MODULE
Module for Stepper Motors
TMCM-3213 CoE Firmware Manual
Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
The TMCM-3213 is a three axes controller/driver module for 2-phase bipolar stepper motors with
separate differential encoder and separate home and stop switch inputs for each axis. Dynamic
current control, and quiet, smooth and efficient operation are combined with stealthChop™, dcStep™, stallGuard™ and coolStep™ features. The module offers four analog or digital inputs as well
as four digital outputs in combination with a break chopper unit.
Features
•
•
•
•
•
•
•
3-Axes Stepper Motor Control
CoE CiA-402 Drive Profile
Encoder Support
coolStep™
dcStep™
stallGuard2™
stealthChop™
Applications
• Lab-Automation
• Semiconductor Handling
• Manufacturing
• Robotics
• Factory Automation
• CNC
• Laboratory Automation
Simplified Block Diagram
TMCM-3213
17..53V
DC
DC
EEPROM
I2C
3x
USB
TMC2130
µC
Inputs
MOSFET
Driver
Stage
(ARM)
+5V
+5V
+5V
SPI
Outputs
SPI
PHY
EtherCATTM
PHY
TMC8460
(EtherCAT
slave
controller)
A/B/N Encoder
©2016 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.
E
HOME, REFL, REFR
2 / 100
TMCM-3213 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
Contents
1 Preface
1.1 General Features of this CoE Implementation . . .
1.2 Abbreviations used in this Manual . . . . . . . . . .
1.3 Firmware Update . . . . . . . . . . . . . . . . . . . .
1.4 Trinamic’s unique Features — easy to use with CoE
1.4.1 stallGuard2 . . . . . . . . . . . . . . . . . . .
1.4.2 coolStep . . . . . . . . . . . . . . . . . . . . .
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6
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7
7
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8
8
2 Communication
2.1 Reference Model . . . . . . . . . . . . . . . .
2.2 NMT State Machine . . . . . . . . . . . . . . .
2.3 Device Model . . . . . . . . . . . . . . . . . .
2.4 Object Dictionary . . . . . . . . . . . . . . . .
2.4.1 Object Indices on Multi-Axis Modules
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10
10
12
13
14
14
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 1008h : Manufacturer Device Name . . . . . .
3.1.4 Object 1009h : Manufacturer Hardware Version . . .
3.1.5 Object 100Ah : Manufacturer Software Version . . . .
3.1.6 Object 1018h : Identity Object . . . . . . . . . . . . . .
3.1.7 Object 1600h : Receive PDO Mapping Parameter . . .
3.1.8 Objects 1A00h : Transmit PDO Mapping Parameter .
3.1.9 Objects 1C00h : Sync Manager Communication Type
3.1.10 Objects 1C12h : Sync Manager 2 PDO Assignment . .
3.1.11 Objects 1C13h : Sync Manager 3 PDO Assignment . .
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16
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20
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21
22
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 : Limit switches . . . . . . . . . .
4.2.7 Object 200Ah : Enable drive delay time . . . .
4.2.8 Object 200Bh : Encoder parameters . . . . . .
4.2.9 Object 200Ch : Brake current feed . . . . . . .
4.2.10 Object 2010h : Profile Start Velocity . . . . . . .
4.2.11 Object 2011h : Profile A1 . . . . . . . . . . . . .
4.2.12 Object 2012h : Profile V1 . . . . . . . . . . . . .
4.2.13 Object 2013h : Profile D1 . . . . . . . . . . . . .
4.2.14 Object 2015h : Ramp Wait Time . . . . . . . . .
4.2.15 Object 2089h : Setting Delay . . . . . . . . . . .
4.2.16 Object 208Ch : Velocity Dimension Index . . .
4.2.17 Object 208Eh : Acceleration Dimension Index .
4.2.18 Object 2092h : Chopper Blank Time . . . . . .
4.2.19 Object 2093h : Chopper Mode . . . . . . . . . .
4.2.20 Object 2094h : Chopper Hysteresis Decrement
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23
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©2016 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.
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3 / 100
TMCM-3213 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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
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 2702h : Device Digital Inputs . . . . . . .
Object 2703h : Device Digital Outputs . . . . . .
Object 270Eh : Device Analog Inputs . . . . . . .
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 . . . . . . .
5.1.8 Object 606Ah : Sensor selection code . . . . .
5.1.9 Object 608Fh : Position Encoder Resolution . .
5.1.10 Object 60FDh : Digital Inputs . . . . . . . . . . .
5.1.11 Object 6502h : Supported Drive Modes . . . .
©2016 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.
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4 / 100
TMCM-3213 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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 . . . . . . . . . .
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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 . . . . . . . . . .
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8 Homing mode
8.1 Homing Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1 Homing Method 1: Homing on negative Limit Switch and Index Pulse .
8.1.2 Homing Method 2: Homing on positive Limit Switch and Index Pulse .
8.1.3 Homing Method 3: Homing on positive Home Switch and Index Pulse .
8.1.4 Homing Method 5: Homing on negative Home Switch and Index Pulse
8.1.5 Homing Method 17, 18, 19, and 21: Homing without Index Pulse . . . .
8.1.6 Homing Method 33 and 34: Homing on next Index Pulse . . . . . . . .
8.1.7 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 . . . . . . . . . . . . . . . . . . . . .
8.2.8 Object 2100h : Home Offset Display . . . . . . . . . . . . . . . . . . . . .
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©2016 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.
5 / 100
TMCM-3213 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
8.3 How to start a Homing in hm Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
9 Emergency Messages (EMCY)
92
10 Figures Index
94
11 Tables Index
95
12 Supplemental Directives
12.1 Producer Information . . . . . . . . .
12.2 Copyright . . . . . . . . . . . . . . . . .
12.3 Trademark Designations and Symbols
12.4 Target User . . . . . . . . . . . . . . . .
12.5 Disclaimer: Life Support Systems . . .
12.6 Disclaimer: Intended Use . . . . . . .
12.7 Collateral Documents & Tools . . . . .
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13 Revision History
100
13.1 Firmware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
13.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
©2016 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.
TMCM-3213 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
1
6 / 100
Preface
This document specifies objects and modes of operation of the Triamic TMCM-3213 stepper motor control
module with CANopen-over-EtherCAT (CoE) firmware. The CoE firmware is designed to fulfill the EtherCAT
version of the CANopen DS402 standards. The EtherCAT conformance has also been tested. This manual
assumes that the reader is already familiar with the basics of EtherCAT and the CoE protocol (especially
DS402).
If necessary it is always possible to turn the module into a TMCL module by loading the TMCM-3213 TMCL
fimware again through the USB interface, with the help of the firmware update function of the TMCL-IDE
3.0.
1.1
General Features of this CoE Implementation
Main Characteristics
• Communication according to EtherCAT standards
• Protocols: CoE, FoE
SDO Communication
• 1 server
• Expedited transfer
• Segmented transfer
• No block transfer
PDO Communication
• Producer
• Consumer
• RPDOs
– Dynamic mapping with max. 9 mapping entries.
– Default mappings: manufacturer specific.
• TPDOs
– Dynamic mapping with max. 9 mapping entries.
– Default mappings: manufacturer specific.
Sync managers
• Sync manager 0: receive mailbox used for SDO communication
• Sync manager 1: send mailbox used for SDO communication
• Sync manager 2: process data output (used for TPDO)
• Sync manager 3: process data input (used for RPDO)
Further Characteristics
• Emergency: producer
©2016 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.
TMCM-3213 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
1.2
7 / 100
Abbreviations used in this Manual
Abbreviations
CAN
Controller area network
CoE
CANopen over EtherCAT
CHGND
chassis ground / earth ground
COB
Communication object
FoE
File transfer over EtherCAT
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 boot loader and the CANopen
firmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC and
remains untouched throughout the whole lifetime, the CANopen firmware can easily be updated by the
user. The new firmware can be loaded into the module via the firmware update function of the TMCL-IDE,
using the USB interface of the module.
1.4
Trinamic’s unique Features — easy to use with CoE
©2016 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.
TMCM-3213 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
1.4.1
8 / 100
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 ystem cooler, increases motor life,
and allows cost reduction.
©2016 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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0,9
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
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2.1
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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 EtherCAT 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 2: 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.
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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 3: Service Types
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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 3.
Init
(PI)
(IP)
(IB)
Pre-Operational
(BI)
Bootstrap
(OI)
(PS)
(OP)
(SP)
Safe-Operational
(SO)
(OS)
Operational
Figure 3: NMT State Machine
After power-on or reset the device enters the Initialization (INIT) state.
The master can then switch the device to Pre-Operational (PRE-OP) state. In this state, only SDO communication is possible. PDO communication is not possible.
In Safe-Operational (SAFE-OP) state, also PDO communication is possible. Inputs can be read, but outputs
cannot be switched and the motor cannot be run.
In Operational (OP) state, all features of the module can be used. PDO communication is possible, outputs
can be switched and the motor can be used. During Operational state the device can use all supported
communication objects.
When switching from Operational to Safe-Operational state the motor will be stopped if it has been running.
When the EtherCAT connection is lost during Operational state the device will also automatically switch to
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Safe-Operational state.
The Bootstrap (BOOT) state is used for firmware updates via FoE. Before FoE can be used the device has
to be switched to this state.
2.3
Device Model
A CoE 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 4: Device Model
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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 4:
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 4: 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 TMCM-3213 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.
2.4.1
Object Indices on Multi-Axis Modules
On a multi-axis module like the TMCM-3213 each object in the manufacturer area and each object in the
profile specific area is available for each motor. In this manual, only the object indices for motor #0 are
shown. The objects for the other motors can be accessed by adding offsets to the object indices:
• Add an offset of motor_number·200h to the index of a manufacturer specifc object to get its index for
other motors.
• Add an offset of motor_number·800h to the index of a profile specific object to get its index for other
motors.
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For example, the control word for motor #1 would be 6840h (instead of 6040h for motor #0), and the
microstep resolution of motor #1 would be 2200h for motor #1 (instead of 2000h for motor #0).
Multi-Axis Object Indices
Motor
Manufacturer area
Profile area
Motor #0
2000h – 21FFh
6000h – 67FFh
Motor #1
2200h – 23FFh
6800h – 6FFFh
Motor #2
2400h – 25FFh
7000h – 77FFh
Table 5: Multi-Axis Object Indices
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Communication area
The communication area contains all objects that define the communication parameters of the CoE device
according to the EtherCAT 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 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
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 )
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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 1008h : Manufacturer Device Name
This object contains the manufacturer device name.
Object Description
Index
Name
Object Type
Data Type
1008h
Manufacturer Device Name
Variable
Visible String
Table 11: Object Description (1008h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
—
TMCM-3213
Table 12: Entry Description (1008h )
3.1.4
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 13: Object Description (1009h )
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Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
—
Depends on device, e.g. 1.0.
Table 14: Entry Description (1009h )
3.1.5
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 15: Object Description (100Ah )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
—
Depends on device, e.g. 1.0.
Table 16: Entry Description (100Ah )
3.1.6
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 17: Object Description (1018h )
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Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
00h
Number of entries
ro
no
0. . . 3
3
01h
Vendor ID
ro
no
UNSIGNED32
0286h
02h
Product code
ro
no
UNSIGNED32
3213
03h
Revision number
ro
no
UNSIGNED32
e.g. 20003h for version 2.3
Table 18: Entry Description (1018h )
3.1.7
Object 1600h : Receive PDO Mapping Parameter
This object contains the mapping parameters for the RPDO the device is able to receive. The sub-index
00h contains the number of valid entries within the mapping record. This number of entries is also the
number of the application variables which shall be received with the corresponding RPDO. The sub-indices
from 01h 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
Receive PDO mapping parameter
RECORD
PDO Mapping
Table 19: Object Description (1600h )
Entry Description
Sub-index
Description
Access
Value Range
Default Value
Index 1600h : 4
00h
Number
of
mapped
application objects in
PDO
rw
0. . . 9
01h
Mapping entry 1
rw
UNSIGNED32
60400010h
02h
Mapping entry 3
rw
UNSIGNED32
607A0020h
03h
Mapping entry 4
rw
UNSIGNED32
60710010h
04h
Mapping entry 5
rw
UNSIGNED32
60FF0020h
05h
Mapping entry 2
rw
UNSIGNED32
0h
06h
Mapping entry 6
rw
UNSIGNED32
0h
07h
Mapping entry 7
rw
UNSIGNED32
0h
08h
Mapping entry 8
rw
UNSIGNED32
0h
09h
Mapping entry 9
rw
UNSIGNED32
0h
Table 20: Entry Description (1600h )
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3.1.8
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Objects 1A00h : Transmit PDO Mapping Parameter
This object contains the mapping parameters for the TPDO the device is able to transmit. The sub-index 00h
contains the number of valid entries within the mapping record. This number of entries is also the number
of the application variables which shall be transmitted with the corresponding TPDO. The sub-indices from
01h 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
Transmit PDO mapping parameter
RECORD
PDO Mapping
Table 21: Object Description (1A00h )
Entry Description
Sub-index
Description
Access
Value Range
Default Value
00h
Number
of
mapped
aaplication objects in
PDO
rw
0. . . 9
6
01h
Mapping entry 1
rw
UNSIGNED32
60410010h
02h
Mapping entry 2
rw
UNSIGNED32
60610008h
03h
Mapping entry 3
rw
UNSIGNED32
60640020h
04h
Mapping entry 4
rw
UNSIGNED32
60770010h
05h
Mapping entry 5
rw
UNSIGNED32
606C0020h
06h
Mapping entry 6
rw
UNSIGNED32
60FD0020h
07h
Mapping entry 7
rw
UNSIGNED32
0h
08h
Mapping entry 8
rw
UNSIGNED32
0h
09h
Mapping entry 9
rw
UNSIGNED32
0h
Table 22: Entry Description (1A00h )
3.1.9
Objects 1C00h : Sync Manager Communication Type
This object describes the communication types of the EtherCAT sync managers. The types of the first four
synch managers are normally fixed and should not be changed. Sync managers can have the following for
communication types:
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Sync Manager Communication Types
Type
Description
1
Mailbox receive
2
Mailbox send
3
Process data input
4
Process data output
Table 23: Sync Manager Communication Types
Object Description
Index
Name
Object Type
Data Type
1C00h
Sync manager communication type
RECORD
UNSIGNED8
Table 24: Object Description (1C00h )
Entry Description
Sub-index
Description
Access
Value Range
Default
Value
00h
Number of entries
rw
0. . . 3
4
01h
Communication type sync manager 1
rw
UNSIGNED8
1
02h
Communication type sync manager 2
rw
UNSIGNED8
2
03h
Communictaion type sync manager 3
rw
UNSIGNED8
3
04h
Communictaion type sync manager 4
rw
UNSIGNED8
4
Table 25: Entry Description (1C00h )
3.1.10
Objects 1C12h : Sync Manager 2 PDO Assignment
This object contains the index of the PDO definiton object that is assigned to sync manager 2. Normally,
the RPDO objects are assigned to sync manager 2. Under most cicumstances there is no need to change
this setting.
Object Description
Index
Name
Object Type
Data Type
1C12h
Sync manager 2 PDO assignment
RECORD
PDO assignment
Table 26: Object Description (1C12h )
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Entry Description
Sub-index
Description
Access
Value Range
00h
Number of assigned PDOs
rw
0. . . 1
01h
PDO mapping index of assigned RPDO
rw
UNSIGNED16
Default
Value
1
1600h
Table 27: Entry Description (1C12h )
3.1.11
Objects 1C13h : Sync Manager 3 PDO Assignment
This object contains the index of the PDO definiton object that is assigned to sync manager 3. Normally,
the TPDO objects are assigned to sync manager 3. Under most cicumstances there is no need to change
this setting.
Object Description
Index
Name
Object Type
Data Type
1C13h
Sync manager 3 PDO assignment
RECORD
PDO assignment
Table 28: Object Description (1C13h )
Entry Description
Sub-index
Description
Access
Value Range
00h
Number of assigned PDOs
rw
0. . . 1
01h
PDO mapping index of assigned TPDO
rw
UNSIGNED16
Table 29: Entry Description (1C13h )
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Default
Value
1
1A00h
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Manufacturer specific area
The manufacturer segment contains manufacturer specific objects. These objects control the special
features of the Trinamic Motion Control device TMCM-3213.
Info
This section of the manual only shows the object indices for motor #0. Of course
the same objects are also available for the other motors. For the other motors,
add an offset of motor_number·200h to the object index. So for example the
microstep resolution (object 2000h for motor #0) can be accessed as object 2200h
for motor #1 and as object 2400h for motor #2. Please see also section 2.4.1.
Multi-axis Object Indices
Motor
Object Index Range
Motor #0
2000h – 21FFh
Motor #1
2200h – 23FFh
Motor #2
2400h – 25FFh
Table 30: Multi-axis Object Indices (Manufacturer specific Area)
4.1
Objects related to coolStep
Figure 5 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.
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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 5: coolStep Adjustment Points and Thresholds
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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 stallGuard reading is above the upper threshold.
0: slow decrement
3: fast decrement
209Bh
smartEnergy current up step
Sets the current increment step when the stallGuard
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 31: coolStep related Objects
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4.2
Detailed object specifications
4.2.1
Object 2000h : Microstep resolution
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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 32: Object Description (2000h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 8
8
Table 33: 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 34: Object Description (2001h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 65535
200
Table 35: 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.
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Brake
Bridge
ON
OFF
ON
OFF
t1
t2
200Ah
Operation Enable
2002hsub index2
t3
2002hsub index1
Figure 6: Brake Output Timing
Object Description
Index
Name
Object Type
Data Type
2002h
Brake delay times
Array
UNSIGNED16
Table 36: 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 37: 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 38: Object Description (2003h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 255
128
Table 39: Entry Description (2003h )
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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 40: Object Description (2004h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 255
8
Table 41: Entry Description (2004h )
4.2.6
Object 2005h : Limit switches
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
Object Description
Index
Name
Object Type
Data Type
2005h
Limit switches
Variable
UNSIGNED32
Table 42: Object Description (2005h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 63
0
Table 43: Entry Description (2005h )
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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 44: 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 45: Object Description (200Ah )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 65535
0
Table 46: 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 47: Object Description (200Bh )
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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 48: 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
0the 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 49: 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 50: 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 51: Object Description (2010h )
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Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 268435455
0
Table 52: 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 53: Object Description (2011h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 16777215
0
Table 54: 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 55: Object Description (2012h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
06777215
0
Table 56: Entry Description (2012h )
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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 57: Object Description (2013h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 16777215
0
Table 58: 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 59: Object Description (2015h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 65535 [0.000032s]
0
Table 60: 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
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Object Description
Index
Name
Object Type
Data Type
2089h
Setting Delay
Variable
UNSIGNED16
Table 61: Object Description (2089h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 400
0
Table 62: 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 63: Object Description (208Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/181
181
Table 64: 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 65: Object Description (208Eh )
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Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
0/179
179
Table 66: 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 67: Object Description (2092h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 3
2
Table 68: 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 69: Object Description (2093h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 70: Entry Description (2093h )
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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 71: Object Description (2094h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 3
0
Table 72: 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 73: Object Description (2095h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
-3. . . 12
0
Table 74: Entry Description (2095h )
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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 75: Object Description (2096h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 8
3
Table 76: 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 77: Object Description (2097h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0 / 2. . . 15
5
Table 78: 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)
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Object Description
Index
Name
Object Type
Data Type
2098h
Smart Energy Current Minimum
Variable
UNSIGNED8
Table 79: Object Description (2098h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 80: 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 81: Object Description (2099h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 3
0
Table 82: 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 stallGuard threshold: (smartEnergy hysteresis start + smartEnergy hysteresis + 1) ∗ 32
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Object Description
Index
Name
Object Type
Data Type
209Ah
Smart Energy Hysteresis
Variable
UNSIGNED8
Table 83: Object Description (209Ah )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 15
0
Table 84: 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 85: Object Description (209Bh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 3
0
Table 86: 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.
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Object Description
Index
Name
Object Type
Data Type
209Ch
Smart Energy Hysteresis Start
Variable
UNSIGNED8
Table 87: Object Description (209Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 15
0
Table 88: 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 89: Object Description (209Dh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 90: 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.
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Object Description
Index
Name
Object Type
Data Type
209Eh
stallGuard2 Threshold
Variable
SIGNED8
Table 91: Object Description (209Eh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
-63. . . 63
0
Table 92: 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 93: Object Description (20A1h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 94: 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
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Object Description
Index
Name
Object Type
Data Type
20A3h
Vsense
Variable
UNSIGNED8
Table 95: Object Description (20A3h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 96: 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 97: Object Description (20A4h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 2147483647
0
Table 98: 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 99: Object Description (20A5h )
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Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 2147483647
0
Table 100: 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 higher than the value set by this object.
Object Description
Index
Name
Object Type
Data Type
20B0h
PWM Threshold Speed
Variable
UNSIGNED32
Table 101: Object Description (20B0h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 16777215
0
Table 102: 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 103: Object Description (20B1h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 255
0
Table 104: Entry Description (20B1h )
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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 105: Object Description (20B2h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 255
0
Table 106: 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 107: Object Description (20B3h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 16777215
0
Table 108: 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).
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Object Description
Index
Name
Object Type
Data Type
20B4h
dcStep Time
Variable
UNSIGNED16
Table 109: Object Description (20B4h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 1023
0
Table 110: 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 111: Object Description (20B5h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 255
0
Table 112: 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 113: Object Description (20B6h )
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Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 16777215
0
Table 114: 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 115: Object Description (20B7h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 116: 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 117: Object Description (20B8h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/1
0
Table 118: 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
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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 119: Object Description (20B9h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 15
7
Table 120: 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 121: Object Description (2100h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
-2147483648. . . 2147483647
0
Table 122: Entry Description (2100h )
4.2.46
Object 2101h : Actual Load Value
This object shows the home offset. The value is given in microsteps.
Object Description
Index
Name
Object Type
Data Type
2101h
Home Offset Display
Variable
UNSIGNED16
Table 123: Object Description (2101h )
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Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
0. . . 1023
0
Table 124: 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 125: Driver Error Flags (2102h )
Object Description
Index
Name
Object Type
Data Type
2102h
Home Offset Display
Variable
UNSIGNED8
Table 126: Object Description (2102h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
0. . . 255
0
Table 127: 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).
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Object Description
Index
Name
Object Type
Data Type
2107h
Microstep resolution display
Variable
UNSIGNED8
Table 128: Object Description (2107h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
0. . . 8
8
Table 129: 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 130: 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 131: 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 132: Object Description (2121h )
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Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
0. . . 255
—
Table 133: 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 134: Object Description (2122h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
-16777215. . . 16777215
—
Table 135: Entry Description (2122h )
4.2.52
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
19
IN3
Table 136: Bit Definitions (2702h )
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Object Description
Index
Name
Object Type
Data Type
2702h
Device Digital Inputs
Variable
UNSIGNED32
Table 137: Object Description (2702h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
yes
–
0
Table 138: Entry Description (2702)h
4.2.53
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
17
OUT1
18
OUT2
19
OUT3
Table 139: Bit Definitions (2703h )
Object Description
Index
Name
Object Type
Data Type
2703h
Device Digital Outputs
Variable
ARRAY
Table 140: 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
yes
UNSIGNED32
0
Table 141: Entry Description (2703h )
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4.2.54
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 142: Object Description (270Eh )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Analog input 0
ro
yes
0. . . 4095
–
2
Analog input 1
ro
yes
0. . . 4095
–
3
Analog input 2
ro
yes
0. . . 4095
–
4
Analog input 3
ro
yes
0. . . 4095
–
Table 143: Entry Description (270Eh )
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Profile specific area
The profile segment contains CiA-402 standard motion control objects. These objects control the motion
control functions of the TMCM-3213. 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
TMCM-3213:
• Profile position mode (pp)
• Profile velocity mode (pv)
• Homing mode (hm)
• Cyclic position mode (csp)
Info
This section of the manual only shows the object indices for motor #0. Of course
the same objects are also available for the other motors. For the other motors,
add an offset of motor_number·800h to the object index. So for example the
control word (object 6040h for motor #0) can be accessed as object 6840h for
motor #1 and as object 7040h for motor #2. Please see also section 2.4.1.
Multi-axis Object Indices
Motor
Object Index Range
Motor #0
6000h – 67FFh
Motor #1
6800h – 6FFFh
Motor #2
7000h – 77FFh
Table 144: Multi-axis Object Indices (Profile specific Area)
5.1
5.1.1
Detailed object specifications
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:
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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 145: Value Description (605Ah )
Object Description
Index
Name
Object Type
Data Type
605Ah
Quick stop option code
Variable
SIGNED16
Table 146: Object Description (605Ah )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
1/2/5/6
2
Table 147: 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
0
Definition
Disable drive function (switch off the power stage)
Table 148: Value Description (605Bh )
Object Description
Index
Name
Object Type
Data Type
605Bh
Shutdown option code
Variable
UNSIGNED16
Table 149: Object Description (605Bh )
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Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0
0
Table 150: 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
Definition
1
Slow down on slow down ramp
Table 151: Value Description (605Ch )
Object Description
Index
Name
Object Type
Data Type
605Ch
Disable operation option code
Variable
UNSIGNED16
Table 152: Object Description (605Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
1
1
Table 153: 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. The halt option code always has the value 1 as only
this is supported.
Value Definition
Value
1
Definition
Slow down on slow down ramp and stay in operation enabled
Table 154: Value Description (605Dh )
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Object Description
Index
Name
Object Type
Data Type
605Dh
Halt option code
Variable
UNSIGNED16
Table 155: Object Description (605Dh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
1
1
Table 156: 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.
Value Definition
Value
Definition
2
Slow down on quick stop ramp
Table 157: Value Description (605Eh )
Object Description
Index
Name
Object Type
Data Type
605Eh
Fault reaction option code
Variable
UNSIGNED16
Table 158: Object Description (605Eh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
2
2
Table 159: Entry Description (605Eh )
5.1.6
Object 6060h : Modes of operation
This object indicates the requested operation mode. Supported operating modes are:
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Value Definition
Value
Mode
0
No mode
1
Profile position mode (pp)
3
Profile velocity mode (pv)
6
Homing mode (hm)
Table 160: 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.
Object Description
Index
Name
Object Type
Data Type
6060h
Modes of operation
Variable
SIGNED8
Table 161: Object Description (6060h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
refer to CiA-402
0/1/3/6
0
Table 162: Entry Description (6060h )
5.1.7
Object 6061h : Modes of operation
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)
Table 163: 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.
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Object Description
Index
Name
Object Type
Data Type
6061h
Modes of operation display
Variable
SIGNED8
Table 164: Object Description (6061h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
refer to CiA-402
0/1/3/6
0
Table 165: Entry Description (6061h )
5.1.8
Object 606Ah : Sensor selection code
This object provides the source of the velocity sensor actual value. It selects whether an encoder is to be
used or not.
Value Definition
Value
Mode
0
Encoder used
-1
No encoder
Table 166: Value Description (606Ah )
Object Description
Index
Name
Object Type
Data Type
606Ah
Sensor selection code
Variable
SIGNED16
Table 167: Object Description (606Ah )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0/-1
-1
Table 168: Entry Description (606Ah )
5.1.9
Object 608Fh : Position Encoder Resolution
This object defines the resolution of the encoder. The position encoder resolution is calculated by the
following formula:
position encoder resolution =
encoder increments
motor revolutions
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All values are dimensionless.
Object Description
Index
Name
Object Type
Data Type
608Fh
Position Encoder Resolution
Array
UNSIGNED32
Table 169: Object Description (608Fh )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
0
Highest sub-index supported
ro
no
2
2
1
Encoder increments
rw
no
0. . . 2147483647
1
2
Motor revolutions
ro
no
1
1
Table 170: Entry Description (608Fh )
5.1.10
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 171: Object Description (60FDh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
mappable
UNSIGNED32
0
Table 172: Entry Description (60FDh )
5.1.11
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.
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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 173: Value Definition (6502h )
Object Description
Index
Name
Object Type
Data Type
6502h
Supported drive modes
Variable
UNSIGNED32
Table 174: Object Description (6502h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
UNSIGNED32
Depends on supported modes.
Table 175: Entry Description (6502h )
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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 7: 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.
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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 7 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 176: 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.
9
Change set point
Not supported.
Table 177: 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 178: Command Coding
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Object Description
Index
Name
Object Type
Data Type
6040h
Controlword
Variable
UNSIGNED16
Table 179: Object Description (6040h in pp Mode)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
see CiA402-3
See command coding above.
Table 180: 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 7 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; eo=enable operation; qs=quick stop; ev=enable voltage; so=switch on.
Table 181: 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 182: Trinamic Specific Bits
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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 183: 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 184: State Coding
Object Description
Index
Name
Object Type
Data Type
6041h
Controlword
Variable
UNSIGNED16
Table 185: Object Description (6041h in pp Mode)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
see CiA402-3
See state coding above.
Table 186: 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 .
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Object Description
Index
Name
Object Type
Data Type
6062h
Position Demand Value
Variable
SIGNED32
Table 187: Object Description (6062h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
Refer to CiA402-3
SIGNED32
no
Table 188: Entry Description (6062h )
6.1.4
Object 6063h : Position Actual Internal Value
This object provides the actual value of the encoder or the motor. Please use the sensor selection
object 606Ah (see section 5.1.8) for selecting the motor or the encoder first. Object 6063h indicates the
actual position of the encoder or the motor, re-scaled to the microstep resolution. The value is given in
microsteps.
Object Description
Index
Name
Object Type
Data Type
6063h
Position Actual Internal Value
Variable
SIGNED32
Table 189: Object Description (6063h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
Refer to CiA402-3
SIGNED32
no
Table 190: 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 191: Object Description (6064h )
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Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
Refer to CiA402-3
SIGNED32
no
Table 192: 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
closed-loop 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.
Note
Setting this object to a too low value will lead to false alarms.
Object Description
Index
Name
Object Type
Data Type
6065h
Following Error Window
Variable
UNSIGNED32
Table 193: Object Description (6065h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 2147483647
0
Table 194: 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).
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Object Description
Index
Name
Object Type
Data Type
6067h
Position Window
Variable
UNSIGNED32
Table 195: Object Description (6067h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
FFFFFFFFh
Table 196: 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 197: Object Description (6068h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED16
0
Table 198: 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 199: Object Description (606Ch )
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Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
Refer to CiA402-3
SIGNED32
no
Table 200: 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 201: Object Description (607Ah in pp Mode)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
Refer to CiA402-3
SIGNED32
0
Table 202: 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 203: Object Description (607Dh )
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Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Mininmum Position Limit
rw
no
SIGNED32
-2147483648
2
Maximum Position Limit
rw
no
SIGNED32
2147483647
Table 204: 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
SIGNED32
Table 205: Object Description (6081h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
SIGNED32
0
Table 206: 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
SIGNED32
Table 207: Object Description (6082h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
SIGNED32
0
Table 208: Entry Description (6082h )
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Object 6083h : Profile Acceleration
This object indicates the configured acceleration. Object 6083h sets the maximum acceleration to be used
in profile position and profile velocity mode.
The units for object 6083h can be choosen with object 208Eh , described in section 4.2.17.
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
SIGNED32
Table 209: Object Description (6083h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
SIGNED32
0
Table 210: 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 choosen with object 208Eh , described in section 4.2.17.
Object Description
Index
Name
Object Type
Data Type
6084h
Profile Deceleration
Variable
SIGNED32
Table 211: Object Description (6084h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
SIGNED32
0
Table 212: 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 .
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Object Description
Index
Name
Object Type
Data Type
6085h
Quick stop deceleration
Variable
UNSIGNED32
Table 213: Object Description (6085h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
51200
Table 214: 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 6063h ).
1
0
Positioning moves shall be performed relative to the position actual value (object 6064h ).
1
1
reserved
Table 215: Bit Definitions of Object 60F2h
Object Description
Index
Name
Object Type
Data Type
60F2h
Positioning option code
Variable
UNSIGNED16
Table 216: Object Description (60F2h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED16
0
Table 217: Entry Description (60F2h )
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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).
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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 7 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 218: Structure of the Control Word in pv Mode
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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 219: Command Coding
Object Description
Index
Name
Object Type
Data Type
6040h
Controlword
Variable
UNSIGNED16
Table 220: Object Description (6040h in pv Mode)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
see CiA402-3
See command coding above.
Table 221: 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 7 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; eo=enable operation; qs=quick stop; ev=enable voltage; so=switch on.
Table 222: Structure of the Status Word in pv Mode
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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 223: 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 224: 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 225: State Coding
Object Description
Index
Name
Object Type
Data Type
6041h
Controlword
Variable
UNSIGNED16
Table 226: Object Description (6041h in pv Mode)
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Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
see CiA402-3
See state coding above
Table 227: 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 228: Object Description (6062h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
Refer to CiA402-3
SIGNED32
no
Table 229: Entry Description (6062h )
7.1.4
Object 6063h : Position Actual Internal Value
This object provides the actual value of the encoder or the motor. Please use the sensor selection
object 606Ah (see section 5.1.8) for selecting the motor or the encoder first. Object 6063h indicates the
actual position of the encoder or the motor, re-scaled to the microstep resolution. The value is given in
microsteps.
Object Description
Index
Name
Object Type
Data Type
6063h
Position Actual Internal Value
Variable
SIGNED32
Table 230: Object Description (6063h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
Refer to CiA402-3
SIGNED32
no
Table 231: Entry Description (6063h )
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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 232: Object Description (6064h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
Refer to CiA402-3
SIGNED32
no
Table 233: 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
closed-loop 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.
Note
Setting this object to a too low value will lead to false alarms.
Object Description
Index
Name
Object Type
Data Type
6065h
Following Error Window
Variable
UNSIGNED32
Table 234: Object Description (6065h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
0. . . 2147483647
0
Table 235: Entry Description (6065h )
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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 236: Object Description (606Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
Refer to CiA402-3
SIGNED32
no
Table 237: 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 238: Object Description (607Dh )
Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Mininmum Position Limit
rw
no
SIGNED32
-2147483648
2
Maximum Position Limit
rw
no
SIGNED32
2147483647
Table 239: Entry Description (607Dh )
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Object 6083h : Profile Acceleration
This object indicates the configured acceleration. Object 6083h sets the maximum acceleration to be used
in profile position and profile velocity mode.
The units for object 6083h can be choosen with object 208Eh , described in section 4.2.17.
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
SIGNED32
Table 240: Object Description (6083h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
SIGNED32
0
Table 241: 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 242: Object Description (6085h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
51200
Table 243: 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.
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Object Description
Index
Name
Object Type
Data Type
60FFh
Target Velocity
Variable
SIGNED32
Table 244: Object Description (60FFh )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
see CiA402-3
SIGNED32
0
Table 245: 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 .
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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 8 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
Statusword 6041h
Homing speeds 6099h
Homing method
Homing acceleration 609Ah
Position demand value 6062h
Home offset 607Ch
Figure 8: 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).
There are four sources of homing signals 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.
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Homing Methods
The TMCM-3213 supports a subset of different standard CANopen homing methods. The homing method
that is to be used can be choosen via object 6098h (section 8.2.5).
Supported Homing Methods
Method
Description
0
No homing (default value for object 6098h ).
1
Search the left end switch, then search the next encoder index pulse.
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 246: 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 9: Homing Method 1
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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 10: 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 11: 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.
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5
5
Index pulse
Home switch
Figure 12: Homing Method 5
8.1.5
Homing Method 17, 18, 19, and 21: Homing without Index Pulse
These methods are similar to methods 1 to 5 except that the home position is not dependent on the index
pulse but only dependent on the relevant home or limit switch transitions. As an example, homing method
19 (which is similar to homing method 3) is shown in figure 13.
Homing Methods 17. . . 21
Method
Description
17
Search the left end switch. (Similar to method 1)
18
Search the right end switch. (Similar to method 2)
19
Search the positive edge of the home switch. (Similar to method 3)
21
Search the negative edge of the home switch. (Similar to method 5.)
Table 247: Homing Methods 17 – 21
19
19
Home switch
Figure 13: Homing Method 19
8.1.6
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 as shown in Figure 4.10.
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33
34
Index pulse
Figure 14: Homing Methods 33 and 34
8.1.7
Homing Method 35: Current position as home position
In this method, the current position shall be taken to be the home position. This method does not require
the drive device to be in operation enabled state.
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8.2
8.2.1
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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 7 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 248: 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
Not supported.
Table 249: 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 250: Command Coding
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Object Description
Index
Name
Object Type
Data Type
6040h
Controlword
Variable
UNSIGNED16
Table 251: Object Description (6040h in hm Mode)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
see CiA402-3
See command coding above.
Table 252: 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 7 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; eo=enable operation; qs=quick stop; ev=enable voltage; so=switch on.
Table 253: 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 254: Trinamic Specific Bits
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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 255: 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 256: State Coding
Object Description
Index
Name
Object Type
Data Type
6041h
Controlword
Variable
UNSIGNED16
Table 257: Object Description (6041h in hm Mode)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
see CiA402-3
See state coding above.
Table 258: 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).
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Object Description
Index
Name
Object Type
Data Type
606Ch
Velocity Actual Value
Variable
SIGNED32
Table 259: Object Description (606Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
Refer to CiA402-3
SIGNED32
no
Table 260: 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 15: Home Offset
Object Description
Index
Name
Object Type
Data Type
607Ch
Home offset
Variable
SIGNED32
Table 261: Object Description (607Ch )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
SIGNED32
0
Table 262: Entry Description (607Ch )
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8.2.5
Object 6098h : Homing Method
The homing method to be used can be selected by writing to this object. Please see table 246 for a list of
homing methods supported by the current version of the TMCM-3213 CANopen firmware.
Object Description
Index
Name
Object Type
Data Type
6098h
Homing method
Variable
SIGNED8
Table 263: Object Description (6098h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
SIGNED8
0
Table 264: 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 inernal 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 265: 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 266: 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).
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Object Description
Index
Name
Object Type
Data Type
609Ah
Homing acceleration
Variable
UNSIGNED32
Table 267: Object Description (609Ah )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
0
Table 268: Entry Description (609Ah )
8.2.8
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 269: Object Description (2100h )
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
no
-2147483648. . . 2147483647
0
Table 270: Entry Description (2100h )
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.
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• 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.
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9
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Emergency Messages (EMCY)
The module sends an emergency message if an error occurs. The message contains information about
the error type. The module can map internal errors and object 1001h (error register) is part of every
emergency object.
Please note that the additional byte #2 shows which motor is affected.
Emergency Messages (EMCY) of the TMCM-3213
Error code
Additional byte
Description
1
2
3
4
5
0000h
0
0. . . 2
0
0
0
Fault reset
The fault reset command has been executed.
1000h
1
0. . . 2
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. . . 2
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. . . 2
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. . . 2
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. . . 2
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. . . 2
0
0
0
stallGuard2 error
The actual load value exceeds the stallGuard2 limit.
4310h
1
0. . . 2
0
0
0
Overtemperature pre-warning
The temperature in the motor driver exceeds the pre-warning
limit.
4310h
2
0. . . 2
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.
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Error code
Additional byte
93 / 100
Description
1
2
3
4
5
8611h
0
0. . . 2
0
0
0
Following error
The deviation between motor position counter and encoder
position counter has exceeded the following error window.
ff00h
0
0. . . 2
0
0
0
Undervoltage
The supply voltage is too low to drive a motor.
ff01h
1
0. . . 2
0
0
0
Positive software limit
The actual position is outside the range defined by object
607dh .
ff01h
2
0. . . 2
0
0
0
Negative software limit
The actual position is outside the range defined by object
607dh .
ff01h
3
0. . . 2
0
0
0
Positive limit switch
The positive limit switch has been touched outside of the homing function.
ff01h
4
0. . . 2
0
0
0
Negative limit switch
The negative limit switch has been touched outside of the
homing function.
Table 271: Emergency Messages (EMCY)
©2016 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.
94 / 100
TMCM-3213 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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Figures Index
stallGuard2 Load Measurement as a
Function of Load . . . . . . . . . . . .
Energy Efficiency Example with coolStep
NMT State Machine . . . . . . . . . . .
Device Model . . . . . . . . . . . . . .
coolStep Adjustment Points and
Thresholds . . . . . . . . . . . . . . . .
Brake Output Timing . . . . . . . . . .
DS402 Finite State Machine . . . . . .
8
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12
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24
27
60
©2016 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.
8
9
10
11
12
13
14
15
Homing Mode Function . .
Homing Method 1 . . . . . .
Homing Method 2 . . . . . .
Homing Method 3 . . . . . .
Homing Method 5 . . . . . .
Homing Method 19 . . . . .
Homing Methods 33 and 34
Home Offset . . . . . . . . .
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46
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48
49
50
51
Tables Index
Abbreviations used in this Manual . .
Service Primitives . . . . . . . . . . . .
Service Types . . . . . . . . . . . . . .
Object Dictionary . . . . . . . . . . . .
Multi-Axis Object Indices . . . . . . . .
Object Description (1000h ) . . . . . . .
Entry Description (1000h ) . . . . . . .
Object Description (1001h ) . . . . . . .
Entry Description (1001h ) . . . . . . .
Error Register Bits . . . . . . . . . . . .
Object Description (1008h ) . . . . . . .
Entry Description (1008h ) . . . . . . .
Object Description (1009h ) . . . . . . .
Entry Description (1009h ) . . . . . . .
Object Description (100Ah ) . . . . . .
Entry Description (100Ah ) . . . . . . .
Object Description (1018h ) . . . . . . .
Entry Description (1018h ) . . . . . . .
Object Description (1600h ) . . . . . . .
Entry Description (1600h ) . . . . . . .
Object Description (1A00h ) . . . . . .
Entry Description (1A00h ) . . . . . . .
Sync Manager Communication Types
Object Description (1C00h ) . . . . . .
Entry Description (1C00h ) . . . . . . .
Object Description (1C12h ) . . . . . .
Entry Description (1C12h ) . . . . . . .
Object Description (1C13h ) . . . . . .
Entry Description (1C13h ) . . . . . . .
Multi-axis Object Indices (Manufacturer specific Area) . . . . . . . . . . .
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 ) . . . . . . .
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©2016 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.
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102
103
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 ) .
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 )
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31
31
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31
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135
136
137
138
139
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141
142
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149
150
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152
153
154
155
156
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 ) . . . . . . .
Bit Definitions (2702h ) . . . . . . . . .
Object Description (2702h ) . . . . . . .
Entry Description (2702)h . . . . . . .
Bit Definitions (2703h ) . . . . . . . . .
Object Description (2703h ) . . . . . . .
Entry Description (2703h ) . . . . . . .
Object Description (270Eh ) . . . . . . .
Entry Description (270Eh ) . . . . . . .
Multi-axis Object Indices (Profile specific Area) . . . . . . . . . . . . . . . . .
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 ) . . . . . . .
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55
©2016 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.
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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 ) . . . . . . .
Value Description (606Ah ) . . . . . . .
Object Description (606Ah ) . . . . . .
Entry Description (606Ah ) . . . . . . .
Object Description (608Fh ) . . . . . . .
Entry Description (608Fh ) . . . . . . .
Object Description (60FDh ) . . . . . .
Entry Description (60FDh ) . . . . . . .
Value Definition (6502h ) . . . . . . . .
Object Description (6502h ) . . . . . . .
Entry Description (6502h ) . . . . . . .
Structure of the Control Word in pp
Mode . . . . . . . . . . . . . . . . . . .
Operation Mode specific Bits in pp Mode
Command Coding . . . . . . . . . . . .
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 ) . . . . . . .
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224
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227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
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 . . . . . . . . . . . . . . . . . . .
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 ) . . . . . . .
Object Description (6063h ) . . . . . . .
Entry Description (6063h ) . . . . . . .
Object Description (6064h ) . . . . . . .
Entry Description (6064h ) . . . . . . .
Object Description (6065h ) . . . . . . .
Entry Description (6065h ) . . . . . . .
Object Description (606Ch ) . . . . . .
Entry Description (606Ch ) . . . . . . .
Object Description (607Dh ) . . . . . .
Entry Description (607Dh ) . . . . . . .
Object Description (6083h ) . . . . . . .
Entry Description (6083h ) . . . . . . .
Object Description (6085h ) . . . . . . .
69
69
69
70
70
70
70
70
243
244
245
246
247
248
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73
73
73
73
74
74
74
74
75
75
75
75
75
76
76
76
76
77
77
77
77
78
78
78
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251
252
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255
©2016 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.
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261
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263
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Entry Description (6085h ) . . . . . . . 78
Object Description (60FFh ) . . . . . . . 79
Entry Description (60FFh ) . . . . . . . 79
Supported CANopen Homing Methods 81
Homing Methods 17 – 21 . . . . . . . 83
Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 85
Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 85
Command Coding . . . . . . . . . . . . 85
Object Description (6040h in hm Mode) 86
Entry Description (6040h in hm Mode) 86
Structure of the Status Word in hm Mode 86
Trinamic Specific Bits . . . . . . . . . . 86
Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 87
State Coding . . . . . . . . . . . . . . . 87
Object Description (6041h in hm Mode) 87
Entry Description (6041h in hm Mode) 87
Object Description (606Ch ) . . . . . . 88
Entry Description (606Ch ) . . . . . . . 88
Object Description (607Ch ) . . . . . . 88
Entry Description (607Ch ) . . . . . . . 88
Object Description (6098h ) . . . . . . . 89
Entry Description (6098h ) . . . . . . . 89
Object Description (6099h ) . . . . . . . 89
Entry Description (6099h ) . . . . . . . 89
Object Description (609Ah ) . . . . . . 90
Entry Description (609Ah ) . . . . . . . 90
Object Description (2100h ) . . . . . . . 90
Entry Description (2100h ) . . . . . . . 90
Emergency Messages (EMCY) . . . . . 93
Firmware Revision . . . . . . . . . . . 100
Document Revision . . . . . . . . . . . 100
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Supplemental Directives
12.1
Producer Information
12.2
Copyright
TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos,
trademarks, and resources. © Copyright 2016 TRINAMIC. All rights reserved. Electronically published by
TRINAMIC, Germany.
Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup
Language) must retain the above copyright notice, and the complete Datasheet User Manual documentation of this product including associated Application Notes; and a reference to other available
product-related documentation.
12.3
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 CoE 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.
12.4
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.
12.5
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.
12.6
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
©2016 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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Read entire documentation.
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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.
12.7
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.
©2016 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.
TMCM-3213 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
13
Revision History
13.1
Firmware Revision
Version
Date
Author
Description
1.01
2016-JUL-20
OK
First release.
Table 272: Firmware Revision
13.2
Document Revision
Version
Date
Author
Description
V1.01
2016-JUL-20
OK
First release.
V1.02
2016-NOV-29
OK
Block diagrams included.
Table 273: Document Revision
©2016 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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