CANopen MODULES FOR
STEPPER MOTORS
MODULES
CANopen Firmware Version V3.18
CANopen MANUAL
TMCM-351
3-axis stepper
controller/driver board
2.8A RMS / 24V DC
Encoder interface
TMCM-341
3-axis
controller board
for SPI drivers
V
logic
5V DC
TMCM-342
3-axis
controller board
for step/dir drivers
V
logic
5V DC
TMCM-343
3-axis stepper
controller/driver board
V
nom
8…34 V DC / V
logic
5V DC
1.1A RMS
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04)
2
Table of Contents
Preface ............................................................................................................................................................................. 6
1.1
General Features of the CANopen Implementation .................................................................................. 6
1.2
Abbreviations ........................................................................................................................................................ 7
1.3
Firmware Update ................................................................................................................................................. 7
2
Communication ............................................................................................................................................................. 8
2.1
Reference Model .................................................................................................................................................. 8
2.2
NMT State Machine .............................................................................................................................................. 9
2.3
Device Model....................................................................................................................................................... 11
2.4
Object Dictionary ............................................................................................................................................... 12
3
Communication Objects ........................................................................................................................................... 13
3.1
Detailed Object Specifications ....................................................................................................................... 13
3.1.1 Object 1000
h
: Device Type ......................................................................................................................... 13
3.1.2 Object 1001
h
: Error Register...................................................................................................................... 13
3.1.3 Object 1005
h
: COB-ID SYNC Message ..................................................................................................... 14
3.1.4 Object 1008
h
: Manufacturer Device Name ............................................................................................ 14
3.1.5 Object 1009
h
: Manufacturer Hardware Version ................................................................................... 14
3.1.6 Object 100A
h
: Manufacturer Software Version .................................................................................... 14
3.1.7 Object 100C
h
: Guard Time ......................................................................................................................... 15
3.1.8 Object 100D
h
: Life Time Factor ................................................................................................................ 15
3.1.9 Object 1010
h
: Store Parameters ............................................................................................................... 15
3.1.10 Object 1011
h
: Restore Default Parameters ........................................................................................... 16
3.1.11 Object 1014
h
: COB-ID Emergency Object .............................................................................................. 18
3.1.12 Object 1015
h
: Inhibit Time EMCY ............................................................................................................ 18
3.1.13 Object 1016
h
: Consumer Heartbeat Time .............................................................................................. 18
3.1.14 Object 1017
h
: Producer Heartbeat Time ................................................................................................ 18
3.1.15 Object 1018
h
: Identity Object ................................................................................................................... 19
3.1.16 Object 1023
h
: OS Command ..................................................................................................................... 19
3.1.17 Object 1029
h
: Error Behavior .................................................................................................................... 19
3.1.18 Objects 1400
h
-1405
h
: Receive PDO Communication Parameter ...................................................... 20
3.1.19 Objects 1440
h
-1445
h
: Receive PDO Communication Parameter ...................................................... 20
3.1.20 Objects 1480
h
-1485
h
: Receive PDO Communication Parameter ...................................................... 21
3.1.21 Objects 1600
h
-1605
h
: Receive PDO Mapping ........................................................................................ 22
3.1.22 Objects 1640
h
-1645
h
: Receive PDO Mapping ........................................................................................ 23
3.1.23 Objects 1680
h
-1685
h
: Receive PDO Mapping ........................................................................................ 24
3.1.24 Objects 1800
h
-1805
h
: Transmit PDO Communication Parameter .................................................... 25
3.1.25 Objects 1840
h
-1845
h
: Transmit PDO Communication Parameter .................................................... 26
3.1.26 Objects 1880
h
-1885
h
: Transmit PDO Communication Parameter .................................................... 27
3.1.27 Objects 1A00
h
-1A05
h
: Transmit PDO Mapping Parameter ................................................................ 28
3.1.28 Objects 1A40
h
-1A45
h
: Transmit PDO Mapping Parameter ................................................................ 29
3.1.29 Objects 1A80
h
-1A85
h
: Transmit PDO Mapping Parameter ................................................................ 30
4
Device Profile Objects (CiA402) and Modes of Operation .............................................................................. 31
4.1
Detailed Object Specifications ....................................................................................................................... 31
4.1.1 Object 605A
h
, 685A
h
, and 705A
h
: Quick Stop Option Code .............................................................. 31
4.1.2 Object 605B
h
, 685B
h
, and 705B
h
: Shutdown Option Code ............................................................... 32
4.1.3 Object 605C
h
, 685C
h
, and 705C
h
: Disable Operation Option Code ................................................. 32
4.1.4 Object 605D
h
, 685D
h
, and 705D
h
: Halt Option Code........................................................................... 32
4.1.5 Object 605E
h
, 685E
h
, and 705E
h
: Fault Reaction Option Code ......................................................... 33
4.1.6 Object 6060
h
, 6860
h
, and 7060
h
: Modes of Operation ....................................................................... 33
4.1.7 Object 6061
h
, 6861
h
, and 7061
h
: Modes of Operation Display ........................................................ 34
4.1.8 Object 606A
h
, 686A
h
, and 706A
h
: Sensor Selection Code ................................................................. 34
4.1.9 Object 6085
h
, 6885
h
, and 7085
h
: Quick Stop Deceleration................................................................ 35
4.1.10 Object 608F
h
, 688F
h
, and 708F
h
: Position Encoder Resolution........................................................ 35
4.1.11 Object 60C5
h
, 68C5
h
, and 70C5
h
: Max Acceleration ............................................................................. 35
4.1.12 Object 60C6
h
, 68C6
h
, and 70C6
h
: Max Deceleration ............................................................................ 36
4.1.13 Object 60FD
h
, 68FD
h
, and 70FD
h
: Digital Inputs ................................................................................. 36
4.1.14 Object 6502
h
, 6D02
h
, and 7502
h
: Supported Drive Modes ................................................................ 37
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
1
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04)
4.2
Profile Position Mode ....................................................................................................................................... 38
4.2.1 Detailed object specifications .................................................................................................................. 38
4.2.1.1
Object 6040
h
, 6840
h
, and 7040
h
: Controlword ........................................................................... 39
4.2.1.2
Object 6041
h
, 6841
h
, and 7041
h
: Statusword.............................................................................. 40
4.2.1.3
Object 6062
h
, 6862
h
, and 7062
h
: Position Demand Value ...................................................... 41
4.2.1.4
Object 6063
h
, 6863
h
, and 7063
h
: Position Actual Internal Value .......................................... 41
4.2.1.5
Object 6064
h
, 6864
h
, and 7064
h
: Position Actual Value .......................................................... 41
4.2.1.6
Object 6065
h
, 6865
h
, and 7065
h
: Following Error Window .................................................... 42
4.2.1.7
Object 6067
h
, 6867
h
, and 7067
h
: Position Window .................................................................. 42
4.2.1.8
Object 6068
h
, 6868
h
, and 7068
h
: Position Window Time ....................................................... 43
4.2.1.9
Object 606C
h
, 686C
h
, and 706C
h
: Velocity Actual Value ........................................................... 43
4.2.1.10
Object 607A
h
, 687A
h
, and 707A
h
: Target Position ..................................................................... 43
4.2.1.11
Object 607D
h
, 687D
h
, and 707D
h
: Software Position Limit .................................................... 44
4.2.1.12
Object 607F
h
, 687F
h
, and 707F
h
: Maximum Profile Velocity ................................................... 44
4.2.1.13
Object 6081
h
, 6881
h
, and 7081
h
: Profile Velocity....................................................................... 44
4.2.1.14
Object 6083
h
, 6883
h
, and 7083
h
: Profile Acceleration .............................................................. 45
4.2.1.15
Object 6084
h
, 6884
h
, and 7084
h
: Profile Deceleration .............................................................. 45
4.2.1.16
Object 6086
h
, 6886
h
, and 7086
h
: Motion Profile Type .............................................................. 45
4.2.2 How to move a motor in
pp
mode ....................................................................................................... 46
4.3
Homing Mode ..................................................................................................................................................... 47
4.3.1 Connecting home switch, left switch, and right switch.................................................................. 48
4.3.1.1
TMCM-341/342/343 ............................................................................................................................. 48
4.3.1.2
TMCM-351 ............................................................................................................................................. 49
4.3.2 Connecting a brake ..................................................................................................................................... 50
4.3.2.1
TMCM-341/342/343 ............................................................................................................................. 50
4.3.2.2
TMCM-351 ............................................................................................................................................. 50
4.3.3 Homing Methods ......................................................................................................................................... 51
4.3.4 Detailed Object Definitions ...................................................................................................................... 54
4.3.4.1
Object 6040
h
, 6840
h
, and 7040
h
: Controlword ........................................................................... 54
4.3.4.2
Object 6041
h
, 6841
h
, and 7041
h
: Statusword.............................................................................. 55
4.3.4.3
Object 606C
h
, 686C
h
, and 706C
h
: Velocity Actual Value ........................................................... 55
4.3.4.4
Object 607C
h
, 687C
h
, and 707C
h
: Home Offset ........................................................................... 56
4.3.4.5
Object 6098
h
, 6898
h
, and 7098
h
: Homing Method .................................................................... 56
4.3.4.6
Object 6099
h
, 6899
h
, and 7099
h
: Homing Speeds ..................................................................... 57
4.3.4.7
Object 609A
h
, 689A
h
, and 709A
h
: Homing Acceleration .......................................................... 57
4.3.4.8
Object 2100
h
: Home Offset Display .............................................................................................. 57
4.3.5 How to start a homing in
hm
mode .................................................................................................... 58
4.4
Velocity Mode ..................................................................................................................................................... 59
4.4.1 Detailed object definitions ....................................................................................................................... 59
4.4.1.1
Object 6040
h
, 6840
h
, and 7040
h
: Controlword ........................................................................... 59
4.4.1.2
Object 6041
h
, 6841
h
, and 7041
h
: Statusword.............................................................................. 60
4.4.1.3
Object 6042
h
, 6842
h
, and 7042
h
:
vl
Target Velocity .................................................................. 60
4.4.1.4
Object 6043
h
, 6843
h
, and 7043
h
:
vl
Velocity Demand .............................................................. 61
4.4.1.5
Object 6044
h
, 6844
h
, and 7044
h
:
vl
Velocity Actual Value ...................................................... 61
4.4.1.6
Object 6046
h
, 6846
h
, and 7046
h
:
vl
Velocity Min Max Amount.............................................. 61
4.4.1.7
Object 6048
h
, 6848
h
, and 7048
h
:
vl
Velocity Acceleration ....................................................... 62
4.4.1.8
Object 6049
h
, 6849
h
, and 7049
h
:
vl
Velocity Deceleration ...................................................... 62
4.4.2 How to Move a Motor in
vl
Mode .......................................................................................................... 63
4.5
Profile Velocity Mode ....................................................................................................................................... 64
4.5.1.1
Object 6040
h
, 6840
h
, and 7040
h
: Controlword ........................................................................... 64
4.5.1.2
Object 6041
h
, 6841
h
, and 7041
h
: Statusword.............................................................................. 65
4.5.1.3
Object 6062
h
, 6862
h
, and 7062
h
: Position Demand Value ...................................................... 65
4.5.1.4
Object 6063
h
, 6863
h
, and 7063
h
: Position Actual Internal Value .......................................... 66
4.5.1.5
Object 6064
h
, 6864
h
, and 7064
h
: Position Actual Value .......................................................... 66
4.5.1.6
Object 6065
h
, 6865
h
, and 7065
h
: Following Error Window .................................................... 66
4.5.1.7
Object 606C
h
, 686C
h
, and 706C
h
: Velocity Actual Value ........................................................... 67
4.5.1.8
Object 607D
h
, 687D
h
, and 707D
h
: Software Position Limit .................................................... 67
4.5.1.9
Object 6083
h
, 6883
h
, and 7083
h
: Profile Acceleration .............................................................. 67
3
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04)
4.5.1.10
Object 6084
h
, 6884
h
, and 7084
h
: Profile Deceleration .............................................................. 68
4.5.1.11
Object 60FF
h
, 62FF
h
, and 64FF
h
: Target Velocity ....................................................................... 68
4.5.2 How to Move a Motor in
pv
Mode......................................................................................................... 68
Manufacturer Specific Area ...................................................................................................................................... 69
5.1
Detailed Object Specifications ....................................................................................................................... 69
5.1.1 Object 2000
h
, 2200
h
, and 2400
h
: Microstep Resolution ..................................................................... 69
5.1.2 Object 2001
h
, 2201
h
, and 2401
h
: Fullstep Resolution ......................................................................... 69
5.1.3 Object 2002
h
, 2202
h
, and 2402
h
: Brake Delay Times .......................................................................... 70
5.1.4 Object 2003
h
, 2203
h
, and 2403
h
: Maximum Current ............................................................................ 70
5.1.5 Object 2004
h
, 2204
h
, and 2404
h
: Standby Current............................................................................... 71
5.1.6 Object 2005
h
, 2205
h
, and 2405
h
: Limit Switches ................................................................................. 71
5.1.7 Object 2006
h
, 2206
h
, and 2406
h
: Mixed Decay Threshold ................................................................. 72
5.1.8 Object 2007
h
, 2207
h
, and 2407
h
: Stall Detection Threshold ............................................................. 72
5.1.9 Object 2009
h
, 2209
h
, and 2409
h
: Fullstep Threshold .......................................................................... 72
5.1.10 Object 200A
h
, 220A
h
, and 240A
h
: Enable Drive Delay Time ............................................................. 73
5.1.11 Object 200B
h
, 220B
h
, and 240B
h
: Encoder parameters ...................................................................... 73
5.1.12 Object 200C
h
, 220C
h
, and 240C
h
: Brake Current Feed ........................................................................ 74
5.1.13 Object 204Eh, 224Eh, and 244Eh: Boost Current ................................................................................ 74
5.1.14 Object 2085
h
, 2285
h
, and 2485
h
: Ramp Divisor .................................................................................... 74
5.1.15 Object 2086
h
, 2286
h
, and 2486
h
: Pulse Divisor .................................................................................... 75
5.1.16 Object 2087
h
, 2287
h
, and 2487
h
: Maximum Velocity........................................................................... 75
5.1.17 Object 2088
h
, 2288
h
, and 2488
h
: Maximum Acceleration .................................................................. 76
5.1.18 Object 208C
h
, 228C
h
, and 248C
h
: Velocity Dimension Index ............................................................ 76
5.1.19 Object 208E
h
, 228E
h
, and 248E
h
: Acceleration Dimension Index .................................................... 77
5.1.20 Object 2100
h
, 2300
h
, and 2500
h
: Home Offset Display ...................................................................... 77
5.1.21 Object 2101
h
, 2301
h
, and 2501
h
: Actual stallGuard™ Load Value .................................................. 77
5.1.22 Object 2102
h
, 2302
h
, and 2502
h
: Driver Error Flags ............................................................................ 78
5.1.23 Object 2103
h
, 2303
h
, and 2503
h
: Pulse Divisor Display ..................................................................... 78
5.1.24 Object 2104
h
, 2304
h
, and 2504
h
: Maximum Velocity Display ........................................................... 78
5.1.25 Object 2105
h
, 2305
h
, and 2505
h
: Ramp Divisor Display..................................................................... 79
5.1.26 Object 2106
h
, 2306
h
, and 2506
h
: Maximum Acceleration Display ................................................... 79
5.1.27 Object 2107
h
, 2307
h
, and 2507
h
: Microstep Resolution Display ...................................................... 79
5.1.28 Object 2700
h
: TMCL™ Direct Communication ...................................................................................... 79
5.1.29 Object 2701
h
: Manufacturer Specific Mode ........................................................................................... 80
5.1.30 Object 2702
h
: Digital Inputs ..................................................................................................................... 80
5.1.31 Object 2703
h
: Digital Outputs ................................................................................................................... 80
5.1.32 Object 2704
h
: CAN Bit Rate ....................................................................................................................... 81
5.1.33 Object 2705
h
: Node ID................................................................................................................................ 81
5.1.34 Object 2706
h
: Store...................................................................................................................................... 82
5.1.35 Object 2707
h
: CAN bit Rate Load ............................................................................................................. 82
5.1.36 Object 2708
h
: Node ID load ...................................................................................................................... 82
5.1.37 Object 2709
h
: Encoder Interface .............................................................................................................. 82
5.1.38 Object 270A
h
: Encoder Interface Display .............................................................................................. 83
5.1.39 Object 270E
h
: Device Analog Inputs ...................................................................................................... 83
Emergency Messages ................................................................................................................................................ 84
Life Support Policy ..................................................................................................................................................... 86
Revision History .......................................................................................................................................................... 87
8.1
Firmware revision ............................................................................................................................................. 87
8.2
Document Revision ........................................................................................................................................... 88
References .................................................................................................................................................................... 89
4
5
6
7
8
9
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-341/342/343/351 CANopen V3.18 Manual (V2.00 / 2014-JUN-04)
5
Table of Figures
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
2.1 Overview CANopen NMT state machine .................................................................................................. 9
2.2 Communication architecture .................................................................................................................... 10
2.3 Device model ................................................................................................................................................ 11
3.1 Restore procedure ....................................................................................................................................... 17
4.1 Finite state machine ................................................................................................................................... 38
4.2 Homing mode function (motor 0) .......................................................................................................... 47
4.3: 68-pin connector of the TMCM-34x ........................................................................................................ 48
4.4: Pin order of the connector ...................................................................................................................... 48
4.5: Connectors of TMCM-351 .......................................................................................................................... 49
4.6 Homing on negative switch and index pulse ..................................................................................... 51
4.7 Homing on positive limit switch and index pulse ............................................................................ 51
4.8 Homing on positive home switch and index pulse .......................................................................... 52
4.9 Homing on negative home switch and index pulse......................................................................... 52
4.10 Homing without index pulse ................................................................................................................. 53
4.11 Homing on index pulse ........................................................................................................................... 53
4.12 Home offset definition ............................................................................................................................. 56
4.13 Transfer characteristic of the velocity acceleration ......................................................................... 62
5.1 Brake output timing .................................................................................................................................... 70
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
京公网安备 11010802033920号
Copyright © 2005-2026 EEWORLD.com.cn, Inc. All rights reserved
电子工程世界
