
5
65 / 129
Profile specific Area
The profile segment contains CiA-402 standard motion control objects. These objects control the motion
control functions of the PD42-1270. 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 operating modes (selectable via object 6060h , please see 5.1.6) are implemented on the
PD42-1270:
• Profile position mode (pp)
• Profile velocity mode (pv)
• Homing mode (hm)
• Cyclic position mode (csp)
• Cyclic velocity mode (csv)
5.1
Detailed Object Specifications
5.1.1
Object 605Ah : 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 operation. 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
Table 182: Value Description (605Ah )
Object Description
Index
Name
Object Type
Data Type
605Ah
Quick stop option code
Variable
SIGNED16
Table 183: Object Description (605Ah )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
66 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
1/2/5/6
2
Table 184: Entry Description (605Ah )
5.1.2
Object 605Bh : Shutdown Option Code
This object indicates what action is performed if there is a transition from operation enabled state to ready
to switch on state. The shutdown option code always has the value 0 as only this is supported.
Value Definition
Value
Definition
0
Disable drive function (switch off the power stage)
Table 185: Value Description (605Bh )
Object Description
Index
Name
Object Type
Data Type
605Bh
Shutdown option code
Variable
UNSIGNED16
Table 186: Object Description (605Bh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0
0
Table 187: Entry Description (605Bh )
5.1.3
Object 605Ch : Disable Operation Option Code
This object indicates what action is performed if there is a transition from operation enabled state to
switched on state. The disable operation option code always has the value 1 as only this is supported.
The slow down ramp is the deceleration value of the used mode of operation.
Value Definition
Value
1
Definition
Slow down on slow down ramp
Table 188: Value Description (605Ch )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
67 / 129
Object Description
Index
Name
Object Type
Data Type
605Ch
Disable operation option code
Variable
UNSIGNED16
Table 189: Object Description (605Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
1
1
Table 190: Entry Description (605Ch )
5.1.4
Object 605Dh : Halt Option Code
This object indicates what action is performed when the halt function is executed. The slow down ramp
is the deceleration value of the used mode of operation.
Value Definition
Value
Definition
1
Slow down on slow down ramp and stay in operation enabled
2
Slow down on quick stop ramp and stay in operation enabled
Table 191: Value Description (605Dh )
Object Description
Index
Name
Object Type
Data Type
605Dh
Halt option code
Variable
UNSIGNED16
Table 192: Object Description (605Dh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
1
1
Table 193: Entry Description (605Dh )
5.1.5
Object 605Eh : 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.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
68 / 129
Value Definition
Value
Definition
2
Slow down on quick stop ramp
Table 194: Value Description (605Eh )
Object Description
Index
Name
Object Type
Data Type
605Eh
Fault reaction option code
Variable
UNSIGNED16
Table 195: Object Description (605Eh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
2
2
Table 196: Entry Description (605Eh )
5.1.6
Object 6060h : Modes of Operation
This object indicates the requested operation mode. Supported operating modes are:
Value Definition
Value
Mode
0
No mode
1
Profile position mode (pp)
3
Profile velocity mode (pv)
6
Homing mode (hm)
8
Cyclic synchronous position mode (csp)
9
Cyclic synchronous velocity mode (csv)
Table 197: Value Description (6060h )
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.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
69 / 129
Object Description
Index
Name
Object Type
Data Type
6060h
Modes of operation
Variable
SIGNED8
Table 198: Object Description (6060h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
yes
see table 197
0
Table 199: Entry Description (6060h )
5.1.7
Object 6061h : Modes of Operation Display
This object shows the operating mode that is currently set.
Value Definition
Value
Mode
0
No mode
1
Profile position mode (pp)
3
Profile velocity mode (pv)
6
Homing mode (hm)
8
Cyclic synchronous position mode (csp)
9
Cyclic synchronous velocity mode (csv)
Table 200: Value Description (6061h )
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 Type
Data Type
6061h
Modes of operation display
Variable
SIGNED8
Table 201: Object Description (6061h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
70 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
yes
see table 200
0
Table 202: Entry Description (6061h )
5.1.8
Object 60FDh : 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.
Object Description
Index
Name
Object Type
Data Type
60FDh
Digital inputs
Variable
UNSIGNED32
Table 203: Object Description (60FDh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
UNSIGNED32
0
Table 204: Entry Description (60FDh )
5.1.9
Object 6502h : Supported Drive Modes
This object provides information on the supported drive modes. A bit that is set means that the mode is
supported, a bit that is not set means that the mode is not supported by the drive.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Value Definition
Bit
Mode
0
Profile position mode (pp)
1
Velocity mode (vl)
2
Profile velocity mode (pv)
3
Torque mode (tq)
4
Reserved
5
Homing mode (hm)
6
Interpolated position mode (ip)
7
Cyclic synchronous position mode (csp)
8
Cyclic synchronous velocity mode (csv)
9
Cyclic synchronous torque mode (cst)
Table 205: Value Definition (6502h )
Object Description
Index
Name
Object Type
Data Type
6502h
Supported drive modes
Variable
UNSIGNED32
Table 206: Object Description (6502h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
UNSIGNED32
Depends on supported modes.
Table 207: Entry Description (6502h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
71 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
6
72 / 129
Profile Position Mode
A target position is applied to the trajectory generator. It is generating a position demand value for the
position control loop described in the position control function.
Please refer to object 6060h (section 5.1.6) for information about how to choose an operation mode. Object 6061h (section 5.1.7) shows the operation mode that is set.
6.1
Detailed Object Specifications
The following text offers detailed object specifications. For a better understanding, it is necessary to see
how the state machine works.
Controlword 6040h
Fault
Power disabled
Start
Fault reaction active
automatically
automatically
14
0
Not ready to switch on
Fault
15
automatically
1
Switch on disable
2
7
Ready to switch on
10 12
3
6
98
13
Switched on
4
5
Operation enable
11
13
16
Quick stop active
13
Power enabled
Statusword 6041h
Figure 9: DS402 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.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
6.1.1
73 / 129
Object 6040h : Control Word
This object indicates the received command controlling the power drive system finite state automaton
(PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to figure 9 for detailed information.
Structure of the Control Word
15
11
10
9
8
7
r
oms
h
fr
nu
6
4
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.
Table 208: Structure of the Control Word in pp Mode
Operation Mode specific Bits in pp Mode
Bit
Name
Definition
4
New set point
0-to-1: the next positioning will be started.
5
Change immediately
Not supported.
6
Absolute / relative
0: New position is absolute.
1: New position is relative.
8
Halt
0: Positioning shall be executed or continued.
1: Axis stopped according to halt option code (object 605Dh ).
9
Change set point
Not supported.
Table 209: Operation Mode specific Bits in pp Mode
Command Coding
Command
Bits of Control Word
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
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
0-to-1
x
x
x
x
15
Fault reset
Table 210: Command Coding
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
74 / 129
Object Description
Index
Name
Object Type
Data Type
6040h
Controlword
Variable
UNSIGNED16
Table 211: Object Description (6040h in pp Mode)
Entry Description
Sub-index
Access
PDO Mapping
0
rw
yes
Value Range
Default Value
See command coding above.
Table 212: Entry Description (6040h in pp Mode)
6.1.2
Object 6041h : Status Word
This object provides the status of the PDS FSA. It reflects the status of the CiA-402 state machine. Please
refer to figure 9 for detailed information. The object is structured as defined below.
For more information about the coding please refer to the CANopen Drives and motion control device
profile, part 2.
Structure of the Status Word
15
14
dir
mot
13
12
oms
11
10
9
8
7
6
5
4
3
2
1
0
ila
tr
rm
ms
w
sod
qs
ve
f
oe
so
rtso
MSB
LSB
Legend: nu=not used; r=reserved; oms=operation mode specific; h=halt; fr=fault reset; oe=operation
enable; qs=quick stop; ve=voltage enable; so=switch on.
Table 213: Structure of the Staus Word in pp Mode
Trinamic Specific Bits
Bit
Name
Definition
14
Motor activity
0: Motor stands still.
1: Motor rotates.
15
Direction of rotation
This bit shows the direction of rotation.
Table 214: Trinamic Specific Bits
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
75 / 129
Operation Mode specific Bits in pp Mode
Bit
Name
Definition
10
Target reached
Set when the motor is within the position window.
12
Set point acknowledged
0: Set point processed.
1: Set point still in process.
13
Following error
Not supported.
Table 215: Operation Mode specific Bits in pp Mode
State Coding
Status word
FSA state
xxxx xxxx x0xx 0000h
Not ready to switch on
xxxx xxxx x1xx 0000h
Switch on disabled
xxxx xxxx x01x 0001h
Ready to switch on
xxxx xxxx x01x 0011h
Switched on
xxxx xxxx x01x 0111h
Operation enabled
xxxx xxxx x00x 0111h
Quick stop active
xxxx xxxx x0xx 1111h
Fault reaction active
xxxx xxxx x0xx 1000h
Fault
Table 216: State Coding
Object Description
Index
Name
Object Type
Data Type
6041h
Controlword
Variable
UNSIGNED16
Table 217: Object Description (6041h in pp Mode)
Entry Description
Sub-index
Access
PDO Mapping
0
rw
yes
Value Range
Default Value
See state coding above.
Table 218: Entry Description (6041h in pp Mode)
6.1.3
Object 6062h : Position Demand Value
This object provides the demanded position value. The value is given in microsteps. Object 6062h indicates
the actual position that the motor should have. It is not to be confused with objects 6063h and 6064h .
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
76 / 129
Object Description
Index
Name
Object Type
Data Type
6062h
Position Demand Value
Variable
SIGNED32
Table 219: Object Description (6062h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 220: Entry Description (6062h )
6.1.4
Object 6063h : Position Actual Internal Value
This object provides the demanded position value. The value is given in microsteps. It is the same as
object 6062h .
Object Description
Index
Name
Object Type
Data Type
6063h
Position Actual Internal Value
Variable
SIGNED32
Table 221: Object Description (6063h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 222: Entry Description (6063h )
6.1.5
Object 6064h : Position Actual Value
This object provides the actual value of the position measurement device. It always contains the same
value as object 6063h .
Object Description
Index
Name
Object Type
Data Type
6064h
Position Actual Value
Variable
SIGNED32
Table 223: Object Description (6064h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
77 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 224: Entry Description (6064h )
6.1.6
Object 6065h : Following Error Window
This object indicates the configured range of tolerated position values symmetrically to the position demand value. 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, unreachable profile velocity occurs, or at wrong closedloop coefficients. The value shall be given in microsteps.
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.
Note
Object Description
Index
Name
Object Type
Data Type
6065h
Following Error Window
Variable
UNSIGNED32
Table 225: Object Description (6065h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 2147483647
0
Table 226: Entry Description (6065h )
6.1.7
Object 6067h : Position Window
This object indicates the configured symmetrical range of accepted positions relative to the target position.
If the actual value of the position encoder is within the position window, this target position is regarded as
having been reached. The value is given in increments. If the value of the position window is FFFFFFFFh , 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 (6064h ). When the position window is
set to a value greater than zero, the target reached event will be signaled when the actual encoder position
value (6064h ) is within (target_position − position_window) and (target_position + position_window).
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
78 / 129
Object Description
Index
Name
Object Type
Data Type
6067h
Position Window
Variable
UNSIGNED32
Table 227: Object Description (6067h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
FFFFFFFFh
Table 228: Entry Description (6067h )
6.1.8
Object 6068h : 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 Type
Data Type
6068h
Position Window Time
Variable
UNSIGNED16
Table 229: Object Description (6068h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED16
0
Table 230: Entry Description (6068h )
6.1.9
Object 606Ch : Velocity Actual Value
This object shows the actual velocity value of the motor. The value is given in internal or user-defined
velocity units (depending on object 208Ch , described in section 4.2.16).
Object Description
Index
Name
Object Type
Data Type
606Ch
Velocity Actual Value
Variable
SIGNED32
Table 231: Object Description (606Ch )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
79 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 232: Entry Description (606Ch )
6.1.10
Object 607Ah : 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 this object 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 Type
Data Type
607Ah
Target Position
Variable
SIGNED32
Table 233: Object Description (607Ah in pp Mode)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
yes
SIGNED32
0
Table 234: Entry Description (607Ah in pp Mode)
6.1.11
Object 607Dh : 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 and the position actual value. 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, they are corrected internally by the home
offset as follows:
Corrected_min_position_limit = min_position_limit − home_of f set
Corrected_max_position_limit = max_position_limit − home_of f set
Object Description
Index
Name
Object Type
Data Type
607Dh
Software Position Limit
Array
SIGNED32
Table 235: Object Description (607Dh )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
80 / 129
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Minimum Position Limit
rw
no
SIGNED32
-2147483648
2
Maximum Position Limit
rw
no
SIGNED32
2147483647
Table 236: Entry Description (607Dh )
6.1.12
Object 6081h : 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 , section 4.2.16).
Object Description
Index
Name
Object Type
Data Type
6081h
Profile Velocity
Variable
UNSIGNED32
Table 237: Object Description (6081h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
0
Table 238: Entry Description (6081h )
6.1.13
Object 6082h : End Velocity
This object indicates the configured velocity normally attained at the end of the deceleration ramp during
a profiled motion and is valid for both directions of motion. The end velocity is the velocity used when
reaching the new position. It is given in internal or user specific units (depending on object 208Ch , section
4.2.16).
Object Description
Index
Name
Object Type
Data Type
6082h
End Velocity
Variable
UNSIGNED32
Table 239: Object Description (6082h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
0
Table 240: Entry Description (6082h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
6.1.14
81 / 129
Object 6083h : Profile Acceleration
This object indicates the configured acceleration. Object 6083h sets the maximum acceleration to be used
in profile position and profile velocity mode.
The units for object 6083h can be chosen with object 208Eh , described in section 4.2.17.
In profile velocity mode, this object also sets the deceleration to be used (the deceleration ramp is always
the same as the acceleration ramp in pv mode).
Object Description
Index
Name
Object Type
Data Type
6083h
Profile Acceleration
Variable
UNSIGNED32
Table 241: Object Description (6083h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
0
Table 242: Entry Description (6083h )
6.1.15
Object 6084h : Profile Deceleration
This object indicates the configured deceleration. Object 6084h sets the maximum deceleration to be
used in profile positioning mode.
The units for object 6084h can be chosen with object 208Eh , described in section 4.2.17.
Object Description
Index
Name
Object Type
Data Type
6084h
Profile Deceleration
Variable
UNSIGNED32
Table 243: Object Description (6084h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
0
Table 244: Entry Description (6084h )
6.1.16
Object 6085h : Quick Stop Deceleration
This object indicates the configured deceleration used to stop the motor when the quick stop function is
activated and the quick stop code object 605Ah is set to 2 (or 6). The value is given in the same unit as
profile acceleration object 6083h .
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
82 / 129
Object Description
Index
Name
Object Type
Data Type
6085h
Quick stop deceleration
Variable
UNSIGNED32
Table 245: Object Description (6085h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
51200
Table 246: Entry Description (6085h )
6.1.17
Object 60F2h : Positioning Option Code
This object indicates the positioning behaviour in profile position mode. Only bits 0 and 1 (relative option)
are supported.
Bit Definitions
Bit 1
Bit 0
Definition
0
0
Positioning moves shall be performed relative to the preceding (internal absolute) target position.
0
1
Positioning moves shall be performed relative to the actual position demand value (object 6062h ).
1
0
Positioning moves shall be performed relative to the position actual value (object
6064h ).
1
1
reserved
Table 247: Bit Definitions of Object 60F2h
Object Description
Index
Name
Object Type
Data Type
60F2h
Positioning option code
Variable
UNSIGNED16
Table 248: Object Description (60F2h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED16
0
Table 249: Entry Description (60F2h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
6.2
83 / 129
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).
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
7
84 / 129
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
7.1
7.1.1
Detailed Object Specifications
Object 6040h : Control Word
This object indicates the received command controlling the power drive system finite state automaton
(PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to figure 9 for detailed information.
In pv mode the control word does not contain any operation mode specific bits.
Structure of the Control Word
15
11
nu
10
9
8
7
r
r
h
fr
6
4
r
3
2
1
0
eo
qs
ev
so
MSB
LSB
Legend: nu=not used; r=reserved; h=halt; fr=fault reset; eo=enable operation; qs=quick stop; ev=enable
voltage; so=switch on.
Table 250: Structure of the Control Word in pv Mode
Operation Mode specific Bits in pv Mode
Bit
Name
Definition
8
Halt
0: Motion shall be executed or continued.
1: Axis stopped according to halt option code (object 605Dh ).
Table 251: Operation Mode specific Bits in pv Mode
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
85 / 129
Command Coding
Command
Bits of Control Word
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
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
0-to-1
x
x
x
x
15
Fault reset
Table 252: Command Coding
Object Description
Index
Name
Object Type
Data Type
6040h
Controlword
Variable
UNSIGNED16
Table 253: Object Description (6040h in pv Mode)
Entry Description
Sub-index
Access
PDO Mapping
0
rw
yes
Value Range
Default Value
See command coding above.
Table 254: Entry Description (6040h in pv Mode)
7.1.2
Object 6041h : Status Word
This object provides the status of the PDS FSA. It reflects the status of the CiA-402 state machine. Please
refer to figure 9 for detailed information. The object is structured as defined below.
For more information about the coding please refer to the CANopen Drives and motion control device
profile, part 2.
Structure of the Status Word
15
14
dir
mot
13
12
oms
11
10
9
8
7
6
5
4
3
2
1
0
ila
tr
rm
ms
w
sod
qs
ve
f
oe
so
rtso
MSB
LSB
Legend: nu=not used; r=reserved; oms=operation mode specific; h=halt; fr=fault reset; oe=operation
enable; qs=quick stop; ve=voltage enable; so=switch on.
Table 255: Structure of the Status Word in pv Mode
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Trinamic Specific Bits
Bit
Name
Definition
14
Motor activity
0: Motor stands still.
1: Motor rotates.
15
Direction of rotation
This bit shows the direction of rotation.
Table 256: Trinamic Specific Bits
Operation Mode specific Bits in pv Mode
Bit
Name
Definition
10
Target reached
Indicates that the target speed has been reached.
12
Speed
Not supported.
13
Max. slippage error
Not supported.
Table 257: Operation Mode specific Bits in pv Mode
State Coding
Status word
FSA state
xxxx xxxx x0xx 0000h
Not ready to switch on
xxxx xxxx x1xx 0000h
Switch on disabled
xxxx xxxx x01x 0001h
Ready to switch on
xxxx xxxx x01x 0011h
Switched on
xxxx xxxx x01x 0111h
Operation enabled
xxxx xxxx x00x 0111h
Quick stop active
xxxx xxxx x0xx 1111h
Fault reaction active
xxxx xxxx x0xx 1000h
Fault
Table 258: State Coding
Object Description
Index
Name
Object Type
Data Type
6041h
Controlword
Variable
UNSIGNED16
Table 259: Object Description (6041h in pv Mode)
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
86 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
87 / 129
Entry Description
Sub-index
Access
PDO Mapping
0
rw
yes
Value Range
Default Value
See state coding above
Table 260: Entry Description (6041h in pv Mode)
7.1.3
Object 6062h : Position Demand Value
This object provides the demanded position value. The value is given in microsteps. Object 6062h indicates
the actual position that the motor should have. It is not to be confused with objects 6063h and 6064h .
Object Description
Index
Name
Object Type
Data Type
6062h
Position Demand Value
Variable
SIGNED32
Table 261: Object Description (6062h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 262: Entry Description (6062h )
7.1.4
Object 6063h : Position Actual Internal Value
This object provides the demanded position value. The value is given in microsteps. It is the same as
object 6062h .
Object Description
Index
Name
Object Type
Data Type
6063h
Position Actual Internal Value
Variable
SIGNED32
Table 263: Object Description (6063h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 264: Entry Description (6063h )
7.1.5
Object 6064h : Position Actual Value
This object provides the actual value of the position measurement device. It always contains the same
value as object 6063h .
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
88 / 129
Object Description
Index
Name
Object Type
Data Type
6064h
Position Actual Value
Variable
SIGNED32
Table 265: Object Description (6064h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 266: Entry Description (6064h )
7.1.6
Object 6065h : 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, unreachable profile velocity occurs, or at wrong closedloop coefficients. The value shall be given in microsteps.
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.
Note
Object Description
Index
Name
Object Type
Data Type
6065h
Following Error Window
Variable
UNSIGNED32
Table 267: Object Description (6065h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 2147483647
0
Table 268: Entry Description (6065h )
7.1.7
Object 606Ch : Velocity Actual Value
This object shows the actual velocity value of the motor. The value is given in internal or user-defined
velocity units (depending on object 208Ch , described in section 4.2.16).
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
89 / 129
Object Description
Index
Name
Object Type
Data Type
606Ch
Velocity Actual Value
Variable
SIGNED32
Table 269: Object Description (606Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 270: Entry Description (606Ch )
7.1.8
Object 607Dh : 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 and the position actual value. 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, they are corrected internally by the home
offset as follows:
Corrected_min_position_limit = min_position_limit − home_of f set
Corrected_max_position_limit = max_position_limit − home_of f set
Object Description
Index
Name
Object Type
Data Type
607Dh
Software Position Limit
Array
SIGNED32
Table 271: Object Description (607Dh )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Minimum Position Limit
rw
no
SIGNED32
-2147483648
2
Maximum Position Limit
rw
no
SIGNED32
2147483647
Table 272: Entry Description (607Dh )
7.1.9
Object 6083h : Profile Acceleration
This object indicates the configured acceleration. Object 6083h sets the maximum acceleration to be used
in profile position and profile velocity mode.
The units for object 6083h can be chosen with object 208Eh , described in section 4.2.17.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
90 / 129
In profile velocity mode, this object also sets the deceleration to be used (the deceleration ramp is always
the same as the acceleration ramp in pv mode).
Object Description
Index
Name
Object Type
Data Type
6083h
Profile Acceleration
Variable
UNSIGNED32
Table 273: Object Description (6083h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
0
Table 274: Entry Description (6083h )
7.1.10
Object 6085h : Quick Stop Deceleration
This object indicates the configured deceleration used to stop the motor when the quick stop function is
activated and the quick stop code object 605Ah is set to 2 (or 6). The value is given in the same unit as
profile acceleration object 6083h .
Object Description
Index
Name
Object Type
Data Type
6085h
Quick stop deceleration
Variable
UNSIGNED32
Table 275: Object Description (6085h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
51200
Table 276: Entry Description (6085h )
7.1.11
Object 60FFh : Target Velocity
This object indicates the configured target velocity and is used as input for the trajectory generator. Object
60FFh sets the target velocity when using profile velocity mode. The drive then accelerates or decelerates
to that velocity using the acceleration and deceleration set by objects 6083h and 6084h . The values are
given in units which can be selected with object 208Ch , described in section 4.2.16.
Object Description
Index
Name
Object Type
Data Type
60FFh
Target Velocity
Variable
SIGNED32
Table 277: Object Description (60FFh )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
91 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
yes
SIGNED32
0
Table 278: Entry Description (60FFh )
7.2
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. 100000) to object 60FFh . The motor now accelerates to that
speed.
• Stop the motor by writing 0 to object 60FFh .
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
8
92 / 129
Homing Mode
This chapter describes the method by which a drive seeks the home position (reference point). There are
various methods of achieving this using limit switches at the ends of travel or a home switch in mid-travel.
Some methods also use the index (zero) pulse train from an incremental encoder. The user may specify
the speeds, acceleration and the method of homing.
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 10 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 the zero in point the
coordinate system for the home position.
Controlword 6040h
Homing method 6098h
Homing speeds 6099h
Statusword 6041h
Homing method
Homing acceleration 609Ah
Position demand value 6062h
Home offset 607Ch
Figure 10: Homing Mode Function
Choosing a homing mode determines the following things:
• The homing signal (positive limit switch, negative limit switch, and home switch).
• The direction of actuation where appropriate.
• The position of the index pulse.
The home position and the zero position are offset by the home offset (see object 607Ch , section 8.2.4).
Depending on the module there are different sources of homing methods 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.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
8.1
93 / 129
Homing Methods
The PD42-1270 supports a subset of different standard CANopen homing methods. The homing method
that is to be used can be chosen via object 6098h (section 8.2.5).
Supported Homing Methods
Method
Description
0
No homing (default value for object 6098h ).
1
Search the left end switch, then search the next encoder index pulse.
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, 6063h,
and 6064h) are set to zero, but the motor will not move.
Table 279: Supported CANopen Homing Methods
When using homing methods that need end switch inputs or home switch inputs please take care of their
configuration (object 2005h , section 4.2.6).
8.1.1
Homing 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
1
Index pulse
Negative limit switch
Figure 11: Homing Method 1
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
8.1.2
94 / 129
Homing Method 2: Homing on positive Limit Switch and Index Pulse
Using this method, the initial direction of movement shall be rightward if the positive limit switch is inactive
(here: low). The position of home shall be at the first index pulse to the left of the position where the
positive limit switch becomes inactive.
2
2
Index pulse
Positive limit switch
Figure 12: Homing Method 2
8.1.3
Homing 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.
3
3
Index pulse
Home switch
Figure 13: Homing Method 3
8.1.4
Homing 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.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
95 / 129
5
5
Index pulse
Home switch
Figure 14: Homing Method 5
8.1.5
Homing Method 17: Homing on negative Limit Switch
Using this method, the initial direction of movement shall be leftward if the negative limit switch is inactive
(here: low). The home position shall at the point where the negative limit switch becomes inactive.
17
17
Negative limit switch
Figure 15: Homing Method 17
8.1.6
Homing Method 18: Homing on positive Limit Switch
Using this method, the initial direction of movement shall be rightward if the positive limit switch is inactive
(here: low). The home position shall be at point the where the positive limit switch becomes inactive.
18
18
Positive limit switch
Figure 16: Homing Method 18
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
8.1.7
96 / 129
Homing Method 19: Homing on positive Home Switch
Using this method, the initial direction of movement shall be dependent on the state of the home switch.
The home position shall be at the point where the home switch changes state. If the initial direction of
movement leads away from the home switch, the drive shall reverse on encountering the relevant limit
switch.
19
19
Home switch
Figure 17: Homing Method 19
8.1.8
Homing Method 21: Homing on negative Home Switch
Using this method, the initial direction of movement shall be dependent on the state of the home switch.
The home position shall be at the point where the home switch changes state. If the initial direction of
movement leads away from the home switch, the drive shall reverse on encountering the relevant limit
switch.
21
21
Home switch
Figure 18: Homing Method 21
8.1.9
Homing 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.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
97 / 129
33
34
Index pulse
Figure 19: Homing Methods 33 and 34
8.1.10
Homing Method 35: Current Position as Home Position
In this method, the current position shall be taken to be the home position. This method does not require
the drive device to be in operation enabled state.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
8.2
8.2.1
98 / 129
Detailed Object Specifications
Object 6040h : Control Word
This object indicates the received command controlling the power drive system finite state automaton
(PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to figure 9 for detailed information.
Structure of the Control Word
15
11
10
9
8
7
r
oms
h
fr
nu
6
4
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.
Table 280: Structure of the Control Word in hm Mode
Operation Mode specific Bits in hm Mode
Bit
Name
Definition
4
Homing operation start
1: start homing; 0: stop homing
8
Halt
0: Homing shall be executed or re-started.
1: Axis stopped according to halt option code (object 605Dh ).
Table 281: Operation Mode specific Bits in hm Mode
Command Coding
Command
Bits of Control Word
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
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
0-to-1
x
x
x
x
15
Fault reset
Table 282: Command Coding
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
99 / 129
Object Description
Index
Name
Object Type
Data Type
6040h
Controlword
Variable
UNSIGNED16
Table 283: Object Description (6040h in hm Mode)
Entry Description
Sub-index
Access
PDO Mapping
0
rw
yes
Value Range
Default Value
See command coding above.
Table 284: Entry Description (6040h in hm Mode)
8.2.2
Object 6041h : Status Word
This object provides the status of the PDS FSA. It reflects the status of the CiA-402 state machine. Please
refer to figure 9 for detailed information. The object is structured as defined below.
For more information about the coding please refer to the CANopen Drives and motion control device
profile, part 2.
Structure of the Status Word
15
14
dir
mot
13
12
oms
11
10
9
8
7
6
5
4
3
2
1
0
ila
tr
rm
ms
w
sod
qs
ve
f
oe
so
rtso
MSB
LSB
Legend: nu=not used; r=reserved; oms=operation mode specific; h=halt; fr=fault reset; oe=operation
enable; qs=quick stop; ve=voltage enable; so=switch on.
Table 285: Structure of the Status Word in hm Mode
Trinamic Specific Bits
Bit
Name
Definition
14
Motor activity
0: Motor stands still.
1: Motor rotates.
15
Direction of rotation
This bit shows the direction of rotation.
Table 286: Trinamic Specific Bits
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
100 / 129
Operation Mode specific Bits in hm Mode
Bit
Name
Definition
10
Target reached
Set when the zero position has been found or homing has
been stopped by setting controlword bit 4 to zero.
12
Home attained
Set when zero position has been found.
13
Homing error
Not supported.
Table 287: Operation Mode specific Bits in hm Mode
State Coding
Status word
FSA state
xxxx xxxx x0xx 0000h
Not ready to switch on
xxxx xxxx x1xx 0000h
Switch on disabled
xxxx xxxx x01x 0001h
Ready to switch on
xxxx xxxx x01x 0011h
Switched on
xxxx xxxx x01x 0111h
Operation enabled
xxxx xxxx x00x 0111h
Quick stop active
xxxx xxxx x0xx 1111h
Fault reaction active
xxxx xxxx x0xx 1000h
Fault
Table 288: State Coding
Object Description
Index
Name
Object Type
Data Type
6041h
Controlword
Variable
UNSIGNED16
Table 289: Object Description (6041h in hm Mode)
Entry Description
Sub-index
Access
PDO Mapping
0
rw
yes
Value Range
Default Value
See state coding above.
Table 290: Entry Description (6041h in hm Mode)
8.2.3
Object 606Ch : Velocity Actual Value
This object shows the actual velocity value of the motor. The value is given in internal or user-defined
velocity units (depending on object 208Ch , described in section 4.2.16).
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
101 / 129
Object Description
Index
Name
Object Type
Data Type
606Ch
Velocity Actual Value
Variable
SIGNED32
Table 291: Object Description (606Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 292: Entry Description (606Ch )
8.2.4
Object 607Ch : 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.
Zero position
Home switch
Home offset
Figure 20: Home Offset
Object Description
Index
Name
Object Type
Data Type
607Ch
Home offset
Variable
SIGNED32
Table 293: Object Description (607Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
SIGNED32
0
Table 294: Entry Description (607Ch )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
8.2.5
102 / 129
Object 6098h : Homing Method
The homing method to be used can be selected by writing to this object. Please see table 279 for a list of
homing methods supported by the current version of the PD42-1270 CANopen firmware.
Object Description
Index
Name
Object Type
Data Type
6098h
Homing method
Variable
SIGNED8
Table 295: Object Description (6098h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
SIGNED8
0
Table 296: Entry Description (6098h )
8.2.6
Object 6099h : Homing Speeds
This object indicates the configured speeds used during homing procedure. The values are given in pps
units or internal units selectable with object 208Ch (section 4.2.16). Using object 6099h 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, object 609Ah ) to search for the exact switch point. When the switch point has been found
the motor will be stopped at that point.
Object Description
Index
Name
Object Type
Data Type
6099h
Homing speeds
Array
UNSIGNED32
Table 297: Object Description (6099h )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Fast homing speed
rw
no
UNSIGNED32
0
2
Slow homing speed
rw
no
UNSIGNED32
0
Table 298: Entry Description (6099h )
8.2.7
Object 609Ah : Homing Acceleration
This object indicates the configured acceleration and deceleration to be used during homing operation.
The value is given in units selected by object 208Eh (section 4.2.17).
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
103 / 129
Object Description
Index
Name
Object Type
Data Type
609Ah
Homing acceleration
Variable
UNSIGNED32
Table 299: Object Description (609Ah )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
0
Table 300: Entry Description (609Ah )
8.3
How to start a Homing in hm Mode
Here is a little example that shows how to home the motor in hm mode. 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. 50000 to object 6099h sub index 1 and e.g. 10000 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.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
9
104 / 129
Cyclic synchronous Position Mode
The cyclic synchronous position mode is used to directly control the position of the motor. It contains
limit functions, but not a trajectory generator. The trajectory generator is located in the control device
(the master), not in the drive device. In cyclic synchronous manner, the control device provides a target
position to the drive device, which performs position control, velocity control and torque control.
The main control parameters are the target position (object 607Ah , see section 9.1.7) and the interpolation
time period (object 60C2h , see section 9.1.10). The drive automatically sets the velocity in such a manner
that the next target position is reached within the interpolation time period. Acceleration and deceleration ramps are not used in this mode.
The cyclic synchronous position mode covers the following sub-functions:
• Position demand value input directly via an object.
• Monitoring of the position.
• Limiting the position using the software limits or the hardware limit switches.
9.1
9.1.1
Detailed Object Specifications
Object 6040h : Control Word
This object indicates the received command controlling the power drive system finite state automaton
(PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to figure 9 for
detailed information. The cyclic synchronous position mode does not use any mode specific bits of the
control word.
Structure of the Control Word
15
9
nu
8
7
h
fr
6
4
nu
3
2
1
0
eo
qs
ev
so
MSB
LSB
Legend: nu=not used; h=halt; fr=fault reset; eo=enable operation; qs=quick stop; ev=enable voltage;
so=switch on.
Table 301: Structure of the Control Word in csp Mode
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
105 / 129
Command Coding
Command
Bits of Control Word
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
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
0-to-1
x
x
x
x
15
Fault reset
Table 302: Command Coding
Object Description
Index
Name
Object Type
Data Type
6040h
Controlword
Variable
UNSIGNED16
Table 303: Object Description (6040h in csp Mode)
Entry Description
Sub-index
Access
PDO Mapping
0
rw
yes
Value Range
Default Value
See command coding above.
Table 304: Entry Description (6040h in csp Mode)
9.1.2
Object 6041h : Status Word
This object provides the status of the PDS FSA. It reflects the status of the CiA-402 state machine. Please
refer to figure 9 for detailed information. The object is structured as defined below.
For more information about the coding please refer to the CANopen Drives and motion control device
profile, part 2.
Structure of the Status Word
15
14
dir
mot
13
12
oms
11
10
9
8
7
6
5
4
3
2
1
0
ila
r
rm
ms
w
sod
qs
ve
f
oe
so
rtso
MSB
LSB
Legend: nu=not used; r=reserved; oms=operation mode specific; h=halt; fr=fault reset; oe=operation
enable; qs=quick stop; ve=voltage enable; so=switch on.
Table 305: Structure of the Status Word in csp Mode
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Trinamic Specific Bits
Bit
Name
Definition
14
Motor activity
0: Motor stands still.
1: Motor rotates.
15
Direction of rotation
This bit shows the direction of rotation.
Table 306: Trinamic Specific Bits
Operation Mode specific Bits in csp Mode
Bit
Name
Definition
10
Reserved
Not used.
12
Target position ignored
0: Target position ignored.
1: Target position used as input to position controller.
13
Following error
0: No following error.
1: Following error.
Table 307: Operation Mode specific Bits in csp Mode
State Coding
Status word
FSA state
xxxx xxxx x0xx 0000h
Not ready to switch on
xxxx xxxx x1xx 0000h
Switch on disabled
xxxx xxxx x01x 0001h
Ready to switch on
xxxx xxxx x01x 0011h
Switched on
xxxx xxxx x01x 0111h
Operation enabled
xxxx xxxx x00x 0111h
Quick stop active
xxxx xxxx x0xx 1111h
Fault reaction active
xxxx xxxx x0xx 1000h
Fault
Table 308: State Coding
Object Description
Index
Name
Object Type
Data Type
6041h
Controlword
Variable
UNSIGNED16
Table 309: Object Description (6041h in csp Mode)
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
106 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
107 / 129
Entry Description
Sub-index
Access
PDO Mapping
0
rw
yes
Value Range
Default Value
See state coding above
Table 310: Entry Description (6041h in csp Mode)
9.1.3
Object 6062h : Position Demand Value
This object provides the demanded position value. The value is given in microsteps. Object 6062h indicates
the actual position that the motor should have. It is not to be confused with objects 6063h and 6064h .
Object Description
Index
Name
Object Type
Data Type
6062h
Position Demand Value
Variable
SIGNED32
Table 311: Object Description (6062h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 312: Entry Description (6062h )
9.1.4
Object 6063h : Position Actual Internal Value
This object provides the demanded position value. The value is given in microsteps. It is the same as
object 6062h .
Object Description
Index
Name
Object Type
Data Type
6063h
Position Actual Internal Value
Variable
SIGNED32
Table 313: Object Description (6063h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 314: Entry Description (6063h )
9.1.5
Object 6064h : Position Actual Value
This object provides the actual value of the position measurement device. It always contains the same
value as object 6063h .
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
108 / 129
Object Description
Index
Name
Object Type
Data Type
6064h
Position Actual Value
Variable
SIGNED32
Table 315: Object Description (6064h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 316: Entry Description (6064h )
9.1.6
Object 606Ch : Velocity Actual Value
This object shows the actual velocity value of the motor. The value is given in internal or user-defined
velocity units (depending on object 208Ch , described in section 4.2.16).
Object Description
Index
Name
Object Type
Data Type
606Ch
Velocity Actual Value
Variable
SIGNED32
Table 317: Object Description (606Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 318: Entry Description (606Ch )
9.1.7
Object 607Ah : Target Position
The target position is the position that the drive should move to in cyclic synchronous position mode using
the current interpolation time period. In csp mode this value is always interpreted as an absolute value.
Object Description
Index
Name
Object Type
Data Type
607Ah
Target Position
Variable
SIGNED32
Table 319: Object Description (607Ah in csp Mode)
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
109 / 129
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
yes
SIGNED32
0
Table 320: Entry Description (607Ah in csp Mode)
9.1.8
Object 607Dh : Software Position Limit
This object indicates the configured maximal and minimal software position limits. These parameters
define the absolute position limits for the position demand value and the position actual value. 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, they are corrected internally by the home
offset as follows:
Corrected_min_position_limit = min_position_limit − home_of f set
Corrected_max_position_limit = max_position_limit − home_of f set
Object Description
Index
Name
Object Type
Data Type
607Dh
Software Position Limit
Array
SIGNED32
Table 321: Object Description (607Dh )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Minimum Position Limit
rw
no
SIGNED32
-2147483648
2
Maximum Position Limit
rw
no
SIGNED32
2147483647
Table 322: Entry Description (607Dh )
9.1.9
Object 60B0h : Position Offset
This object provides an offset to the target position (object 607Ah , see section 9.1.7)). The value is given
in microsteps and will be added to the target position.
Object Description
Index
Name
Object Type
Data Type
60B0h
Position Offset
Variable
SIGNED32
Table 323: Object Description (60B0h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
110 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
yes
-2147483648. . . 2147483647
0
Table 324: Entry Description (60B0h )
9.1.10
Object 60C2h : Interpolation Time Period
This object indicates the interpolation cycle time. The interpolation time period (sub-index 01h ) is given
in 10interpolation_time_index s. The interpolation time index (sub-index 02h ) is dimensionless.
Object Description
Index
Name
Object Type
Data Type
60C2h
Interpolation Time Period
Record
Interpolation time period record (0080h )
Table 325: Object Description (60C2h )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
0
Highest sub-index supported
ro
no
UNSIGNED8
2
1
Interpolation time period value
rw
no
UNSIGNED8
1
2
Interpolation time index
rw
no
-3. . . 3
-3
Table 326: Entry Description (60C2h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
10
111 / 129
Cyclic synchronous Velocity Mode
The cyclic synchronous velocity mode is used to directly control the velocity of the motor. It contains limit
functions, but not a trajectory generator. The trajectory generator is located in the control device (the
master), not in the drive device. In cyclic synchronous manner, the control device provides a target velocity to the drive device, which performs position control, velocity control and torque control.
The main control parameters are the target velocity (object 60FFh , see section 10.1.4) and the interpolation time period (object 60C2h , see section 10.1.7). The drive automatically sets the acceleration in such
a manner that the next target velocity is reached within the interpolation time period. Acceleration and
deceleration ramps are not used in this mode.
The cyclic synchronous velocity mode covers the following sub-functions:
• Velocity demand value input directly via an object.
• Monitoring of the position.
• Limiting the position using the software limits or the hardware limit switches.
10.1
Detailed Object Specifications
10.1.1
Object 6040h : Control Word
This object indicates the received command controlling the power drive system finite state automaton
(PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to figure 9 for
detailed information. The cyclic synchronous velocity mode does not use any mode specific bits of the
control word.
Structure of the Control Word
15
9
nu
8
7
h
fr
6
4
nu
3
2
1
0
eo
qs
ev
so
MSB
LSB
Legend: nu=not used; h=halt; fr=fault reset; eo=enable operation; qs=quick stop; ev=enable voltage;
so=switch on.
Table 327: Structure of the Control Word in csv Mode
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
112 / 129
Command Coding
Command
Bits of Control Word
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
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
0-to-1
x
x
x
x
15
Fault reset
Table 328: Command Coding
Object Description
Index
Name
Object Type
Data Type
6040h
Controlword
Variable
UNSIGNED16
Table 329: Object Description (6040h in csv Mode)
Entry Description
Sub-index
Access
PDO Mapping
0
rw
yes
Value Range
Default Value
See command coding above.
Table 330: Entry Description (6040h in csv Mode)
10.1.2
Object 6041h : Status Word
This object provides the status of the PDS FSA. It reflects the status of the CiA-402 state machine. Please
refer to figure 9 for detailed information. The object is structured as defined below.
For more information about the coding please refer to the CANopen Drives and motion control device
profile, part 2.
Structure of the Status Word
15
14
dir
mot
13
12
oms
11
10
9
8
7
6
5
4
3
2
1
0
ila
r
rm
ms
w
sod
qs
ve
f
oe
so
rtso
MSB
LSB
Legend: nu=not used; r=reserved; oms=operation mode specific; h=halt; fr=fault reset; oe=operation
enable; qs=quick stop; ve=voltage enable; so=switch on.
Table 331: Structure of the Status Word in csv Mode
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Trinamic Specific Bits
Bit
Name
Definition
14
Motor activity
0: Motor stands still.
1: Motor rotates.
15
Direction of rotation
This bit shows the direction of rotation.
Table 332: Trinamic Specific Bits
Operation Mode specific Bits in csv Mode
Bit
Name
Definition
10
Reserved
Not used.
12
Target position ignored
0: Target velocity ignored.
1: Target velocity used as input to velocity controller.
13
Reserved
Not used.
Table 333: Operation Mode specific Bits in csv Mode
State Coding
Status word
FSA state
xxxx xxxx x0xx 0000h
Not ready to switch on
xxxx xxxx x1xx 0000h
Switch on disabled
xxxx xxxx x01x 0001h
Ready to switch on
xxxx xxxx x01x 0011h
Switched on
xxxx xxxx x01x 0111h
Operation enabled
xxxx xxxx x00x 0111h
Quick stop active
xxxx xxxx x0xx 1111h
Fault reaction active
xxxx xxxx x0xx 1000h
Fault
Table 334: State Coding
Object Description
Index
Name
Object Type
Data Type
6041h
Controlword
Variable
UNSIGNED16
Table 335: Object Description (6041h in csv Mode)
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
113 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
114 / 129
Entry Description
Sub-index
Access
PDO Mapping
0
rw
yes
Value Range
Default Value
See state coding above
Table 336: Entry Description (6041h in csv Mode)
10.1.3
Object 606Ch : Velocity Actual Value
This object shows the actual velocity value of the motor. The value is given in internal or user-defined
velocity units (depending on object 208Ch , described in section 4.2.16).
Object Description
Index
Name
Object Type
Data Type
606Ch
Velocity Actual Value
Variable
SIGNED32
Table 337: Object Description (606Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
SIGNED32
no
Table 338: Entry Description (606Ch )
10.1.4
Object 60FFh : Target Velocity
In csv mode the target velocity specifies the velocity that is to be reached within the interpolation time
period. The values are given in units which can be selected with object 208Ch , described in section 4.2.16.
Object Description
Index
Name
Object Type
Data Type
60FFh
Target Velocity
Variable
SIGNED32
Table 339: Object Description (60FFh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
yes
SIGNED32
0
Table 340: Entry Description (60FFh )
10.1.5
Object 607Dh : 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 and the position actual value. Every
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
115 / 129
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, they are corrected internally by the home
offset as follows:
Corrected_min_position_limit = min_position_limit − home_of f set
Corrected_max_position_limit = max_position_limit − home_of f set
Object Description
Index
Name
Object Type
Data Type
607Dh
Software Position Limit
Array
SIGNED32
Table 341: Object Description (607Dh )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Minimum Position Limit
rw
no
SIGNED32
-2147483648
2
Maximum Position Limit
rw
no
SIGNED32
2147483647
Table 342: Entry Description (607Dh )
10.1.6
Object 60B1h : Velocity Offset
This object provides an offset to the target velocity (object 60FFh , see section 10.1.4)). The value will be
added to the target velocity.
Object Description
Index
Name
Object Type
Data Type
60B1h
Velocity Offset
Variable
SIGNED32
Table 343: Object Description (60B1h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
yes
-2147483648. . . 2147483647
0
Table 344: Entry Description (60B1h )
10.1.7
Object 60C2h : Interpolation Time Period
This object indicates the interpolation cycle time. The interpolation time period (sub-index 01h ) is given
in 10interpolation_time_index s. The interpolation time index (sub-index 02h ) is dimensionless.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
116 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Object Description
Index
Name
Object Type
Data Type
60C2h
Interpolation Time Period
Record
Interpolation time period record (0080h )
Table 345: Object Description (60C2h )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
0
Highest sub-index supported
ro
no
UNSIGNED8
2
1
Interpolation time period value
rw
no
UNSIGNED8
1
2
Interpolation time index
rw
no
-3. . . 3
-3
Table 346: Entry Description (60C2h )
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
11
117 / 129
Emergency Messages (EMCY)
The module sends an emergency message if an error occurs. The message contains information about
the error type. The module can map internal errors and object 1001h (error register) is part of every
emergency object.
Emergency Messages (EMCY) of the PD42-1270
Error code
Additional byte
Description
1
2
3
4
5
0000h
0
0
0
0
0
Fault reset
The fault reset command has been executed.
1000h
1
0
0
0
0
Generic error: open load bridge A
The motor driver indicates open load on bridge A. It is possible
that the motor cable is broken or that there is an error in the
power amplifier itself.
1000h
2
0
0
0
0
Generic error: open load bridge B
The motor driver indicates open load on bridge B. It is possible
that the motor cable is broken or that there is an error in the
power amplifier itself.
2310h
0
0
0
0
0
Overcurrent high side
The motor driver indicates an overcurrent on the high side.
This can be caused by a short circuit in the driver stage.
2311h
0
0
0
0
0
Overcurrent bridge B
The motor driver indicates that there is overcurrent on bridge
B. This can be caused by a short circuit in the motor itself or in
the motor driver stage.
2312h
0
0
0
0
0
Overcurrent bridge A
The motor driver indicates that there is overcurrent on bridge
A. This can be caused by a short circuit in the motor itself or in
the motor driver stage.
3230h
0
0
0
0
0
stallGuard2 error
The actual load value exceeds the stallGuard2 limit.
4310h
1
0
0
0
0
Overtemperature pre-warning
The temperature in the motor driver exceeds the pre-warning
limit.
4310h
2
0
0
0
0
Overtemperature error
The motor driver has been switched off because the temperature limit has been exceeded.
5441h
0
255
0
0
0
Shutdown switch active
The enable signal is missing (due to the shutdown switch) and
the motor driver has been switched off.
6320h
0
255
0
0
0
Parameter error
The data in the received PDO is either wrong or cannot be accepted due to the internal state of the drive.
8100h
0
255
0
0
0
Communication error
General CAN bus communication error.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Error code
Additional byte
118 / 129
Description
1
2
3
4
5
8110h
1
255
0
0
0
CAN controller overflow
The receive message buffer of the CAN controller hardware is
full and some CAN messages are lost.
8110h
2
255
0
0
0
CAN Tx buffer overflow
The software CAN transmit buffer is full and thus some CAN
messages are lost.
8110h
3
255
0
0
0
CAN Rx buffer overflow
The software CAN receive buffer is full and so some CAN messages are lost.
8120h
0
255
0
0
0
CAN error passive
The CAN controller has detected communication errors and
has entered the CAN Error passive state.
8130h
0
255
0
0
0
Heartbeat or lifeguard error
The module did not receive a heartbeat or lifeguard message
in time.
8140h
0
255
0
0
0
CAN controller recovered from bus-off state
The CAN controller has detected too many errors and has
changed into the bus-off state. The drive has been stopped
and disabled. This message is sent after the CAN controller
has recovered from bus-off state and is bus-on again.
8210h
0
255
0
0
0
PDO not processed due to length error
A PDO sent to the module could not be processed because too
few bytes were supplied.
8220h
0
255
0
0
0
PDO length exceeded
A PDO sent to the module could not be processed because too
many bytes were supplied.
8611h
0
0
0
0
0
Following error
The deviation between motor position counter and encoder
position counter has exceeded the following error window.
ff00h
0
0
0
0
0
Undervoltage
The supply voltage is too low to drive a motor.
ff01h
1
0
0
0
0
Positive software limit
The actual position is outside the range defined by object
607dh .
ff01h
2
0
0
0
0
Negative software limit
The actual position is outside the range defined by object
607dh .
ff01h
3
0
0
0
0
Positive limit switch
The positive limit switch has been touched outside of the homing function.
ff01h
4
0
0
0
0
Negative limit switch
The negative limit switch has been touched outside of the
homing function.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
Error code
Additional byte
1
2
3
4
Description
5
Table 347: Emergency Messages (EMCY)
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
119 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
12
120 / 129
SDO Abort Codes
Trying to access an object via SDO read or SDO write may result in an error. In such a case an SDO abort
transfer message containing an abort code will be sent. The following table lists all SDO abort codes defined by the CiA-301 standard. Not all of these are used by the PD42-1270 module.
SDO Abort Codes
Abort code
Description
05030000h
Toggle bit not alternated.
05040000h
SDO protocol timed out.
05040001h
Client/server command specifier not valid or unknown.
05040002h
Invalid block size.
05040003h
Invalid sequence number.
05040004h
CRC error.
05040005h
Out of memory.
06010000h
Unsupported access to an object.
06010001h
Attempt to read a write only object.
06010002h
Attempt to write a read only object.
06020000h
Object does not exist in object dictionary.
06040041h
Object cannot be mapped to the PDO.
06040042h
The number and length of the objects to be mapped would exceed the PDO length.
06040043h
General parameter incompatibility reason.
06040047h
General internal incompatibility in the device.
06060000h
Access failed due to a hardware error.
06070010h
Data type does not match, length of service parameter does not match.
06070012h
Data type does not match, length of service parameter too high.
06070013h
Data type does not match, length of service parameter too low.
06090011h
Sub-index does not exist.
06090030h
Invalid value for parameter.
06090031h
Value of parameter too high.
06090032h
Value of parameter too low.
06090036h
Maximum value is less than minimum value.
060A0023h
Resource not available.
08000000h
General error.
08000020h
Data cannot be transferred or stored to the application.
08000021h
Data cannot be transferred or stored to the application because of local control.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
121 / 129
Abort code
Description
08000022h
Data cannot be transferred or stored to the application because of the present device state.
08000023h
Object dictionary dynamic generation failed or no object dictionary is present.
08000024h
No data available.
Table 348: SDO Abort Codes
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
122 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
13
1
2
3
4
5
6
7
8
Figures Index
stallGuard2 Load Measurement as a
Function of Load . . . . . . . . . . . .
Energy Efficiency Example with CoolStep . . . . . . . . . . . . . . . . . . . .
Typical motion profile with TRINAMIC’s SixPoint™ motion controller
NMT State Machine . . . . . . . . . . .
Communication Architecture . . . . .
Device Model . . . . . . . . . . . . . .
CoolStep Adjustment Points and
Thresholds . . . . . . . . . . . . . . . .
Brake Output Timing . . . . . . . . . .
9
10
10
14
15
16
33
36
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
9
10
11
12
13
14
15
16
17
18
19
20
DS402 Finite State Machine
Homing Mode Function . .
Homing Method 1 . . . . . .
Homing Method 2 . . . . . .
Homing Method 3 . . . . . .
Homing Method 5 . . . . . .
Homing Method 17 . . . . .
Homing Method 18 . . . . .
Homing Method 19 . . . . .
Homing Method 21 . . . . .
Homing Methods 33 and 34
Home Offset . . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
. 72
. 92
. 93
. 94
. 94
. 95
. 95
. 95
. 96
. 96
. 97
. 101
123 / 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
14
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
Tables Index
Abbreviations used in this Manual
SixPoint Ramp Parameters . . . .
Service Primitives . . . . . . . . . .
Service Types . . . . . . . . . . . .
Object Dictionary . . . . . . . . . .
Object Description (1000h ) . . . . .
Entry Description (1000h ) . . . . .
Object Description (1001h ) . . . . .
Entry Description (1001h ) . . . . .
Error Register Bits . . . . . . . . . .
Value Definition (1005h ) . . . . . .
Object Description (1005h ) . . . . .
Entry Description (1005h ) . . . . .
Object Description (1008h ) . . . . .
Entry Description (1008h ) . . . . .
Object Description (1009h ) . . . . .
Entry Description (1009h ) . . . . .
Object Description (100Ah ) . . . .
Entry Description (100Ah ) . . . . .
Object Description (100Ch ) . . . .
Entry Description (100Ch ) . . . . .
Object Description (100Dh ) . . . .
Entry Description (100Dh ) . . . . .
Save Signature . . . . . . . . . . . .
Object Description (1010h ) . . . . .
Entry Description (1010h ) . . . . .
Load Signature . . . . . . . . . . .
Object Description (1011h ) . . . . .
Entry Description (1011h ) . . . . .
Object Description (1014h ) . . . . .
Entry Description (1014h ) . . . . .
Object Description (1015h ) . . . . .
Entry Description (1015h ) . . . . .
Value Definition (1016h ) . . . . . .
Object Description (1016h ) . . . . .
Entry Description (1016h ) . . . . .
Object Description (1017h ) . . . . .
Entry Description (1017h ) . . . . .
Object Description (1018h ) . . . . .
Entry Description (1018h ) . . . . .
Object Description (1023h ) . . . . .
Entry Description (1023h ) . . . . .
Object Description (1029h ) . . . . .
Entry Description (1029h ) . . . . .
Object Description (1400h ) . . . . .
Entry Description (1400h ) . . . . .
Object Description (1600h ) . . . . .
Entry Description (1600h ) . . . . .
Object Description (1800h ) . . . . .
Entry Description (1800h ) . . . . .
Object Description (1A00h ) . . . .
Entry Description (1A00h ) . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
8
11
12
13
17
18
18
18
18
19
19
19
19
20
20
20
20
20
21
21
21
21
21
22
22
23
23
24
24
24
24
25
25
25
25
25
26
26
26
26
27
27
27
27
28
28
29
29
30
31
31
32
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
CoolStep related Objects . .
Object Description (2000h ) .
Entry Description (2000h ) .
Object Description (2001h ) .
Entry Description (2001h ) .
Object Description (2002h ) .
Entry Description (2002h ) .
Object Description (2003h ) .
Entry Description (2003h ) .
Object Description (2004h ) .
Entry Description (2004h ) .
Object Description (2005h ) .
Entry Description (2005h ) .
Bit Definitions (2005h ) . . .
Object Description (200Ah )
Entry Description (200A)h .
Object Description (200Bh )
Entry Description (200Bh ) .
Object Description (200Ch )
Entry Description (200Ch ) .
Object Description (2010h ) .
Entry Description (2010h ) .
Object Description (2011h ) .
Entry Description (2011h ) .
Object Description (2012h ) .
Entry Description (2012h ) .
Object Description (2013h ) .
Entry Description (2013h ) .
Object Description (2015h ) .
Entry Description (2015h ) .
Object Description (2089h ) .
Entry Description (2089h ) .
Object Description (208Ch )
Entry Description (208Ch ) .
Object Description (208Eh ) .
Entry Description (208Eh ) .
Object Description (2092h ) .
Entry Description (2092h ) .
Object Description (2093h ) .
Entry Description (2093h ) .
Object Description (2094h ) .
Entry Description (2094h ) .
Object Description (2095h ) .
Entry Description (2095h ) .
Object Description (2096h ) .
Entry Description (2096h ) .
Object Description (2097h ) .
Entry Description (2097h ) .
Object Description (2098h ) .
Entry Description (2098h ) .
Object Description (2099h ) .
Entry Description (2099h ) .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
34
35
35
35
35
36
36
36
36
37
37
37
37
38
38
38
38
39
39
39
39
40
40
40
40
40
41
41
41
41
42
42
42
42
42
43
43
43
43
43
44
44
44
44
45
45
45
45
46
46
46
46
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
Object Description (209Ah )
Entry Description (209Ah ) .
Object Description (209Bh )
Entry Description (209Bh ) .
Object Description (209Ch )
Entry Description (209Ch ) .
Object Description (209Dh )
Entry Description (209Dh ) .
Object Description (209Eh ) .
Entry Description (209Eh ) .
Object Description (20A1h )
Entry Description (20A1h ) .
Object Description (20A3h )
Entry Description (20A3h ) .
Object Description (20A4h )
Entry Description (20A4h ) .
Object Description (20A5h )
Entry Description (20A5h ) .
Object Description (20B0h )
Entry Description (20B0h ) .
Object Description (20B1h )
Entry Description (20B1h ) .
Object Description (20B2h )
Entry Description (20B2h ) .
Object Description (20B3h )
Entry Description (20B3h ) .
Object Description (20B4h )
Entry Description (20B4h ) .
Object Description (20B5h )
Entry Description (20B5h ) .
Object Description (20B6h )
Entry Description (20B6h ) .
Object Description (20B7h )
Entry Description (20B7h ) .
Object Description (20B8h )
Entry Description (20B8h ) .
Object Description (20B9h )
Entry Description (20B9h ) .
Object Description (2100h ) .
Entry Description (2100h ) .
Object Description (2101h ) .
Entry Description (2101h ) .
Driver Error Flags (2102h ) .
Object Description (2102h ) .
Entry Description (2102h ) .
Object Description (2107h ) .
Entry Description (2107h ) .
Object Description (210Bh )
Entry Description (210Bh ) .
Object Description (2121h ) .
Entry Description (2121h ) .
Object Description (2122h ) .
Entry Description (2122h ) .
Object Description (2700h ) .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
47
47
47
47
48
48
48
48
49
49
49
49
50
50
50
50
50
51
51
51
51
51
52
52
52
52
53
53
53
53
53
54
54
54
54
54
55
55
55
55
55
56
56
56
56
57
57
57
57
57
58
58
58
58
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
124 / 129
Entry Description (2700)h . . . . . . .
Object Description (2701h ) . . . . . . .
Entry Description (2701)h . . . . . . .
Bit Definitions (2702h ) . . . . . . . . .
Object Description (2702h ) . . . . . . .
Entry Description (2702)h . . . . . . .
Bit Definitions (2703h ) . . . . . . . . .
Object Description (2703h ) . . . . . . .
Entry Description (2703h ) . . . . . . .
Object Description (2704h ) . . . . . . .
Entry Description (2704)h . . . . . . .
Object Description (2705h ) . . . . . . .
Entry Description (2705)h . . . . . . .
Object Description (2706h ) . . . . . . .
Entry Description (2706)h . . . . . . .
Object Description (2707h ) . . . . . . .
Entry Description (2707)h . . . . . . .
Object Description (2708h ) . . . . . . .
Entry Description (2708h ) . . . . . . .
Object Description (270Eh ) . . . . . . .
Entry Description (270Eh ) . . . . . . .
Object Description (5FFFh ) . . . . . . .
Entry Description (5FFFh ) . . . . . . . .
Value Description (605Ah ) . . . . . . .
Object Description (605Ah ) . . . . . .
Entry Description (605Ah ) . . . . . . .
Value Description (605Bh ) . . . . . . .
Object Description (605Bh ) . . . . . .
Entry Description (605Bh ) . . . . . . .
Value Description (605Ch ) . . . . . . .
Object Description (605Ch ) . . . . . .
Entry Description (605Ch ) . . . . . . .
Value Description (605Dh ) . . . . . . .
Object Description (605Dh ) . . . . . .
Entry Description (605Dh ) . . . . . . .
Value Description (605Eh ) . . . . . . .
Object Description (605Eh ) . . . . . . .
Entry Description (605Eh ) . . . . . . .
Value Description (6060h ) . . . . . . .
Object Description (6060h ) . . . . . . .
Entry Description (6060h ) . . . . . . .
Value Description (6061h ) . . . . . . .
Object Description (6061h ) . . . . . . .
Entry Description (6061h ) . . . . . . .
Object Description (60FDh ) . . . . . .
Entry Description (60FDh ) . . . . . . .
Value Definition (6502h ) . . . . . . . .
Object Description (6502h ) . . . . . . .
Entry Description (6502h ) . . . . . . .
Structure of the Control Word in pp
Mode . . . . . . . . . . . . . . . . . . .
209 Operation Mode specific Bits in pp
Mode . . . . . . . . . . . . . . . . . . .
210 Command Coding . . . . . . . . . . . .
58
59
59
59
60
60
60
60
60
61
61
61
62
62
62
62
63
63
63
63
63
64
64
65
65
66
66
66
66
66
67
67
67
67
67
68
68
68
68
69
69
69
69
70
70
70
71
71
71
73
73
73
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
Object Description (6040h in pp Mode)
Entry Description (6040h in pp Mode)
Structure of the Staus Word in pp Mode
Trinamic Specific Bits . . . . . . . . . .
Operation Mode specific Bits in pp
Mode . . . . . . . . . . . . . . . . . . .
State Coding . . . . . . . . . . . . . . .
Object Description (6041h in pp Mode)
Entry Description (6041h in pp Mode)
Object Description (6062h ) . . . . . . .
Entry Description (6062h ) . . . . . . .
Object Description (6063h ) . . . . . . .
Entry Description (6063h ) . . . . . . .
Object Description (6064h ) . . . . . . .
Entry Description (6064h ) . . . . . . .
Object Description (6065h ) . . . . . . .
Entry Description (6065h ) . . . . . . .
Object Description (6067h ) . . . . . . .
Entry Description (6067h ) . . . . . . .
Object Description (6068h ) . . . . . . .
Entry Description (6068h ) . . . . . . .
Object Description (606Ch ) . . . . . .
Entry Description (606Ch ) . . . . . . .
Object Description (607Ah in pp Mode)
Entry Description (607Ah in pp Mode)
Object Description (607Dh ) . . . . . .
Entry Description (607Dh ) . . . . . . .
Object Description (6081h ) . . . . . . .
Entry Description (6081h ) . . . . . . .
Object Description (6082h ) . . . . . . .
Entry Description (6082h ) . . . . . . .
Object Description (6083h ) . . . . . . .
Entry Description (6083h ) . . . . . . .
Object Description (6084h ) . . . . . . .
Entry Description (6084h ) . . . . . . .
Object Description (6085h ) . . . . . . .
Entry Description (6085h ) . . . . . . .
Bit Definitions of Object 60F2h . . . .
Object Description (60F2h ) . . . . . . .
Entry Description (60F2h ) . . . . . . .
Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . .
Operation Mode specific Bits in pv Mode
Command Coding . . . . . . . . . . . .
Object Description (6040h in pv Mode)
Entry Description (6040h in pv Mode)
Structure of the Status Word in pv Mode
Trinamic Specific Bits . . . . . . . . . .
Operation Mode specific Bits in pv Mode
State Coding . . . . . . . . . . . . . . .
Object Description (6041h in pv Mode)
Entry Description (6041h in pv Mode)
Object Description (6062h ) . . . . . . .
Entry Description (6062h ) . . . . . . .
74
74
74
74
75
75
75
75
76
76
76
76
76
77
77
77
78
78
78
78
78
79
79
79
79
80
80
80
80
80
81
81
81
81
82
82
82
82
82
84
84
85
85
85
85
86
86
86
86
87
87
87
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
125 / 129
Object Description (6063h ) . . . . . . . 87
Entry Description (6063h ) . . . . . . . 87
Object Description (6064h ) . . . . . . . 88
Entry Description (6064h ) . . . . . . . 88
Object Description (6065h ) . . . . . . . 88
Entry Description (6065h ) . . . . . . . 88
Object Description (606Ch ) . . . . . . 89
Entry Description (606Ch ) . . . . . . . 89
Object Description (607Dh ) . . . . . . 89
Entry Description (607Dh ) . . . . . . . 89
Object Description (6083h ) . . . . . . . 90
Entry Description (6083h ) . . . . . . . 90
Object Description (6085h ) . . . . . . . 90
Entry Description (6085h ) . . . . . . . 90
Object Description (60FFh ) . . . . . . . 90
Entry Description (60FFh ) . . . . . . . 91
Supported CANopen Homing Methods 93
Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 98
Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 98
Command Coding . . . . . . . . . . . . 98
Object Description (6040h in hm Mode) 99
Entry Description (6040h in hm Mode) 99
Structure of the Status Word in hm
Mode . . . . . . . . . . . . . . . . . . . 99
Trinamic Specific Bits . . . . . . . . . . 99
Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 100
State Coding . . . . . . . . . . . . . . . 100
Object Description (6041h in hm Mode)100
Entry Description (6041h in hm Mode) 100
Object Description (606Ch ) . . . . . . 101
Entry Description (606Ch ) . . . . . . . 101
Object Description (607Ch ) . . . . . . 101
Entry Description (607Ch ) . . . . . . . 101
Object Description (6098h ) . . . . . . . 102
Entry Description (6098h ) . . . . . . . 102
Object Description (6099h ) . . . . . . . 102
Entry Description (6099h ) . . . . . . . 102
Object Description (609Ah ) . . . . . . 103
Entry Description (609Ah ) . . . . . . . 103
Structure of the Control Word in csp
Mode . . . . . . . . . . . . . . . . . . . 104
Command Coding . . . . . . . . . . . . 105
Object Description (6040h in csp Mode)105
Entry Description (6040h in csp Mode) 105
Structure of the Status Word in csp
Mode . . . . . . . . . . . . . . . . . . . 105
Trinamic Specific Bits . . . . . . . . . . 106
Operation Mode specific Bits in csp
Mode . . . . . . . . . . . . . . . . . . . 106
State Coding . . . . . . . . . . . . . . . 106
Object Description (6041h in csp Mode)106
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
Entry Description (6041h in csp Mode) 107
Object Description (6062h ) . . . . . . . 107
Entry Description (6062h ) . . . . . . . 107
Object Description (6063h ) . . . . . . . 107
Entry Description (6063h ) . . . . . . . 107
Object Description (6064h ) . . . . . . . 108
Entry Description (6064h ) . . . . . . . 108
Object Description (606Ch ) . . . . . . 108
Entry Description (606Ch ) . . . . . . . 108
Object Description (607Ah in csp Mode)108
Entry Description (607Ah in csp Mode) 109
Object Description (607Dh ) . . . . . . 109
Entry Description (607Dh ) . . . . . . . 109
Object Description (60B0h ) . . . . . . 109
Entry Description (60B0h ) . . . . . . . 110
Object Description (60C2h ) . . . . . . 110
Entry Description (60C2h ) . . . . . . . 110
Structure of the Control Word in csv
Mode . . . . . . . . . . . . . . . . . . . 111
328 Command Coding . . . . . . . . . . . . 112
329 Object Description (6040h in csv Mode) 112
330 Entry Description (6040h in csv Mode) 112
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
126 / 129
331 Structure of the Status Word in csv
Mode . . . . . . . . . . . . . . . . . . . 112
332 Trinamic Specific Bits . . . . . . . . . . 113
333 Operation Mode specific Bits in csv
Mode . . . . . . . . . . . . . . . . . . . 113
334 State Coding . . . . . . . . . . . . . . . 113
335 Object Description (6041h in csv Mode) 113
336 Entry Description (6041h in csv Mode) 114
337 Object Description (606Ch ) . . . . . . 114
338 Entry Description (606Ch ) . . . . . . . 114
339 Object Description (60FFh ) . . . . . . . 114
340 Entry Description (60FFh ) . . . . . . . 114
341 Object Description (607Dh ) . . . . . . 115
342 Entry Description (607Dh ) . . . . . . . 115
343 Object Description (60B1h ) . . . . . . 115
344 Entry Description (60B1h ) . . . . . . . 115
345 Object Description (60C2h ) . . . . . . 116
346 Entry Description (60C2h ) . . . . . . . 116
347 Emergency Messages (EMCY) . . . . . 119
348 SDO Abort Codes . . . . . . . . . . . . 121
349 Firmware Revision . . . . . . . . . . . 129
350 Document Revision . . . . . . . . . . . 129
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
15
127 / 129
Supplemental Directives
15.1
Producer Information
15.2
Copyright
TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos,
trademarks, and resources. © Copyright 2022 TRINAMIC. All rights reserved. Electronically published by
TRINAMIC, Germany.
Redistribution of sources or derived formats (for example, Portable Document Format or Hypertext Markup
Language) must retain the above copyright notice, and the complete data sheet, user manual, and documentation of this product including associated application notes; and a reference to other available
product-related documentation.
15.3
Trademark Designations and Symbols
Trademark designations and symbols used in this documentation indicate that a product or feature is
owned and registered as trademark and/or patent either by TRINAMIC or by other manufacturers, whose
products are used or referred to in combination with TRINAMIC’s products and TRINAMIC’s product documentation.
This CANopen® Firmware Manual is a non-commercial publication that seeks to provide concise scientific
and technical user information to the target user. Thus, trademark designations and symbols are only
entered in the Short Spec of this document that introduces the product at a quick glance. The trademark
designation /symbol is also entered when the product or feature name occurs for the first time in the
document. All trademarks and brand names used are property of their respective owners.
15.4
Target User
The documentation provided here, is for programmers and engineers only, who are equipped with the
necessary skills and have been trained to work with this type of product.
The Target User knows how to responsibly make use of this product without causing harm to himself or
others, and without causing damage to systems or devices, in which the user incorporates the product.
15.5
Disclaimer: Life Support Systems
TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in
life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.
Life support systems are equipment intended to support or sustain life, and whose failure to perform,
when properly used in accordance with instructions provided, can be reasonably expected to result in
personal injury or death.
Information given in this document is believed to be accurate and reliable. However, no responsibility
is assumed for the consequences of its use nor for any infringement of patents or other rights of third
parties which may result from its use. Specifications are subject to change without notice.
15.6
Disclaimer: Intended Use
The data specified in this user manual is intended solely for the purpose of product description. No representations or warranties, either express or implied, of merchantability, fitness for a particular purpose
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
128 / 129
or of any other nature are made hereunder with respect to information/specification or the products to
which information refers and no guarantee with respect to compliance to the intended use is given.
In particular, this also applies to the stated possible applications or areas of applications of the product.
TRINAMIC products are not designed for and must not be used in connection with any applications where
the failure of such products would reasonably be expected to result in significant personal injury or death
(safety-Critical Applications) without TRINAMIC’s specific written consent.
TRINAMIC products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless specifically designated for such use by TRINAMIC. TRINAMIC
conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing
or handling of the product and/or any other use of the product.
15.7
Collateral Documents & Tools
This product documentation is related and/or associated with additional tool kits, firmware and other
items, as provided on the product page at: www.trinamic.com.
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1270 CANopen® Firmware Manual • Firmware Version V3.26 | Document Revision V1.06 • 2021-OCT-19
16
129 / 129
Revision History
16.1
Firmware Revision
Version
Date
Author
Description
V3.20
2017-MAR-02
BS
First release.
V3.21
2018-JAN-25
OK
Saving of parameters fixed.
Homing modes fixed.
Resetting of FAULT state fixed.
CSP mode added.
V3.22
2018-JUN-25
OK
Removed motor driver error flags that were too sensitive.
Removed object 2709h (input mode switching no longer necessary).
Encoder support fixed.
Objects for StallGuard™ and CoolStep™ fixed.
V3.23
2019-JUN-07
OK
CSV mode added.
V3.24
2020-APR-20
OK
Homing on encoder null channel supported.
Halt bit supported.
Same operation mode can also be written twice.
OK
Not deployed.
OK
Save/restore parameters extended: PDO definitions can also be
stored.
V3.25
V3.26
2021-OCT-13
Table 349: Firmware Revision
16.2
Document Revision
Version
Date
Author
Description
V1.00
2017-MAR-02
BS
First release.
V1.01
2017-AUG-28
OK
Description of object 5FFFh corrected.
V1.02
2018-JAN-25
OK
Covers firmware version 3.21.
V1.03
2018-JUL-12
OK
Covers firmware version 3.22.
V1.04
2019-JUN-07
OK
Covers firmware version 3.24.
V1.05
2021-SEP-28
OK
New block diagram.
V1.06
2021-OCT-19
OK
Covers firmware version 3.26.
Table 350: Document Revision
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
工商网监
湘ICP备2023018690号
