TMCM-1270-CANOPEN Firmware Manual Datasheet by Trinamic Motion Control GmbH

W E A TRINAMIC MOTION CONTROL

Module for Stepper Motors MODULE

TMCM-1270 CANopen®Firmware Manual

Firmware Version V3.19 | Document Revision V1.0 •2017-Mar-02

The TMCM-1270 is an easy to use, single axis controller/driver module for 2-phase bipolar stepper

motors with separate differential encoder and separate home and stop switch inputs. Dynamic

current control, and quiet, smooth and eﬃcient operation are combined with stealthChop™, dc-

Step™, stallGuard™and coolStep™features. Three digital inputs can be conﬁgured as home and

endstop switches or incremental encoder inputs. A fourth digital input is available to enable or

disable the motor.

Features

•Single Axis Stepper motor control

•Supply voltage 24V DC

•CANopen®CiA-402 Drive Proﬁle

•Encoder Support

•dcStep™

•

Integrated

sixPoint™

ramp motion

controller

•stealthChop™silent PWM mode

•spreadCycle™smart mixed decay

•stallGuard2™load detection

•coolStep™autom. current scaling

Applications

•Lab-Automation

•Semiconductor Handling

•Manufacturing

•Robotics

•Factory Automation

•CNC

•Laboratory Automation

Simpliﬁed Block Diagram

+6V..+28V DC

ARM

Cortex-M0+TM

microcontroller

TMCL™

Memory

Step

Motor

CAN

Energy Efficient

Driver

TMC262

Stepper

motor

controller +

driver

TMCM-1270

I2C

SPI

Input

REFL/REFR

PD42-x-1270

ENC_A/ENC_B

/ENABLE

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Contents

1 Preface 4

1.1 General Features of this CANopen Implementation ......................... 4

1.2 Abbreviations used in this Manual ................................... 5

1.3 Firmware Update ............................................. 5

1.4 Trinamic’s unique Features —easy to use with CANopen ..................... 6

1.4.1 stallGuard2 ............................................ 6

1.4.2 coolStep .............................................. 6

2 Communication 8

2.1 Reference Model ............................................. 8

2.2 NMT State Machine ............................................ 10

2.3 Device Model ............................................... 11

2.4 Object Dictionary ............................................. 12

3 Communication Area 14

3.1 Detailed Object Speciﬁcations ...................................... 14

3.1.1 Object 1000h: Device Type ................................... 14

3.1.2 Object 1001h: Error Register .................................. 14

3.1.3 Object 1005h: COB-ID SYNC Message ............................. 15

3.1.4 Object 1008h: Manufacturer Device Name .......................... 16

3.1.5 Object 1009h: Manufacturer Hardware Version ....................... 16

3.1.6 Object 100Ah: Manufacturer Software Version ........................ 16

3.1.7 Object 100Ch: Guard Time ................................... 17

3.1.8 Object 100Dh: Life Time Factor ................................. 17

3.1.9 Object 1010h: Store Parameters ................................ 17

3.1.10 Object 1011h: Restore Parameters ............................... 19

3.1.11 Object 1014h: COB-ID Emergency Object ........................... 20

3.1.12 Object 1015h:Inhibit Time EMCY ................................ 20

3.1.13 Object 1016h: Consumer Heartbeat Time ........................... 21

3.1.14 Object 1017h: Producer Heartbeat Time ........................... 22

3.1.15 Object 1018h:Identity Object .................................. 22

3.1.16 Object 1029h: Error Behaviour ................................. 23

3.1.17 Objects 1400h–1403h: Receive PDO Communication Parameter ............. 23

3.1.18 Objects 1600h–1603h: Receive PDO Mapping Parameter ................. 24

3.1.19 Objects 1800h–1803h: Transmit PDO Communication Parameter ............ 25

3.1.20 Objects 1A00h–1A03h: Transmit PDO Mapping Parameter ................ 26

4 Manufacturer speciﬁc Area 28

4.1 Objects related to coolStep ....................................... 28

4.2 Detailed Object Speciﬁcations ...................................... 30

4.2.1 Object 2000h: Microstep Resolution .............................. 30

4.2.2 Object 2001h: Fullstep Resolution ............................... 30

4.2.3 Object 2002h: Brake Delay Times ................................ 30

4.2.4 Object 2003h: Maximum Current ................................ 31

4.2.5 Object 2004h: Standby Current ................................. 32

4.2.6 Object 2005h: Limit Switches .................................. 32

4.2.7 Object 200Ah: Enable Drive Delay Time ............................ 33

4.2.8 Object 200Bh: Encoder Parameters .............................. 33

4.2.9 Object 200Ch: Brake Current Feed ............................... 34

4.2.10 Object 2010h: Proﬁle Start Velocity ............................... 34

4.2.11 Object 2011h: Proﬁle A1 ..................................... 35

4.2.12 Object 2012h: Proﬁle V1 ..................................... 35

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4.2.13 Object 2013h: Proﬁle D1 ..................................... 36

4.2.14 Object 2015h: Ramp Wait Time ................................. 36

4.2.15 Object 2089h: Setting Delay ................................... 36

4.2.16 Object 208Ch: Velocity Dimension Index ........................... 37

4.2.17 Object 208Eh: Acceleration Dimension Index ......................... 37

4.2.18 Object 2092h: Chopper Blank Time .............................. 38

4.2.19 Object 2093h: Chopper Mode .................................. 38

4.2.20 Object 2094h: Chopper Hysteresis Decrement ........................ 39

4.2.21 Object 2095h: Chopper Hysteresis End ............................ 39

4.2.22 Object 2096h: Chopper Hysteresis Start ............................ 40

4.2.23 Object 2097h: Chopper OffTime ................................ 40

4.2.24 Object 2098h: Smart Energy Current Minimum ....................... 40

4.2.25 Object 2099h: Smart Energy Current Down Step ....................... 41

4.2.26 Object 209Ah: Smart Energy Hysteresis ............................ 41

4.2.27 Object 209Bh: Smart Energy Current Up Step ........................ 42

4.2.28 Object 209Ch: Smart Energy Hysteresis Start ......................... 42

4.2.29 Object 209Dh: Smart Energy Filter Enable ........................... 43

4.2.30 Object 209Eh: stallGuard2 Threshold ............................. 43

4.2.31 Object 20A1h: Short Protection Disable ............................ 44

4.2.32 Object 20A3h: Vsense ...................................... 44

4.2.33 Object 20A4h: Stop on Stall ................................... 45

4.2.34 Object 20A5h: Smart Energy Threshold Speed ........................ 45

4.2.35 Object 20B0h: PWM Threshold Speed ............................. 46

4.2.36 Object 20B1h: PWM Gradient .................................. 46

4.2.37 Object 20B2h: PWM Amplitude ................................. 47

4.2.38 Object 20B3h: dcStep Minimum Speed ............................ 47

4.2.39 Object 20B4h: dcStep Time ................................... 47

4.2.40 Object 20B5h: dcStep stallGuard ................................ 48

4.2.41 Object 20B6h: Fullstep Threshold Speed ........................... 48

4.2.42 Object 20B7h: High Speed Chopper Mode .......................... 49

4.2.43 Object 20B8h: High Speed Fullstep Mode ........................... 49

4.2.44 Object 20B9h: Power Down Ramp ............................... 49

4.2.45 Object 2100h: Home Offset Display .............................. 50

4.2.46 Object 2101h: Actual Load Value ................................ 50

4.2.47 Object 2102h: Driver Error Flags ................................ 51

4.2.48 Object 2107h: Microstep Resolution Display ......................... 51

4.2.49 Object 210Bh: Step Counter ................................... 52

4.2.50 Object 2121h: PWM Scale Value ................................ 52

4.2.51 Object 2122h: Measured Velocity ................................ 53

4.2.52 Object 2700h: TMCL Direct Communication ......................... 53

4.2.53 Object 2701h: Manufacturer Speciﬁc Mode .......................... 54

4.2.54 Object 2702h: Device Digital Inputs .............................. 54

4.2.55 Object 2703h: Device Digital Outputs ............................. 55

4.2.56 Object 2704h: CAN Bit Rate ................................... 55

4.2.57 Object 2705h: Node ID...................................... 56

4.2.58 Object 2706h: Store ....................................... 57

4.2.59 Object 2707h: CAN Bit Rate Load ................................ 57

4.2.60 Object 2708h: Node ID Load .................................. 57

4.2.61 Object 2709h: Encoder interface usage ............................ 58

4.2.62 Object 270Eh: Device Analog Inputs .............................. 58

4.2.63 Object 5FFFh: Bootloader mode ................................ 59

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5 Proﬁle speciﬁc Area 60

5.1 Detailed Object Speciﬁcations ...................................... 60

5.1.1 Object 605Ah: Quick Stop Option Code ............................ 60

5.1.2 Object 605Bh: Shutdown Option Code ............................ 61

5.1.3 Object 605Ch: Disable Operation Option Code ........................ 61

5.1.4 Object 605Dh: Halt Option Code ................................ 62

5.1.5 Object 605Eh: Fault Reaction Option Code .......................... 62

5.1.6 Object 6060h: Modes of Operation ............................... 63

5.1.7 Object 6061h: Modes of Operation Display .......................... 64

5.1.8 Object 606Ah: Sensor Selection Code ............................. 64

5.1.9 Object 608Fh: Position Encoder Resolution .......................... 65

5.1.10 Object 60FDh: Digital Inputs ................................... 65

5.1.11 Object 6502h: Supported Drive Modes ............................ 66

6 Proﬁle Position Mode 68

6.1 Detailed Object Speciﬁcations ...................................... 68

6.1.1 Object 6040h: Control Word ................................... 69

6.1.2 Object 6041h: Status Word ................................... 70

6.1.3 Object 6062h: Position Demand Value ............................. 71

6.1.4 Object 6063h: Position Actual Internal Value ......................... 72

6.1.5 Object 6064h: Position Actual Value .............................. 72

6.1.6 Object 6065h: Following Error Window ............................ 73

6.1.7 Object 6067h: Position Window ................................. 73

6.1.8 Object 6068h: Position Window Time ............................. 74

6.1.9 Object 606Ch: Velocity Actual Value .............................. 74

6.1.10 Object 607Ah: Target Position .................................. 75

6.1.11 Object 607Dh: Software Position Limit ............................. 75

6.1.12 Object 6081h: Proﬁle Velocity .................................. 76

6.1.13 Object 6082h: End Velocity ................................... 76

6.1.14 Object 6083h: Proﬁle Acceleration ............................... 77

6.1.15 Object 6084h: Proﬁle Deceleration ............................... 77

6.1.16 Object 6085h: Quick Stop Deceleration ............................ 77

6.1.17 Object 60F2h: Positioning Option Code ............................ 78

6.2 How to move a Motor in pp Mode ................................... 79

7 Proﬁle Velocity Mode 80

7.1 Detailed Object Speciﬁcations ...................................... 80

7.1.1 Object 6040h: Control Word ................................... 80

7.1.2 Object 6041h: Status Word ................................... 81

7.1.3 Object 6062h: Position Demand Value ............................. 83

7.1.4 Object 6063h: Position Actual Internal Value ......................... 83

7.1.5 Object 6064h: Position Actual Value .............................. 84

7.1.6 Object 6065h: Following Error Window ............................ 84

7.1.7 Object 606Ch: Velocity Actual Value .............................. 85

7.1.8 Object 607Dh: Software Position Limit ............................. 85

7.1.9 Object 6083h: Proﬁle Acceleration ............................... 86

7.1.10 Object 6085h: Quick Stop Deceleration ............................ 86

7.1.11 Object 60FFh: Target Velocity .................................. 86

7.2 How to move a Motor in pv Mode ................................... 87

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8 Homing Mode 88

8.1 Homing Methods ............................................. 89

8.1.1 Homing Method 1: Homing on negative Limit Switch and Index Pulse .......... 89

8.1.2 Homing Method 2: Homing on positive Limit Switch and Index Pulse .......... 90

8.1.3 Homing Method 3: Homing on positive Home Switch and Index Pulse .......... 90

8.1.4 Homing Method 5: Homing on negative Home Switch and Index Pulse ......... 90

8.1.5 Homing Method 17, 18, 19, and 21: Homing without Index Pulse ............. 91

8.1.6 Homing Method 33 and 34: Homing on next Index Pulse ................. 91

8.1.7 Homing Method 35: Current Position as Home Position .................. 92

8.2 Detailed Object Speciﬁcations ...................................... 93

8.2.1 Object 6040h: Control Word ................................... 93

8.2.2 Object 6041h: Status Word ................................... 94

8.2.3 Object 606Ch: Velocity Actual Value .............................. 95

8.2.4 Object 607Ch: Home Offset ................................... 96

8.2.5 Object 6098h: Homing Method ................................. 97

8.2.6 Object 6099h: Homing Speeds ................................. 97

8.2.7 Object 609Ah: Homing Acceleration .............................. 97

8.2.8 Object 2100h: Home Offset Display .............................. 98

8.3 How to start a Homing in hm Mode .................................. 98

9 Emergency Messages (EMCY) 100

10 Figures Index 102

11 Tables Index 103

12 Supplemental Directives 104

12.1 Producer Information ..........................................104

12.2 Copyright ..................................................104

12.3 Trademark Designations and Symbols .................................104

12.4 Target User .................................................104

12.5 Disclaimer: Life Support Systems ....................................104

12.6 Disclaimer: Intended Use ........................................104

12.7 Collateral Documents & Tools ......................................105

13 Revision History 106

13.1 Document Revision ............................................106

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1 Preface

This document speciﬁes objects and modes of operation of the Trinamic TMCM-1270 stepper motor

control module with CANopen ﬁrmware. The CANopen ﬁrmware is designed to fulﬁll the CANopen DS402

and DS301 standards. This manual assumes that the reader is already familiar with the basics of the

CANopen protocol, deﬁned by the DS301 and DS402 standards of the CAN-CiA.

If necessary, it is always possible to turn the TMCM-1270 into a TMCL module by loading the TMCM-1270

TMCL ﬁrmware again with the help of the ﬁrmware update function of the TMCL-IDE 3.0. First switch to

the bootloader as described in Section 1.3 and then load the desired ﬁle.

1.1 General Features of this CANopen Implementation

Main Characteristics

•Communication according to standard CiA-301 V4.1

•CAN bit rate: 20. . . 1000kBit/s

•CAN ID: 11 bit

•Node ID: 1. . . 127 (use vendor speciﬁc objects for changing the node ID)

•NMT services: NMT slave

SDO Communication

•1 server

•Expedited transfer

•Segmented transfer

•No block transfer

PDO Communication

•Producer

•Consumer

•RPDOs

–Axis 0: 1, 2, 3, 4

–Transmission modes: asynchronous.

–Dynamic mapping with max. 3 mapping entries.

–

Default mappings: according to CiA-402 for ﬁrst three PDOs of each axis, manufacturer speciﬁc

for other PDOs of each axis.

•TPDOs

–Axis 0: 1, 2, 3, 4

–Transmission modes: asynchronous, asynchronous with event timer, synchronous.

–Dynamic mapping with max. 3 mapping entries.

–

Default mappings: according to CiA-402 for ﬁrst three PDOs of each axis, manufacturer speciﬁc

for other PDOs of each axis.

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Further Characteristics

•SYNC: consumer (TPDOs 3 are synchronous PDOs)

•Emergency: producer

•RTR: supported only for node guarding/life guarding

•Heartbeat: consumer and producer

1.2 Abbreviations used in this Manual

Abbreviations

CAN Controller area network

CHGND chassis ground / earth ground

COB Communication object

FSA Finite state automaton

FSM Finite state machine

NMT Network management

IDIdentiﬁer

LSB Least signiﬁcant bit

MSB Most signiﬁcant bit

PDO Process data object

PDS Power drive system

RPDO Receive process data object

SDO Service data object

TPDO Transmit process data object

EMCY Emergency object

rw Read and write

ro Read only

hm Homing mode

pp Proﬁle position mode

pv Proﬁle velocity mode

vm Velocity mode

Table 1: Abbreviations used in this Manual

1.3 Firmware Update

The software running on the microprocessor consists of two parts, a bootloader and the CANopen ﬁrmware

itself. Whereas the bootloader is installed during production and testing at TRINAMIC and remains un-

touched 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

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Molar stalls

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CAN interface of the module.

To reset the module to bootloader mode, write the hex number 12345678

to object 5FFF

. Both LEDs

of the TMCM-1270 will turn on and remain lighting. Now the new ﬁrmware can be uploaded using the

Firmware Update Tool of the TMCL-IDE 3.0.

1.4 Trinamic’s unique Features —easy to use with CANopen

1.4.1 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.

Load [Nm] stallGuard2

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.

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0“? Vemmy [RPM] H rve

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0,1

0,2

0,3

0,4

0,5

0,6

0,7

0,8

0,9

0 50 100 150 200 250 300 350

Efficiency

Velocity [RPM]

Efficiency with coolStep

Efficiency with 50% torque reserve

Figure 2: Energy Eﬃciency Example with coolStep

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2 Communication

2.1 Reference Model

The application layer comprises a concept to conﬁgure and communicate real-time-data as well as the

mechanisms for synchronization between devices. The functionality which the application layer offers

to an application is logically divided over different service data objects (SDO) in the application layer. A

service object offers a speciﬁc functionality and all the related services.

Applications interact by invoking services of a service object in the application layer. To realize these

services this object exchanges data via the CAN Network with peer service object(s) using a protocol.

The application and the application layer interact with service primitives.

Service Primitives

Primitive Deﬁnition

Request Issued by the application to the application layer to request a service.

Indication

Issued by the application layer to the application to report an internal event detected by

the application layer or indicate that a service is requested.

Response

Issued by the application to the application layer to respond to a previous received

indication.

Conﬁrmation

Issued by the application layer to the application to report the result of a previously

issued request.

Table 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 communi-

cating 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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2.2 NMT State Machine

The ﬁnite state machine (FSM) or simply state machine is a model of behavior composed of a ﬁnite number

of states, transitions between those states, and actions. It shows which way the logic runs when certain

conditions are met.

Starting and resetting the device is controlled via the state machine. The NMT state machine consists of

the states shown in ﬁgure 3.

Pre-operational

Operational

Stopped

Initialization

ID / Boot-up

Figure 3: NMT State Machine

After power-on or reset the device enters the Initialization state. After the device initialization is ﬁnished,

the device automatically transits to the

Pre-operational

state and indicates this state transition by send-

ing the boot-up message. This way the device indicates that it is ready to work. A device that stays in

Pre-operational state may start to transmit SYNC-, time stamp- or heartbeat message. In contrast to the

PDO communication that is disabled in this state, the device can communicate via SDO.

The PDO communication is only possible within the

Operational

state. During Operational state the

device can use all supported communication objects.

A device that was switched to the

Stopped

state only reacts on received NMT commands. In addition the

device indicates the current NMT state by supporting the error control protocol during Stopped state.

The transitions between states are made by issuing a network management (NMT) communication object

to the device. The NMT protocols are used to generate state machine change commands (e.g. to start and

stop the device), detect remote device boot-ups and error conditions.

The Heartbeat message of a CANopen device contains the device status of the NMT state machine and is

sent cyclically by the CANopen device.

The NMT state machine (or DS301 state machine) is not to be confused with the DS402 state machine.

There is only one NMT state machine for the entire device, but for each motor there is a DS402 state

machine which controls the motor. There are no links between these state machines, with one exception:

When the NMT state machine is being switched to the stopped state, all DS402 state machines that are in

OPERATION_ENABLED state will be switch to FAULT state.

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Device control state machine

CANopen Communication Profile CiA DS301

NMT State Machine

Modes of operation:

Profile Position (pp)

Profile Velocity (pv)

Homing (hm)

...

CANopen device profile CiA DSP 402

CAN

Figure 4: Communication Architecture

2.3 Device Model

A CANopen device mainly consists of the following parts:

•

Communication: This function unit provides the communication objects and the appropriate function-

ality 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.

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Communication Application

Object dictionary

State machine Application

object

Communication

object

Entry 1

Entry 2

Entry n

Bus system Process

Communication

object

Communication

object

Communication

object

Application

object

Application

object

Application

object

Figure 5: Device Model

2.4 Object Dictionary

The most important part of a device proﬁle is the object dictionary description. The object dictionary is

essentially a grouping of objects accessible via the network in an ordered pre-deﬁned fashion. Each object

within the dictionary is addressed using a 16-bit index. The overall layout of the standard object dictionary

is shown in table 4:

Object Dictionary

Index Object

0000hNot used.

0001h–001FhStatic data types.

0020h–003FhComplex data types.

0040h–005FhManufacturer speciﬁc complex data types.

0060h–007FhDevice proﬁle speciﬁc static data types.

0080h–009FhDevice proﬁle speciﬁc complex data types.

00A0h–0FFFhReserved for further use.

1000h–1FFFhCommunication proﬁle area.

2000h–5FFFhManufacturer speciﬁc proﬁle area.

6000h–9FFFhStandardized device proﬁle area.

A000h–BFFFhStandardized interface proﬁle area.

C000h–FFFFhReserved for further use.

Table 4: Object Dictionary

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The communication proﬁle area at indices 1000

through 1FFF

contains the communication speciﬁc

parameters for the CAN network. These entries are common to all devices.

The manufacturer segment at indices 2000

through 5FFF

contains manufacturer speciﬁc objects. These

objects control the special features of the Trinamic TMCM-1270 motion control device.

The standardized device proﬁle area at indices 6000

through 9FFF

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.

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3 Communication Area

The communication area contains all objects that deﬁne the communication parameters of the CANopen

device according to the DS301 standard.

3.1 Detailed Object Speciﬁcations

3.1.1 Object 1000h: Device Type

This object contains information about the device type. The object 1000

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

1000hDevice type Variable UNSIGNED32

Table 5: Object Description (1000h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro no UNSIGNED32 FFFC0192h

Table 6: Entry Description (1000h)

3.1.2 Object 1001h: Error Register

This object contains information about the device type. The object 1000

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

1001hError register Variable UNSIGNED8

Table 7: Object Description (1001h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro no UNSIGNED8 0

Table 8: 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 9: Error Register Bits

3.1.3 Object 1005h: COB-ID SYNC Message

This object deﬁnes the COB-ID of the synchronization object (SYNC). Further, it deﬁnes whether the module

generates the SYNC.

Value Deﬁnition

Bit Name Deﬁnition

30 Generate 0: Device does not generate SYNC message

1: Device generates SYNC message

29 Frame Not supported, always set to 0.

28. . . 11 29 bit ID Not supported, always set to 0.

10. . . 0 11 bit ID 11 bit COB-ID.

Table 10: Value Deﬁnition (1005h)

Object Description

Index Name Object Type Data Type

1005hCOB-ID SYNC message Variable UNSIGNED32

Table 11: Object Description (1005h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no UNSIGNED32 80h

Table 12: Entry Description (1005h)

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3.1.4 Object 1008h: Manufacturer Device Name

This object contains the manufacturer device name.

Object Description

Index Name Object Type Data Type

1008hManufacturer Device Name Variable Visible String

Table 13: Object Description (1008h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro no —TMCM-1270

Table 14: Entry Description (1008h)

3.1.5 Object 1009h: Manufacturer Hardware Version

This object contains the hardware version description.

Object Description

Index Name Object Type Data Type

1009hManufacturer Hardware Version Variable Visible String

Table 15: Object Description (1009h)

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 (1009h)

3.1.6 Object 100Ah: Manufacturer Software Version

This object contains the software version description.

Object Description

Index Name Object Type Data Type

100AhManufacturer Software Version Variable Visible String

Table 17: Object Description (100Ah)

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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 18: Entry Description (100Ah)

3.1.7 Object 100Ch: Guard Time

The objects at index 100C

and 100D

shall indicate the conﬁgured guard time respectively the life time

factor. The life time factor multiplied with the guard time gives the life time for the life guarding protocol.

Object Description

Index Name Object Type Data Type

100ChGuard Time Variable UNSIGNED16

Table 19: Object Description (100Ch)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no UNSIGNED16 0

Table 20: Entry Description (100Ch)

3.1.8 Object 100Dh: Life Time Factor

The life time factor multiplied with the guard time gives the life time for the life guarding protocol.

Object Description

Index Name Object Type Data Type

100DhLife Time Factor Variable UNSIGNED8

Table 21: Object Description (100Dh)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no UNSIGNED8 0

Table 22: Entry Description (100Dh)

3.1.9 Object 1010h: Store Parameters

This object supports the saving of parameters in non volatile memory. By read access the device provides

information about its saving capabilities.

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Note

This command can only be carried out if the module is in ready to switch on mode.

There are several parameter groups:

•Sub-index 0h: contains the largest sub-index that is supported.

•Sub-index 1h: saves all parameters.

•Sub-index 2h: saves communication parameters 100Ch, 100Dh, 1015h, 1017h, and 1029h.

•Sub-index 3h: saves device proﬁle parameters.

•Sub-index 4h: saves motor 0 parameters.

Note

In order to avoid storage of parameters by mistake, storage is only executed

when a speciﬁc signature is written to the appropriate sub-Index. This signature

is "save" (65766173h, see also table 23).

Save Signature

e v a s

65h76h61h73h

Table 23: Save Signature

On reception of the correct signature in the appropriate sub-index the device stores the parameter and

then conﬁrms the SDO transmission (initiate download response). If the storing failed, the device responds

with an abort SDO transfer (abort code: 06060000

). If a wrong signature is written, the device refuses to

store and responds with abort SDO transfer (abort code: 0800002xh).

On read access, each sub-index provides information if it is possible to store the parameter group. It reads

1 if yes and 0 if no.

Object Description

Index Name Object Type Data Type

1010hStore Parameters Array UNSIGNED32

Table 24: Object Description (1010h)

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Entry Description

Sub-index Description Access PDO Mapping Value Range Default Value

01h Save all parameters rw no UNSIGNED32 —

02h Save communication parameters rw no UNSIGNED32 —

03h Save device proﬁle parameters rw no UNSIGNED32 —

04h Save motor axis 0 parameters rw no UNSIGNED32 —

Table 25: Entry Description (1010h)

3.1.10 Object 1011h: Restore Parameters

With this object the default values of parameters according to the communication or device proﬁle are

restored. By read access the device provides information about its capabilities to restore these values.

Note

This command can only be carried out if the module is in ready to switch on mode.

There are several parameter groups:

•Sub-index 0h: contains the largest sub-index that is supported.

•Sub-index 1h: restores all parameters.

•Sub-index 2h: restores communication parameters 100Ch, 100Dh, 1015h, 1017h, and 1029h.

•Sub-index 3h: restores device proﬁle parameters.

•Sub-index 4h: restores motor 0 parameters.

Note

In order to avoid restoring the parameters by mistake, restoring is only executed

when a speciﬁc signature is written to the appropriate sub-Index. This signature

is "load" (64616F6Ch, see also table 26).

Load Signature

d a o l

64h61h6Fh6Ch

Table 26: Load Signature

On reception of the correct signature in the appropriate sub-index the device restores the parameter

and then conﬁrms the SDO transmission (initiate download response). If the restoring failed, the device

responds with an abort SDO transfer (abort code: 06060000

). If a wrong signature is written, the device

refuses to restore and responds with abort SDO transfer (abort code: 0800002xh).

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On read access, each sub-index provides information if it is possible to restore the parameter group. It

reads 1 if yes and 0 if no.

After the default values have been restored they will become active after the next rest or power cycle of

the TMCM-1270.

Object Description

Index Name Object Type Data Type

1011hRestore parameters Array UNSIGNED32

Table 27: Object Description (1011h)

Entry Description

Sub-index Description Access PDO Mapping Value Range Default Value

01h Restore all parameters rw no UNSIGNED32 —

02h Restore communication parameters rw no UNSIGNED32 —

03h Restore device proﬁle parameters rw no UNSIGNED32 —

04h Restore motor axis 0 parameters rw no UNSIGNED32 —

Table 28: Entry Description (1011h)

3.1.11 Object 1014h: COB-ID Emergency Object

This object deﬁnes the COB-ID of the emergency object (EMCY).

Object Description

Index Name Object Type Data Type

1014hCOB-ID emergency object Variable UNSIGNED32

Table 29: Object Description (1014h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no UNSIGNED32 80h+ Node ID

Table 30: Entry Description (1014h)

3.1.12 Object 1015h:Inhibit Time EMCY

The inhibit time for the EMCY message can be adjusted via this entry. The time has to be a multiple of

100µs.

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Object Description

Index Name Object Type Data Type

1015hCOB-ID emergency object Variable UNSIGNED16

Table 31: Object Description (1015h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no UNSIGNED16 0

Table 32: Entry Description (1015h)

3.1.13 Object 1016h: Consumer Heartbeat Time

The consumer heartbeat time deﬁnes the expected heartbeat cycle time and thus has to be higher than

the corresponding producer heartbeat time conﬁgured on the module producing this heartbeat. The

monitoring starts after the reception of the ﬁrst heartbeat. If the consumer heartbeat time is 0 the

corresponding entry is not used. The time has to be a multiple of 1ms.

Value Deﬁnition

Bits Name Deﬁnition

31. . . 24 Reserved —

23. . . 16 Node ID Heartbeat Producer Node ID

15. . . 0 Heartbeat time Time in 1ms

Table 33: Value Deﬁnition (1016h)

Object Description

Index Name Object Type Data Type

1016hConsumer heartbeat time Variable UNSIGNED16

Table 34: Object Description (1016h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no UNSIGNED16 0

Table 35: Entry Description (1016h)

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3.1.14 Object 1017h: Producer Heartbeat Time

The producer heartbeat time deﬁnes the cycle time of the heartbeat. The producer heartbeat time is 0 if it

is not used. The time has to be a multiple of 1ms.

Object Description

Index Name Object Type Data Type

1017hProducer heartbeat time Variable UNSIGNED16

Table 36: Object Description (1017h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no UNSIGNED16 0

Table 37: Entry Description (1017h)

3.1.15 Object 1018h:Identity Object

The object 1018hcontains general information about the device:

•

The vendor ID (sub-index 01

) 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 3

) consists of a major revision number and a

minor revision number.

Object Description

Index Name Object Type Data Type

1018hIdentity object Record Identity

Table 38: Object Description (1018h)

Entry Description

Sub-index Description Access PDO Mapping Value Range Default Value

00hNumber of entries ro no 0. . . 3 3

01hVendor ID ro no UNSIGNED32 0286h

02hProduct code ro no UNSIGNED32 1270

03hRevision number ro no UNSIGNED32 e.g. 20003hfor version 2.3

Table 39: Entry Description (1018h)

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3.1.16 Object 1029h: Error Behaviour

If a device failure is detected in operational state, the device can be conﬁgured to enter alternatively the

stopped state or remain in the current state in case of a device failure. Device failures include the following

errors:

•Communication error

•Application error

Object Description

Index Name Object Type Data Type

1029hError behaviour Array UNSIGNED8

Table 40: Object Description (1029h)

Entry Description

Sub-index Description Access PDO Mapping Value Range Default Value

00hNumber of error classes ro no —2

01hCommunication error rw no UNSIGNED8 0 (enter stopped state)

02hApplication error rw no UNSIGNED8 1 (remain in current state)

Table 41: Entry Description (1029h)

3.1.17 Objects 1400h–1403h: Receive PDO Communication Parameter

This object contains the communication parameters for the RPDOs which the device is able to receive. The

sub-index 00

contains the number of valid entries within the communication record. Its value normally is

2, as this object consists of two other entries.

Sub-index 01

contains the COB-ID used by this PDO (in bits 10. . . 0). Bit 30 (RTR bit) deﬁnes if this PDO

uses RTRs. As RTRs are not supported for PDOs by this CANopen implementation, this bit must always

be set in order to turn offRTR support for this PDO. Bit 31 deﬁnes if this PDO is active or not. If this bit

is set, the PDO is inactive, and if this bit is clear, the PDO is active. Before making any changes to a PDO

deﬁnition, set this bit to inactivate the PDO.

Sub-Index 02

contains the transmission type of the RPDO. This can be FF

or FE

for event-driven, or 00

for synchronous.

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Object Description

Index Name Object Type Data Type

1400h–1403hReceive PDO parameter RECORD RPDO CommPar

1400hRPDO 1 RECORD RPDO CommPar

1401hRPDO 2 RECORD RPDO CommPar

1402hRPDO 3 RECORD RPDO CommPar

1403hRPDO 4 RECORD RPDO CommPar

Table 42: Object Description (1400h)

Entry Description

Sub-index Description Access Value Range Default Value

00h

Largest sub-index

supported

ro 2 2

01h

COB-ID used by

PDO

rw UNSIGNED32 Index 1400h: 200h+ Node-ID

Index 1401h: 300h+ Node-ID

Index 1402h: 400h+ Node-ID

Index 1403h: 500h+ Node-ID

02hTransmission type rw UNSIGNED8 Index 1400h: FFh

Index 1401h: FFh

Index 1402h: FFh

Index 1403h: FEh

Table 43: Entry Description (1400h)

3.1.18 Objects 1600h–1603h: Receive PDO Mapping Parameter

These objects contain the mapping parameters for the RPDOs the device is able to receive. The sub-index

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 01

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–1603hReceive PDO mapping parameter RECORD PDO Mapping

1600hRPDO 1 RECORD PDO Mapping

1601hRPDO 2 RECORD PDO Mapping

1602hRPDO 3 RECORD PDO Mapping

1603hRPDO 4 RECORD PDO Mapping

Table 44: Object Description (1600h)

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Entry Description

Sub-index Description Access Value Range Default Value

00h

Number of

mapped appli-

cation objects in

PDO

rw 0. . . 3 Index 1600h: 1

Index 1601h: 2

Index 1602h: 2

Index 1603h: 2

01hMapping entry 1 rw UNSIGNED32 Index 1600h: 60400010h

Index 1601h: 60400010h

Index 1602h: 60400010h

Index 1603h: 60400010h

02hMapping entry 2 rw UNSIGNED32 Index 1600h: 0

Index 1601h: 60600008h

Index 1602h: 607A0020h

Index 1603h: 60FF0020h

03hMapping entry 3 rw UNSIGNED32 Index 1600h: 0h

Index 1601h: 0h

Index 1602h: 0h

Index 1603h: 0h

Table 45: Entry Description (1600h)

Before making changes to PDO deﬁnitions, ﬁrst mark the PDO as inactive by setting bit 31 of its COB-ID

(see section 3.1.17). Then, set its number of mapped PDO entries to zero (sub-index 0 of the appropriate

PDO mapping object). Now, the mapppings themself can be changed. After that, set the number of map

objects to the desired value, and ﬁnally activate the PDO by clearing bit 31 of its COB-ID.

3.1.19 Objects 1800h–1803h: Transmit PDO Communication Parameter

This object contains the communication parameters for the TPDOs which the device is able to transmit. The

sub-index 00

contains the number of valid entries within the communication record. Its value normally is

5, as this object consists of ﬁve other entries.

Sub-index 01

contains the COB-ID used by this PDO (in bits 10. . . 0). Bit 30 (RTR bit) deﬁnes if this PDO

uses RTRs. As RTRs are not supported for PDOs by this CANopen implementation, this bit must always

be set in order to turn offRTR support for this PDO. Bit 31 deﬁnes if this PDO is active or not. If this bit

is set, the PDO is inactive, and if this bit is clear, the PDO is active. Before making any changes to a PDO

deﬁnition, set this bit to inactivate the PDO.

Sub-index 02

contains the transmission type of the RPDO. This can be FF

or FE

for event-driven, or 00

or 01hfor synchronous.

Sub-index 03

contains the inhibit time, given in milliseconds. After a TPDO has been sent, it will not be

sent again before the inhibit time has elapsed.

Sub-index 04his not used.

Sub-index 05

contains the event timer value in milliseconds. When this is set to a value greater than 0 the

TPDO will be sent repeatedly each time the event timer has elapsed. For example, when this value is set to

250, the TPDO will be sent every 250ms.

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Object Description

Index Name Object Type Data Type

1800h–1803hTransmit PDO communication parameter RECORD TPDO CommPar

1800hTPDO 1 RECORD TPDO CommPar

1801hTPDO 2 RECORD TPDO CommPar

1802hTPDO 3 RECORD TPDO CommPar

1803hTPDO 4 RECORD TPDO CommPar

Table 46: Object Description (1800h)

Entry Description

Sub-index Description Access Value Range Default Value

00h

Largest sub-index

supported

ro 5 5

01hCOB-ID rw UNSIGNED32 Index 1800h: 180h+ Node-ID

Index 1801h: 280h+ Node-ID

Index 1802h: 380h+ Node-ID

Index 1803h: 480h+ Node-ID

02hTransmission type rw UNSIGNED8 Index 1800h: FFh

Index 1801h: FFh

Index 1802h: 01h

Index 1803h: 01h

03hInhibit time rw UNSIGNED16 0

04h

Compatibility en-

try

ro UNSIGNED8 0

05hEvent timer rw UNSIGNED16 0

Table 47: Entry Description (1800h)

3.1.20 Objects 1A00h–1A03h: Transmit PDO Mapping Parameter

These objects contain the mapping parameters for the TPDOs the device is able to transmit. The sub-index

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 01

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.

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Object Description

Index Name Object Type Data Type

1A00h–1A03hTransmit PDO mapping parameter RECORD PDO Mapping

1A00hTPDO 1 RECORD PDO Mapping

1A01hTPDO 2 RECORD PDO Mapping

1A02hTPDO 3 RECORD PDO Mapping

1A03hTPDO 4 RECORD PDO Mapping

Table 48: Object Description (1A00h)

Entry Description

Sub-index Description Access Value Range Default Value

00h

Number of

mapped aapli-

cation objects in

PDO

rw 0. . . 3 Index 1A00h: 1

Index 1A01h: 2

Index 1A02h: 2

Index 1A03h: 2

01hMapping entry 1 rw UNSIGNED32 Index 1A00h: 60410010h

Index 1A01h: 60410010h

Index 1A02h: 60410010h

Index 1A03h: 60410010h

02hMapping entry 2 rw UNSIGNED32 Index 1A00h: 0

Index 1A01h: 60610008h

Index 1A02h: 60640020h

Index 1A03h: 606C0020h

03hMapping entry 3 rw UNSIGNED32 Index 1A00h: 0h

Index 1A01h: 0h

Index 1A02h: 0h

Index 1A03h: 0h

Table 49: Entry Description (1A00h)

Before making changes to PDO deﬁnitions, ﬁrst mark the PDO as inactive by setting bit 31 of its COB-ID

(see section 3.1.19). Then, set its number of mapped PDO entries to zero (sub-index 0 of the appropriate

PDO mapping object). Now, the mapppings themself can be changed. After that, set the number of map

objects to the desired value, and ﬁnally activate the PDO by clearing bit 31 of its COB-ID.

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4 Manufacturer speciﬁc Area

The manufacturer segment contains manufacturer speciﬁc objects. These objects control the special

features of the Trinamic Motion Control device TMCM-1270.

4.1 Objects related to coolStep

Figure 6shows 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.

Velocity

Time

2089h

coolStep area

2004h

area without coolStep

coolStep™ adjustment points and thresholds

209Ah

20A4h

20A5h

2003h

Current

Velocity and objects

Current and objects Time object

2004h

2003h

20A6h

2003h

The current depends on

the load of the motor.

stallGuard2 objects

Figure 6: coolStep Adjustment Points and Thresholds

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coolStep Adjustment Objects

Object Name Description

2003hAbsolute maximum current

The maximum value is 255. This value means 100% of

the maximum current of the module. The current adjust-

ment 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!

2004hStandby current

The current limit two seconds after the motor has

stopped.

2098hsmartEnergy 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

2099hsmartEnergy current down step

Sets the speed of current decrement when the stall-

Guard reading is above the upper threshold.

0: slow decrement

3: fast decrement

209BhsmartEnergy 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

209AhsmartEnergy hysteresis

Sets the distance between the lower and the upper

threshold for stallGuard2 reading. Above the upper

threshold the motor current becomes decreased.

20A4hStop 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.

20A5hsmartEnergy threshold speed. Above this speed coolStep becomes enabled.

2089hStandby delay

Standstill period before the current is changed down to

standby current. The standard value is 200 which is 2

seconds.

Table 50: coolStep related Objects

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4.2 Detailed Object Speciﬁcations

4.2.1 Object 2000h: Microstep Resolution

This object sets the microstep resolution of the drive. A value of 8 selects 256 (2

) microsteps per full step.

Object Description

Index Name Object Type Data Type

2000hMicrostep Resolution Variable UNSIGNED8

Table 51: Object Description (2000h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 8 8

Table 52: 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

2001hMotor full step resolution Variable UNSIGNED16

Table 53: Object Description (2001h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 65535 200

Table 54: 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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OFF

t1t2t3

Operation Enable

Brake

Bridge

200Ah

2002hsub index2 2002hsub index1

Figure 7: Brake Output Timing

Object Description

Index Name Object Type Data Type

2002hBrake delay times Array UNSIGNED16

Table 55: 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

Time between releasing brake /

switching the state machine to

operational

rw no 0..65535 0

Table 56: 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

2003hMaximum current Variable UNSIGNED8

Table 57: Object Description (2003h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 255 128

Table 58: Entry Description (2003h)

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4.2.5 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

2004hMaximum current Variable UNSIGNED8

Table 59: Object Description (2004h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 255 8

Table 60: 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

2005hLimit switches Variable UNSIGNED32

Table 61: Object Description (2005h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 63 0

Table 62: 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 63: 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

200AhEnable drive delay time Variable UNSIGNED16

Table 64: Object Description (200Ah)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 65535 0

Table 65: 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

200BhEncoder parameters Array UNSIGNED8

Table 66: 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

3Initialize position rw no 0/1 1

Table 67: 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 val-

ues 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

200ChBrake current feed Array UNSIGNED8

Table 68: 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 69: 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

2010hProﬁle Start Velocity Variable UNSIGNED32

Table 70: 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 71: 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 2011

, see

section 4.2.10) to the velocity V1 (object (h2012), see section 4.2.12).

Object Description

Index Name Object Type Data Type

2011hProﬁle A1 Variable UNSIGNED32

Table 72: Object Description (2011h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 16777215 0

Table 73: 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

2012hProﬁle V1 Variable UNSIGNED32

Table 74: Object Description (2012h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 06777215 0

Table 75: Entry Description (2012h)

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4.2.13 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

2013hProﬁle D1 Variable UNSIGNED32

Table 76: Object Description (2013h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 16777215 0

Table 77: 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

2015hRamp Wait Time Variable UNSIGNED16

Table 78: Object Description (2015h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 65535 [0.000032s] 0

Table 79: 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

2089hSetting Delay Variable UNSIGNED16

Table 80: Object Description (2089h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 400 0

Table 81: 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

208ChVelocity Dimension Index Variable UNSIGNED8

Table 82: Object Description (208Ch)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0/181 181

Table 83: 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

208EhAcceleration Dimension Index Variable UNSIGNED8

Table 84: 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 85: 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

2092hChopper Blank Time Variable UNSIGNED8

Table 86: Object Description (2092h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 3 2

Table 87: Entry Description (2092h)

4.2.19 Object 2093h: Chopper Mode

Select the chopper mode using this object:

•0–spreadCycle chopper

•1–classic constant offtime chopper

Object Description

Index Name Object Type Data Type

2093hChopper Mode Variable UNSIGNED8

Table 88: Object Description (2093h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0/1 0

Table 89: Entry Description (2093h)

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4.2.20 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

2094hChopper Hysteresis Decrement Variable UNSIGNED8

Table 90: Object Description (2094h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 3 0

Table 91: 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

2095hChopper Hysteresis End Variable SIGNED8

Table 92: Object Description (2095h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no -3. . . 12 0

Table 93: Entry Description (2095h)

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4.2.22 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

2096hChopper Hysteresis Start Variable UNSIGNED8

Table 94: Object Description (2096h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 8 3

Table 95: Entry Description (2096h)

4.2.23 Object 2097h: Chopper OffTime

The offtime setting controls the minimum chopper frequency. Under normal circumstances, an offtime

within the range of 5

s to 20

s is used. Offtime setting for constant t

OFF

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

2097hChopper OffTime Variable UNSIGNED8

Table 96: Object Description (2097h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0 / 2. . . 15 5

Table 97: 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:

•0–1/2of maximum motor current setting (section 4.2.4)

•1–1/4of maximum motor current setting (section 4.2.4)

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Object Description

Index Name Object Type Data Type

2098hSmart Energy Current Minimum Variable UNSIGNED8

Table 98: Object Description (2098h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0/1 0

Table 99: 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

2099hSmart Energy Current Down Step Variable UNSIGNED8

Table 100: Object Description (2099h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 3 0

Table 101: 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

209AhSmart Energy Hysteresis Variable UNSIGNED8

Table 102: Object Description (209Ah)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 15 0

Table 103: 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 209C

, 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

209BhSmart Energy Current Up Step Variable UNSIGNED8

Table 104: Object Description (209Bh)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 3 0

Table 105: 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

209ChSmart Energy Hysteresis Start Variable UNSIGNED8

Table 106: Object Description (209Ch)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 15 0

Table 107: 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

209DhSmart Energy Filter Enable Variable UNSIGNED8

Table 108: Object Description (209Dh)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0/1 0

Table 109: 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 measure-

ment 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

209EhstallGuard2 Threshold Variable SIGNED8

Table 110: Object Description (209Eh)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no -63. . . 63 0

Table 111: 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

20A1hShort Protection Disable Variable UNSIGNED8

Table 112: Object Description (20A1h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0/1 0

Table 113: 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

20A3hVsense Variable UNSIGNED8

Table 114: Object Description (20A3h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0/1 0

Table 115: 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

20A4hStop on Stall Variable UNSIGNED32

Table 116: Object Description (20A4h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 2147483647 0

Table 117: 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

20A5hSmart Energy Threshold Speed Variable UNSIGNED32

Table 118: 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 119: 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

20B0hPWM Threshold Speed Variable UNSIGNED32

Table 120: Object Description (20B0h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 16777215 0

Table 121: Entry Description (20B0h)

4.2.36 Object 20B1h: PWM Gradient

Velocity dependent gradient for the PWM amplitude (stealthChop). Setting this value to 0 turns offstealth-

Chop.

Object Description

Index Name Object Type Data Type

20B1hPWM Gradient Variable UNSIGNED8

Table 122: Object Description (20B1h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 255 0

Table 123: Entry Description (20B1h)

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4.2.37 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

20B2hPWM Amplitude Variable UNSIGNED8

Table 124: Object Description (20B2h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 255 0

Table 125: 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 offdcStep.

Object Description

Index Name Object Type Data Type

20B3hdcStep Minimum Speed Variable UNSIGNED32

Table 126: Object Description (20B3h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 16777215 0

Table 127: 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 20B3

see section 4.2.38).

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Object Description

Index Name Object Type Data Type

20B4hdcStep Time Variable UNSIGNED16

Table 128: Object Description (20B4h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 1023 0

Table 129: 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

20B5hdcStep stallGuard Variable UNSIGNED8

Table 130: Object Description (20B5h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 255 0

Table 131: Entry Description (20B5h)

4.2.41 Object 20B6h: Fullstep Threshold Speed

Depending on the settings of objects 20B7

and 20B8

(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

20B6hFullstep Threshold Speed Variable UNSIGNED32

Table 132: 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 133: 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

20B7hHigh Speed Chopper Mode Variable UNSIGNED8

Table 134: Object Description (20B7h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0/1 0

Table 135: 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

20B8hHigh Speed Chopper Mode Variable UNSIGNED8

Table 136: Object Description (20B8h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0/1 0

Table 137: 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 2089

, 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

20B9hPower Down Ramp Variable UNSIGNED8

Table 138: Object Description (20B9h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 15 7

Table 139: 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

2100hHome Offset Display Variable SIGNED32

Table 140: Object Description (2100h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro no -2147483648. . . 2147483647 0

Table 141: 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

2101hHome Offset Display Variable UNSIGNED16

Table 142: 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 143: 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 144: Driver Error Flags (2102h)

Object Description

Index Name Object Type Data Type

2102hHome Offset Display Variable UNSIGNED8

Table 145: Object Description (2102h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro no 0. . . 255 0

Table 146: 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

2107hMicrostep resolution display Variable UNSIGNED8

Table 147: Object Description (2107h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro no 0. . . 8 8

Table 148: 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

210BhStep Counter Variable RECORD

Table 149: Object Description (210Bh)

Entry Description

Sub-index Description Access PDO Mapping Value Range Default Value

1 Lower 32 Bits ro no 0. . . ffffffffh0

2 Higher 32 Bits ro no 0. . . ffffffffh0

3 64 Bit Value ro no 0. . . ffffffffffffffffh0

Table 150: 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

2121hPWM Scale Value Variable UNSIGNED8

Table 151: Object Description (2121h)

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Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro no 0. . . 255 —

Table 152: 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

2122hMeasured Velocity Variable SIGNED32

Table 153: Object Description (2122h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro no -16777215. . . 16777215 —

Table 154: Entry Description (2122h)

4.2.52 Object 2700h: TMCL Direct Communication

After writing the make signature 656b616d

to this object the drive switches to TMCL mode. The drive can

then only be controlled via TMCL commands written to the OS command object 1023/01h.

The drive can only be reset to normal CANopen functionality using the DS-301 reset application command.

Object Description

Index Name Object Type Data Type

2700hTMCL Direct Communication Variable UNSIGNED32

Table 155: Object Description (2700h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 656b616dh0

Table 156: Entry Description (2700)h

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4.2.53 Object 2701h: Manufacturer Speciﬁc Mode

Writing the make signature to this object turns on the manufacturer speciﬁc mode. The manufacturer

speciﬁc mode can be turned offagain by writing the kill signature to this object. The manufacturer speciﬁc

mode has the following features:

•PDOs do not need to be disabled and re-enabled when the PDO mapping is to be changed.

•The RTR bit in the COB-ID of PDO deﬁnitions is ignored.

read: 0 = manufacturer speciﬁc mode is inactive

1 = manufacturer speciﬁc mode is active

write: 656b616dh= make signature

6c6c696bh= kill signature

Object Description

Index Name Object Type Data Type

2701hManufacturer Speciﬁc Mode Variable UNSIGNED32

Table 157: Object Description (2701h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no see above 0

Table 158: Entry Description (2701)h

4.2.54 Object 2702h: Device Digital Inputs

Bits 23. . . 16 of this object reﬂect the states of the general purpose inputs of the module. The number of

available inputs depends on the module type.

Bit Deﬁnitions

Bit Description

16 IN0

17 IN1

18 IN2

19 IN3

20 IN4

21 IN5

Table 159: Bit Deﬁnitions (2702h)

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Object Description

Index Name Object Type Data Type

2702hDevice Digital Inputs Variable UNSIGNED32

Table 160: Object Description (2702h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro yes –0

Table 161: Entry Description (2702)h

4.2.55 Object 2703h: Device Digital Outputs

With this object the digital outputs (general purpose outputs) can be set. Bits 23. . . 16 of sub index 1 switch

the outputs of the module. Bits 23. . . 16 of sub index 2 determine which outputs can be switched. The

number of available digital outputs depends on the module type.

Bit Deﬁnitions

Bit Description

16 OUT0

Table 162: Bit Deﬁnitions (2703h)

Object Description

Index Name Object Type Data Type

2703hDevice Digital Outputs Variable ARRAY

Table 163: 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 164: Entry Description (2703h)

4.2.56 Object 2704h: CAN Bit Rate

With this object it is possible to change the CAN bit rate. To do this, ﬁrst write the new value to this object.

Then, store the new setting by writing the save signature to object 2706h. After that, reset the module.

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The new setting then becomes active.

Object Description

Index Name Object Type Data Type

2704hCAN Bit Rate Variable UNSIGNED16

Table 165: Object Description (2704h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 20,50,100,125,250,500,800,1000 1000

Table 166: Entry Description (2704)h

How to change the bit rate of a module:

•Write new bit rate in object 2704h.

•Write the save signature 65766173hto sub-index 1 of object 2706h.

•Reset module.

4.2.57 Object 2705h: Node ID

On modules that do not have address switches the node ID can be selected using this object. On modules

with address switches the node ID is normally selected using the address switches. Only when the address

switches are set to an invalid value (0 or >127) this object overrides the address switch setting.

To change the node ID, ﬁrst write the new node ID to this object. Then, store the new setting by writing the

save signature to object 2706h. After that, reset the module. The new setting then becomes active.

Object Description

Index Name Object Type Data Type

2705hNode ID Variable UNSIGNED8

Table 167: Object Description (2705h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 1. . . 127 1

Table 168: Entry Description (2705)h

How to change the node ID of a module:

•Write new node ID to object 2705h.

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•Write save signature 65766173hto sub-index 1 of object 2706h.

•Reset the module.

4.2.58 Object 2706h: Store

Writing the save signature to this object permanently saves changes made to objects 2704

and 2705

The save signature is 65766173h.

Object Description

Index Name Object Type Data Type

2706hStore Variable UNSIGNED32

Table 169: Object Description (2706h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no save signature: 65766173h1

Table 170: Entry Description (2706)h

4.2.59 Object 2707h: CAN Bit Rate Load

This object shows the selected CAN bit rate.

Object Description

Index Name Object Type Data Type

2707hCAN Bit Rate Load Variable UNSIGNED8

Table 171: Object Description (2707h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro no 20. . . 1000 depends on bit rate

Table 172: Entry Description (2707)h

4.2.60 Object 2708h: Node ID Load

This object shows the selected node ID.

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Object Description

Index Name Object Type Data Type

2708hNode ID Load Variable UNSIGNED8

Table 173: Object Description (2708h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro no 1..127 Depends on node ID setting

Table 174: Entry Description (2708h)

4.2.61 Object 2709h: Encoder interface usage

This object enables the encoder usage. Switch between:

•0: Reference Switches

•1: Encoder

•2: Analog input and two digital inputs.

Object Description

Index Name Object Type Data Type

2709hEncoder interface usage Variable UNSIGNED8

Table 175: Object Description (2709h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0 - 1 - 2 0

Table 176: Entry Description (2709h)

4.2.62 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

270EhDevice Analog Inputs Array UNSIGNED32

Table 177: Object Description (270Eh)

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Entry Description

Sub-index Description Access PDO Mapping Value Range Default Value

1 Analog input 0 ro yes 0. . . 65535 –

Table 178: Entry Description (270Eh)

4.2.63 Object 5FFFh: Bootloader mode

This object resets the module into the bootloader mode. Write the hex code 12345678

into this object to

perform the reset and update the ﬁrmware.

Object Description

Index Name Object Type Data Type

2709hBootloader mode Variable UNSIGNED32

Table 179: Object Description (5FFFh)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 12345678h0

Table 180: Entry Description (5FFFh)

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5 Proﬁle speciﬁc Area

The proﬁle segment contains CiA-402 standard motion control objects. These objects control the motion

control functions of the TMCM-1270. Since it is not possible to operate the modes in parallel, the user is

able to activate the required function by selecting a mode of operation. The control device writes to the

modes of operation object in order to select the operation mode. The drive device provides the modes

of operation display object to indicate the actual activated operation mode. Controlword, statusword,

and set-points are used mode-speciﬁc. This implies the responsibility of the control device to avoid

inconsistencies and erroneous behavior.

The following operating modes (selectable via object 6060

, please see 5.1.6) are implemented on the

TMCM-1270:

•Proﬁle position mode (pp)

•Proﬁle velocity mode (pv)

•Homing mode (hm)

5.1 Detailed Object Speciﬁcations

5.1.1 Object 605Ah: Quick Stop Option Code

This object indicates what action is performed when the quick stop function is executed. The slow down

ramp is the deceleration value of the used mode of operation. The following quick stop option codes are

supported in the current version of the CANopen ﬁrmware:

Value Deﬁnition

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 181: Value Description (605Ah)

Object Description

Index Name Object Type Data Type

605AhQuick stop option code Variable SIGNED16

Table 182: Object Description (605Ah)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 1/2/5/6 2

Table 183: Entry Description (605Ah)

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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

0 Disable drive function (switch offthe power stage)

Table 184: Value Description (605Bh)

Object Description

Index Name Object Type Data Type

605BhShutdown option code Variable UNSIGNED16

Table 185: Object Description (605Bh)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0 0

Table 186: 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

1 Slow down on slow down ramp

Table 187: Value Description (605Ch)

Object Description

Index Name Object Type Data Type

605ChDisable operation option code Variable UNSIGNED16

Table 188: Object Description (605Ch)

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Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 1 1

Table 189: 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

1 Slow down on slow down ramp and stay in operation enabled

Table 190: Value Description (605Dh)

Object Description

Index Name Object Type Data Type

605DhHalt option code Variable UNSIGNED16

Table 191: Object Description (605Dh)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 1 1

Table 192: 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

2 Slow down on quick stop ramp

Table 193: Value Description (605Eh)

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Object Description

Index Name Object Type Data Type

605EhFault reaction option code Variable UNSIGNED16

Table 194: Object Description (605Eh)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 2 2

Table 195: Entry Description (605Eh)

5.1.6 Object 6060h: Modes of Operation

This object indicates the requested operation mode. Supported operating modes are:

Value Deﬁnition

Value Mode

0 No mode

1 Proﬁle position mode (pp)

3 Proﬁle velocity mode (pv)

6 Homing mode (hm)

Table 196: 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

6060hModes of operation Variable SIGNED8

Table 197: 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 198: Entry Description (6060h)

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5.1.7 Object 6061h: Modes of Operation Display

This object shows the operating mode that is currently set.

Value Deﬁnition

Value Mode

0 No mode

1 Proﬁle position mode (pp)

3 Proﬁle velocity mode (pv)

6 Homing mode (hm)

Table 199: Value Description (6061h)

The motor will not run when the operating mode is set to 0. It will be stopped when the motor is running

in one of the supported operating modes and the operating mode is then switched to 0.

Object Description

Index Name Object Type Data Type

6061hModes of operation display Variable SIGNED8

Table 200: 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 201: 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 202: Value Description (606Ah)

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Object Description

Index Name Object Type Data Type

606AhSensor selection code Variable SIGNED16

Table 203: Object Description (606Ah)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0/-1 -1

Table 204: 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

All values are dimensionless.

Object Description

Index Name Object Type Data Type

608FhPosition Encoder Resolution Array UNSIGNED32

Table 205: 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 206: 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.

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Object Description

Index Name Object Type Data Type

60FDhDigital inputs Variable UNSIGNED32

Table 207: Object Description (60FDh)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw mappable UNSIGNED32 0

Table 208: 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.

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)

6Interpolated position mode (ip)

7 Cyclic synchronous position mode (csp)

8 Cyclic synchronous velocity mode (csv)

9 Cyclic synchronous torque mode (cst)

Table 209: Value Deﬁnition (6502h)

Object Description

Index Name Object Type Data Type

6502hSupported drive modes Variable UNSIGNED32

Table 210: Object Description (6502h)

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Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro no UNSIGNED32 Depends on supported modes.

Table 211: Entry Description (6502h)

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6 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 6060

(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.

Power disabled Fault

Power enabled

Controlword 6040h

Statusword 6041h

10 12

automatically

Start

Not ready to switch on

Switch on disable

Ready to switch on

Switched on

Operation enable

Quick stop active

Fault reaction active

Fault

Figure 8: 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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6.1.1 Object 6040h: Control Word

This object indicates the received command controlling the power drive system ﬁnite state automaton

(PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to ﬁgure 8for

detailed information.

Structure of the Control Word

15 11 10 9 8 7 6 4 3 2 1 0

nu r oms h fr oms eo qs ev so

MSB LSB

Legend: nu=not used; r=reserved; oms=operation mode speciﬁc; h=halt; fr=fault reset; eo=enable opera-

tion; qs=quick stop; ev=enable voltage; so=switch on.

Table 212: 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 213: 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

Fault reset 0-to-1 x x x x 15

Table 214: Command Coding

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Object Description

Index Name Object Type Data Type

6040hControlword Variable UNSIGNED16

Table 215: Object Description (6040hin pp Mode)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw see CiA402-3 See command coding above.

Table 216: Entry Description (6040hin 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 8for 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 13 12 11 10 9 8 7 6 5 4 3 2 1 0

dir mot oms 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 opera-

tion; qs=quick stop; ev=enable voltage; so=switch on.

Table 217: 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 218: 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 219: Operation Mode speciﬁc Bits in pp Mode

State Coding

Status word FSA state

xxxx xxxx x0xx 0000hNot ready to switch on

xxxx xxxx x1xx 0000hSwitch on disabled

xxxx xxxx x01x 0001hReady to switch on

xxxx xxxx x01x 0011hSwitched on

xxxx xxxx x01x 0111hOperation enabled

xxxx xxxx x00x 0111hQuick stop active

xxxx xxxx x0xx 1111hFault reaction active

xxxx xxxx x0xx 1000hFault

Table 220: State Coding

Object Description

Index Name Object Type Data Type

6041hControlword Variable UNSIGNED16

Table 221: Object Description (6041hin pp Mode)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw see CiA402-3 See state coding above.

Table 222: Entry Description (6041hin pp Mode)

6.1.3 Object 6062h: Position Demand Value

This object provides the demanded position value. The value is given in microsteps. Object 6062

indicates

the actual position that the motor should have. It is not to be confused with objects 6063hand 6064h.

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Object Description

Index Name Object Type Data Type

6062hPosition Demand Value Variable SIGNED32

Table 223: Object Description (6062h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro Refer to CiA402-3 SIGNED32 no

Table 224: 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 606A

(see section 5.1.8) for selecting the motor or the encoder ﬁrst. Object 6063

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

6063hPosition Actual Internal Value Variable SIGNED32

Table 225: Object Description (6063h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro Refer to CiA402-3 SIGNED32 no

Table 226: 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

6064hPosition Actual Value Variable SIGNED32

Table 227: 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 228: 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 6062

) and encoder position (object 6063

or 6064

)

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 offthis feature completely.

Note Setting this object to a too low value will lead to false alarms.

Object Description

Index Name Object Type Data Type

6065hFollowing Error Window Variable UNSIGNED32

Table 229: Object Description (6065h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 2147483647 0

Table 230: 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 FFFFFFFF

, 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 (6062

) has reached the target position (6064

). 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

6067hPosition Window Variable UNSIGNED32

Table 231: Object Description (6067h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no UNSIGNED32 FFFFFFFFh

Table 232: 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 (6067

) is set to a value greater than zero the target reached event will not be signaled until the

actual position (6064

) is at least as many milliseconds within the position window as deﬁned by this

object.

Object Description

Index Name Object Type Data Type

6068hPosition Window Time Variable UNSIGNED16

Table 233: Object Description (6068h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no UNSIGNED16 0

Table 234: 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

606ChVelocity Actual Value Variable SIGNED32

Table 235: 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 236: 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

607AhTarget Position Variable SIGNED32

Table 237: Object Description (607Ahin pp Mode)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw Refer to CiA402-3 SIGNED32 0

Table 238: Entry Description (607Ahin 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_offset

Corrected_max_position_limit =max_position_limit −home_offset

Object Description

Index Name Object Type Data Type

607DhSoftware Position Limit Array SIGNED32

Table 239: 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 240: 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

6081hProﬁle Velocity Variable SIGNED32

Table 241: Object Description (6081h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no SIGNED32 0

Table 242: 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 208C

, section

4.2.16).

Object Description

Index Name Object Type Data Type

6082hEnd Velocity Variable SIGNED32

Table 243: Object Description (6082h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no SIGNED32 0

Table 244: Entry Description (6082h)

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6.1.14 Object 6083h: Proﬁle Acceleration

This object indicates the conﬁgured acceleration. Object 6083

sets the maximum acceleration to be used

in proﬁle position and proﬁle velocity mode.

The units for object 6083hcan 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

6083hProﬁle Acceleration Variable SIGNED32

Table 245: Object Description (6083h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no SIGNED32 0

Table 246: Entry Description (6083h)

6.1.15 Object 6084h: Proﬁle Deceleration

This object indicates the conﬁgured deceleration. Object 6084

sets the maximum deceleration to be used

in proﬁle positioning mode.

The units for object 6084hcan be choosen with object 208Eh, described in section 4.2.17.

Object Description

Index Name Object Type Data Type

6084hProﬁle Deceleration Variable SIGNED32

Table 247: Object Description (6084h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no SIGNED32 0

Table 248: 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 605A

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

6085hQuick stop deceleration Variable UNSIGNED32

Table 249: Object Description (6085h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no UNSIGNED32 51200

Table 250: 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 6064

1 1 reserved

Table 251: Bit Deﬁnitions of Object 60F2h

Object Description

Index Name Object Type Data Type

60F2hPositioning option code Variable UNSIGNED16

Table 252: Object Description (60F2h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no UNSIGNED16 0

Table 253: Entry Description (60F2h)

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6.2 How to move a Motor in pp Mode

Here is a little example that shows how to get a motor running in pp mode. In this little example we

assume that the module has been reset (and then switched to pre-operational or operational) by NMT

commands before. Please note that the values are decimal.

•

If you do not have any limit switches connected, ﬁrst disable the limit switch inputs by writing 3 to

object 2005h.

•Select pp mode by writing 1 to object 6060h.

•Write 6 to object 6040hto switch to READY_TO_SWITCH_ON state.

•Write 7 to object 6040hto switch to SWITCHED_ON state.

•Write 15 to object 6040hto 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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7 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 Detailed Object Speciﬁcations

7.1.1 Object 6040h: Control Word

This object indicates the received command controlling the power drive system ﬁnite state automaton

(PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to ﬁgure 8for

detailed information.

In pv mode the control word does not contain any operation mode speciﬁc bits.

Structure of the Control Word

15 11 10 9 8 7 6 4 3 2 1 0

nu r r h fr r 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 254: 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

Fault reset 0-to-1 x x x x 15

Table 255: Command Coding

Object Description

Index Name Object Type Data Type

6040hControlword Variable UNSIGNED16

Table 256: Object Description (6040hin pv Mode)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw see CiA402-3 See command coding above.

Table 257: Entry Description (6040hin 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 8for 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 13 12 11 10 9 8 7 6 5 4 3 2 1 0

dir mot oms 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 opera-

tion; qs=quick stop; ev=enable voltage; so=switch on.

Table 258: 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 259: 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 260: Operation Mode speciﬁc Bits in pv Mode

State Coding

Status word FSA state

xxxx xxxx x0xx 0000hNot ready to switch on

xxxx xxxx x1xx 0000hSwitch on disabled

xxxx xxxx x01x 0001hReady to switch on

xxxx xxxx x01x 0011hSwitched on

xxxx xxxx x01x 0111hOperation enabled

xxxx xxxx x00x 0111hQuick stop active

xxxx xxxx x0xx 1111hFault reaction active

xxxx xxxx x0xx 1000hFault

Table 261: State Coding

Object Description

Index Name Object Type Data Type

6041hControlword Variable UNSIGNED16

Table 262: Object Description (6041hin 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 263: Entry Description (6041hin pv Mode)

7.1.3 Object 6062h: Position Demand Value

This object provides the demanded position value. The value is given in microsteps. Object 6062

indicates

the actual position that the motor should have. It is not to be confused with objects 6063hand 6064h.

Object Description

Index Name Object Type Data Type

6062hPosition Demand Value Variable SIGNED32

Table 264: Object Description (6062h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro Refer to CiA402-3 SIGNED32 no

Table 265: 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 606A

(see section 5.1.8) for selecting the motor or the encoder ﬁrst. Object 6063

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

6063hPosition Actual Internal Value Variable SIGNED32

Table 266: Object Description (6063h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro Refer to CiA402-3 SIGNED32 no

Table 267: Entry Description (6063h)

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7.1.5 Object 6064h: Position Actual Value

This object provides the actual value of the position measurement device. It always contains the same

value as object 6063h.

Object Description

Index Name Object Type Data Type

6064hPosition Actual Value Variable SIGNED32

Table 268: Object Description (6064h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro Refer to CiA402-3 SIGNED32 no

Table 269: 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 6062

) and encoder position (object 6063

or 6064

)

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 offthis feature completely.

Note Setting this object to a too low value will lead to false alarms.

Object Description

Index Name Object Type Data Type

6065hFollowing Error Window Variable UNSIGNED32

Table 270: Object Description (6065h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 0. . . 2147483647 0

Table 271: Entry Description (6065h)

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7.1.7 Object 606Ch: Velocity Actual Value

This object shows the actual velocity value of the motor. The value is given in internal or user-deﬁned

velocity units (depending on object 208Ch, described in section 4.2.16).

Object Description

Index Name Object Type Data Type

606ChVelocity Actual Value Variable SIGNED32

Table 272: Object Description (606Ch)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro Refer to CiA402-3 SIGNED32 no

Table 273: 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_offset

Corrected_max_position_limit =max_position_limit −home_offset

Object Description

Index Name Object Type Data Type

607DhSoftware Position Limit Array SIGNED32

Table 274: 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 275: Entry Description (607Dh)

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7.1.9 Object 6083h: Proﬁle Acceleration

This object indicates the conﬁgured acceleration. Object 6083

sets the maximum acceleration to be used

in proﬁle position and proﬁle velocity mode.

The units for object 6083hcan 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

6083hProﬁle Acceleration Variable SIGNED32

Table 276: Object Description (6083h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no SIGNED32 0

Table 277: 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 605A

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

6085hQuick stop deceleration Variable UNSIGNED32

Table 278: Object Description (6085h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no UNSIGNED32 51200

Table 279: 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

60FF

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 6083

and 6084

. 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

60FFhTarget Velocity Variable SIGNED32

Table 280: Object Description (60FFh)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw see CiA402-3 SIGNED32 0

Table 281: 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 6040hto switch to READY_TO_SWITCH_ON state.

•Write 7 to object 6040hto switch to SWITCHED_ON state.

•Write 15 to object 6040hto switch to OPERATION_ENABLED state.

•

Write the desired target speed (e.g. 100000) to object 60FF

. The motor now accelerates to that

speed.

•Stop the motor by writing 0 to object 60FFh.

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8 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 9shows 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 607C

allows displacing the zero in point the

coordinate system for the home position.

Homing method

Controlword 6040h

Homing method 6098h

Homing speeds 6099h

Homing acceleration 609Ah

Home offset 607Ch

Statusword 6041h

Position demand value 6062h

Figure 9: 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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8.1 Homing Methods

The TMCM-1270 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.

Search the positive edge of the home switch, then search the next encoder index pulse.

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.

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 282: 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.

Index pulse

Negative limit switch

Figure 10: Homing Method 1

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8.1.2 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.

Index pulse

Positive limit switch

Figure 11: 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.

Index pulse

Home switch

Figure 12: 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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Index pulse

Home switch

Figure 13: 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 14.

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 283: Homing Methods 17 –21

Home switch

Figure 14: 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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Index pulse

Figure 15: 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 Detailed Object Speciﬁcations

8.2.1 Object 6040h: Control Word

This object indicates the received command controlling the power drive system ﬁnite state automaton

(PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to ﬁgure 8for

detailed information.

Structure of the Control Word

15 11 10 9 8 7 6 4 3 2 1 0

nu r oms h fr oms eo qs ev so

MSB LSB

Legend: nu=not used; r=reserved; oms=operation mode speciﬁc; h=halt; fr=fault reset; eo=enable opera-

tion; qs=quick stop; ev=enable voltage; so=switch on.

Table 284: 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 285: 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

Fault reset 0-to-1 x x x x 15

Table 286: Command Coding

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Object Description

Index Name Object Type Data Type

6040hControlword Variable UNSIGNED16

Table 287: Object Description (6040hin hm Mode)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw see CiA402-3 See command coding above.

Table 288: Entry Description (6040hin 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 8for 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 13 12 11 10 9 8 7 6 5 4 3 2 1 0

dir mot oms 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 opera-

tion; qs=quick stop; ev=enable voltage; so=switch on.

Table 289: 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 290: 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 291: Operation Mode speciﬁc Bits in hm Mode

State Coding

Status word FSA state

xxxx xxxx x0xx 0000hNot ready to switch on

xxxx xxxx x1xx 0000hSwitch on disabled

xxxx xxxx x01x 0001hReady to switch on

xxxx xxxx x01x 0011hSwitched on

xxxx xxxx x01x 0111hOperation enabled

xxxx xxxx x00x 0111hQuick stop active

xxxx xxxx x0xx 1111hFault reaction active

xxxx xxxx x0xx 1000hFault

Table 292: State Coding

Object Description

Index Name Object Type Data Type

6041hControlword Variable UNSIGNED16

Table 293: Object Description (6041hin hm Mode)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw see CiA402-3 See state coding above.

Table 294: Entry Description (6041hin 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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Zero position Home Switch 4__.>‘

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Object Description

Index Name Object Type Data Type

606ChVelocity Actual Value Variable SIGNED32

Table 295: Object Description (606Ch)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro Refer to CiA402-3 SIGNED32 no

Table 296: 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.

Home offset

Zero position Home switch

Figure 16: Home Offset

Object Description

Index Name Object Type Data Type

607ChHome offset Variable SIGNED32

Table 297: Object Description (607Ch)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no SIGNED32 0

Table 298: 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 282 for a list of

homing methods supported by the current version of the TMCM-1270 CANopen ﬁrmware.

Object Description

Index Name Object Type Data Type

6098hHoming method Variable SIGNED8

Table 299: Object Description (6098h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no SIGNED8 0

Table 300: 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 208C

(section 4.2.16). Using object 6099

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 609A

) 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

6099hHoming speeds Array UNSIGNED32

Table 301: 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 302: 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

609AhHoming acceleration Variable UNSIGNED32

Table 303: Object Description (609Ah)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no UNSIGNED32 0

Table 304: 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

2100hHome Offset Display Variable SIGNED32

Table 305: Object Description (2100h)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 ro no -2147483648. . . 2147483647 0

Table 306: 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 6040hto switch to READY_TO_SWITCH_ON state.

•Write 7 to object 6040hto switch to SWITCHED_ON state.

•Write 15 to object 6040hto 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 6099

sub index 1 and e.g. 10000 to object

6099hsub index 2.

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•Write 31 to object 6040hto start the homing process.

•Press and release the home switch.

•When homing has ﬁnished, write 15 to object 6040hagain.

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9 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 1001

(error register) is part of every

emergency object.

Emergency Messages (EMCY) of the TMCM-1270

Error code Additional byte Description

1 2 3 4 5

0000h0 0 0 0 0 Fault reset

The fault reset command has been executed.

1000h1 0 0 0 0 Generic error: open load bridge A

The motor driver indicates open load on bridge A. It is possible

that the motor cable is broken or that there is an error in the

power ampliﬁer itself.

1000h2 0 0 0 0 Generic error: open load bridge B

The motor driver indicates open load on bridge B. It is possible

that the motor cable is broken or that there is an error in the

power ampliﬁer itself.

2310h0 0 0 0 0 Overcurrent high side

The motor driver indicates an overcurrent on the high side.

This can be caused by a short circuit in the driver stage.

2311h0 0 0 0 0 Overcurrent bridge B

The motor driver indicates that there is overcurrent on bridge

B. This can be caused by a short circuit in the motor itself or in

the motor driver stage.

2312h0 0 0 0 0 Overcurrent bridge A

The motor driver indicates that there is overcurrent on bridge

A. This can be caused by a short circuit in the motor itself or in

the motor driver stage.

3230h0 0 0 0 0 stallGuard2 error

The actual load value exceeds the stallGuard2 limit.

4310h1 0 0 0 0 Overtemperature pre-warning

The temperature in the motor driver exceeds the pre-warning

limit.

4310h2 0 0 0 0 Overtemperature error

The motor driver has been switched offbecause the tempera-

ture limit has been exceeded.

5441h0 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.

6320h0 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 Description

1 2 3 4 5

8110h1 255 0 0 0 CAN controller overﬂow

The receive message buffer of the CAN controller hardware is

full and some CAN messages are lost.

8110h2 255 0 0 0 CAN Tx buffer overﬂow

The software CAN transmit buffer is full and thus some CAN

messages are lost.

8110h3 255 0 0 0 CAN Rx buffer overﬂow

The software CAN receive buffer is full and so some CAN mes-

sages are lost.

8120h0 255 0 0 0 CAN error passive

The CAN controller has detected communication errors and

has entered the CAN Error passive state.

8140h0 255 0 0 0 CAN controller recovered from bus-offstate

The CAN controller has detected too many errors and has

changed into the bus-offstate. The drive has been stopped

and disabled. This message is sent after the CAN controller

has recovered from bus-offstate and is bus-on again.

8611h0 0 0 0 0 Following error

The deviation between motor position counter and encoder

position counter has exceeded the following error window.

ff00h0 0 0 0 0 Undervoltage

The supply voltage is too low to drive a motor.

ff01h1 0 0 0 0 Positive software limit

The actual position is outside the range deﬁned by object

607dh.

ff01h2 0 0 0 0 Negative software limit

The actual position is outside the range deﬁned by object

607dh.

ff01h3 0 0 0 0 Positive limit switch

The positive limit switch has been touched outside of the hom-

ing function.

ff01h4 0 0 0 0 Negative limit switch

The negative limit switch has been touched outside of the

homing function.

Table 307: Emergency Messages (EMCY)

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10 Figures Index

stallGuard2 Load Measurement as a

Function of Load ............ 6

Energy Eﬃciency Example with coolStep

3 NMT State Machine ........... 10

4 Communication Architecture ..... 11

5 Device Model .............. 12

coolStep Adjustment Points and

Thresholds ................ 28

7 Brake Output Timing .......... 31

8 DS402 Finite State Machine ...... 68

9 Homing Mode Function ........ 88

10 Homing Method 1 ............ 89

11 Homing Method 2 ............ 90

12 Homing Method 3 ............ 90

13 Homing Method 5 ............ 91

14 Homing Method 19 ........... 91

15 Homing Methods 33 and 34 ...... 92

16 Home Offset ............... 96

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11 Tables Index

1 Abbreviations used in this Manual . . 5

2 Service Primitives ............ 8

3 Service Types .............. 9

4 Object Dictionary ............ 12

5 Object Description (1000h)....... 14

6 Entry Description (1000h)....... 14

7 Object Description (1001h)....... 14

8 Entry Description (1001h)....... 14

9 Error Register Bits ............ 15

10 Value Deﬁnition (1005h)........ 15

11 Object Description (1005h)....... 15

12 Entry Description (1005h)....... 15

13 Object Description (1008h)....... 16

14 Entry Description (1008h)....... 16

15 Object Description (1009h)....... 16

16 Entry Description (1009h)....... 16

17 Object Description (100Ah)...... 16

18 Entry Description (100Ah)....... 17

19 Object Description (100Ch)...... 17

20 Entry Description (100Ch)....... 17

21 Object Description (100Dh)...... 17

22 Entry Description (100Dh)....... 17

23 Save Signature .............. 18

24 Object Description (1010h)....... 18

25 Entry Description (1010h)....... 19

26 Load Signature ............. 19

27 Object Description (1011h)....... 20

28 Entry Description (1011h)....... 20

29 Object Description (1014h)....... 20

30 Entry Description (1014h)....... 20

31 Object Description (1015h)....... 21

32 Entry Description (1015h)....... 21

33 Value Deﬁnition (1016h)........ 21

34 Object Description (1016h)....... 21

35 Entry Description (1016h)....... 21

36 Object Description (1017h)....... 22

37 Entry Description (1017h)....... 22

38 Object Description (1018h)....... 22

39 Entry Description (1018h)....... 22

40 Object Description (1029h)....... 23

41 Entry Description (1029h)....... 23

42 Object Description (1400h)....... 24

43 Entry Description (1400h)....... 24

44 Object Description (1600h)....... 24

45 Entry Description (1600h)....... 25

46 Object Description (1800h)....... 26

47 Entry Description (1800h)....... 26

48 Object Description (1A00h)...... 27

49 Entry Description (1A00h)....... 27

50 coolStep related Objects ........ 29

51 Object Description (2000h)....... 30

52 Entry Description (2000h)....... 30

53 Object Description (2001h)....... 30

54 Entry Description (2001h)....... 30

55 Object Description (2002h)....... 31

56 Entry Description (2002h)....... 31

57 Object Description (2003h)....... 31

58 Entry Description (2003h)....... 31

59 Object Description (2004h)....... 32

60 Entry Description (2004h)....... 32

61 Object Description (2005h)....... 32

62 Entry Description (2005h)....... 32

63 Bit Deﬁnitions (2005h)......... 33

64 Object Description (200Ah)...... 33

65 Entry Description (200A)h....... 33

66 Object Description (200Bh)...... 33

67 Entry Description (200Bh)....... 34

68 Object Description (200Ch)...... 34

69 Entry Description (200Ch)....... 34

70 Object Description (2010h)....... 34

71 Entry Description (2010h)....... 35

72 Object Description (2011h)....... 35

73 Entry Description (2011h)....... 35

74 Object Description (2012h)....... 35

75 Entry Description (2012h)....... 35

76 Object Description (2013h)....... 36

77 Entry Description (2013h)....... 36

78 Object Description (2015h)....... 36

79 Entry Description (2015h)....... 36

80 Object Description (2089h)....... 37

81 Entry Description (2089h)....... 37

82 Object Description (208Ch)...... 37

83 Entry Description (208Ch)....... 37

84 Object Description (208Eh)....... 37

85 Entry Description (208Eh)....... 38

86 Object Description (2092h)....... 38

87 Entry Description (2092h)....... 38

88 Object Description (2093h)....... 38

89 Entry Description (2093h)....... 38

90 Object Description (2094h)....... 39

91 Entry Description (2094h)....... 39

92 Object Description (2095h)....... 39

93 Entry Description (2095h)....... 39

94 Object Description (2096h)....... 40

95 Entry Description (2096h)....... 40

96 Object Description (2097h)....... 40

97 Entry Description (2097h)....... 40

98 Object Description (2098h)....... 41

99 Entry Description (2098h)....... 41

100 Object Description (2099h)....... 41

101 Entry Description (2099h)....... 41

102 Object Description (209Ah)...... 42

103 Entry Description (209Ah)....... 42

104 Object Description (209Bh)...... 42

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105 Entry Description (209Bh)....... 42

106 Object Description (209Ch)...... 43

107 Entry Description (209Ch)....... 43

108 Object Description (209Dh)...... 43

109 Entry Description (209Dh)....... 43

110 Object Description (209Eh)....... 44

111 Entry Description (209Eh)....... 44

112 Object Description (20A1h)...... 44

113 Entry Description (20A1h)....... 44

114 Object Description (20A3h)...... 45

115 Entry Description (20A3h)....... 45

116 Object Description (20A4h)...... 45

117 Entry Description (20A4h)....... 45

118 Object Description (20A5h)...... 45

119 Entry Description (20A5h)....... 46

120 Object Description (20B0h)...... 46

121 Entry Description (20B0h)....... 46

122 Object Description (20B1h)...... 46

123 Entry Description (20B1h)....... 46

124 Object Description (20B2h)...... 47

125 Entry Description (20B2h)....... 47

126 Object Description (20B3h)...... 47

127 Entry Description (20B3h)....... 47

128 Object Description (20B4h)...... 48

129 Entry Description (20B4h)....... 48

130 Object Description (20B5h)...... 48

131 Entry Description (20B5h)....... 48

132 Object Description (20B6h)...... 48

133 Entry Description (20B6h)....... 49

134 Object Description (20B7h)...... 49

135 Entry Description (20B7h)....... 49

136 Object Description (20B8h)...... 49

137 Entry Description (20B8h)....... 49

138 Object Description (20B9h)...... 50

139 Entry Description (20B9h)....... 50

140 Object Description (2100h)....... 50

141 Entry Description (2100h)....... 50

142 Object Description (2101h)....... 50

143 Entry Description (2101h)....... 51

144 Driver Error Flags (2102h)....... 51

145 Object Description (2102h)....... 51

146 Entry Description (2102h)....... 51

147 Object Description (2107h)....... 52

148 Entry Description (2107h)....... 52

149 Object Description (210Bh)...... 52

150 Entry Description (210Bh)....... 52

151 Object Description (2121h)....... 52

152 Entry Description (2121h)....... 53

153 Object Description (2122h)....... 53

154 Entry Description (2122h)....... 53

155 Object Description (2700h)....... 53

156 Entry Description (2700)h....... 53

157 Object Description (2701h)....... 54

158 Entry Description (2701)h....... 54

159 Bit Deﬁnitions (2702h)......... 54

160 Object Description (2702h)....... 55

161 Entry Description (2702)h....... 55

162 Bit Deﬁnitions (2703h)......... 55

163 Object Description (2703h)....... 55

164 Entry Description (2703h)....... 55

165 Object Description (2704h)....... 56

166 Entry Description (2704)h....... 56

167 Object Description (2705h)....... 56

168 Entry Description (2705)h....... 56

169 Object Description (2706h)....... 57

170 Entry Description (2706)h....... 57

171 Object Description (2707h)....... 57

172 Entry Description (2707)h....... 57

173 Object Description (2708h)....... 58

174 Entry Description (2708h)....... 58

175 Object Description (2709h)....... 58

176 Entry Description (2709h)....... 58

177 Object Description (270Eh)....... 58

178 Entry Description (270Eh)....... 59

179 Object Description (5FFFh)....... 59

180 Entry Description (5FFFh)........ 59

181 Value Description (605Ah)....... 60

182 Object Description (605Ah)...... 60

183 Entry Description (605Ah)....... 60

184 Value Description (605Bh)....... 61

185 Object Description (605Bh)...... 61

186 Entry Description (605Bh)....... 61

187 Value Description (605Ch)....... 61

188 Object Description (605Ch)...... 61

189 Entry Description (605Ch)....... 62

190 Value Description (605Dh)....... 62

191 Object Description (605Dh)...... 62

192 Entry Description (605Dh)....... 62

193 Value Description (605Eh)....... 62

194 Object Description (605Eh)....... 63

195 Entry Description (605Eh)....... 63

196 Value Description (6060h)....... 63

197 Object Description (6060h)....... 63

198 Entry Description (6060h)....... 63

199 Value Description (6061h)....... 64

200 Object Description (6061h)....... 64

201 Entry Description (6061h)....... 64

202 Value Description (606Ah)....... 64

203 Object Description (606Ah)...... 65

204 Entry Description (606Ah)....... 65

205 Object Description (608Fh)....... 65

206 Entry Description (608Fh)....... 65

207 Object Description (60FDh)...... 66

208 Entry Description (60FDh)....... 66

209 Value Deﬁnition (6502h)........ 66

210 Object Description (6502h)....... 66

211 Entry Description (6502h)....... 67

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212

Structure of the Control Word in pp

Mode ................... 69

213

Operation Mode speciﬁc Bits in pp Mode

214 Command Coding ............ 69

215 Object Description (6040hin pp Mode) 70

216 Entry Description (6040hin pp Mode) 70

217

Structure of the Staus Word in pp Mode

218 Trinamic Speciﬁc Bits .......... 70

219

Operation Mode speciﬁc Bits in pp Mode

220 State Coding ............... 71

221 Object Description (6041hin pp Mode) 71

222 Entry Description (6041hin pp Mode) 71

223 Object Description (6062h)....... 72

224 Entry Description (6062h)....... 72

225 Object Description (6063h)....... 72

226 Entry Description (6063h)....... 72

227 Object Description (6064h)....... 72

228 Entry Description (6064h)....... 73

229 Object Description (6065h)....... 73

230 Entry Description (6065h)....... 73

231 Object Description (6067h)....... 74

232 Entry Description (6067h)....... 74

233 Object Description (6068h)....... 74

234 Entry Description (6068h)....... 74

235 Object Description (606Ch)...... 74

236 Entry Description (606Ch)....... 75

237 Object Description (607Ahin pp Mode) 75

238 Entry Description (607Ahin pp Mode) 75

239 Object Description (607Dh)...... 75

240 Entry Description (607Dh)....... 76

241 Object Description (6081h)....... 76

242 Entry Description (6081h)....... 76

243 Object Description (6082h)....... 76

244 Entry Description (6082h)....... 76

245 Object Description (6083h)....... 77

246 Entry Description (6083h)....... 77

247 Object Description (6084h)....... 77

248 Entry Description (6084h)....... 77

249 Object Description (6085h)....... 78

250 Entry Description (6085h)....... 78

251 Bit Deﬁnitions of Object 60F2h. . . . 78

252 Object Description (60F2h)....... 78

253 Entry Description (60F2h)....... 78

254

Structure of the Control Word in pv

Mode ................... 80

255 Command Coding ............ 81

256 Object Description (6040hin pv Mode) 81

257 Entry Description (6040hin pv Mode) 81

258

Structure of the Status Word in pv Mode

259 Trinamic Speciﬁc Bits .......... 82

260

Operation Mode speciﬁc Bits in pv Mode

261 State Coding ............... 82

262 Object Description (6041hin pv Mode) 82

263 Entry Description (6041hin pv Mode) 83

264 Object Description (6062h)....... 83

265 Entry Description (6062h)....... 83

266 Object Description (6063h)....... 83

267 Entry Description (6063h)....... 83

268 Object Description (6064h)....... 84

269 Entry Description (6064h)....... 84

270 Object Description (6065h)....... 84

271 Entry Description (6065h)....... 84

272 Object Description (606Ch)...... 85

273 Entry Description (606Ch)....... 85

274 Object Description (607Dh)...... 85

275 Entry Description (607Dh)....... 85

276 Object Description (6083h)....... 86

277 Entry Description (6083h)....... 86

278 Object Description (6085h)....... 86

279 Entry Description (6085h)....... 86

280 Object Description (60FFh)....... 87

281 Entry Description (60FFh)....... 87

282 Supported CANopen Homing Methods 89

283 Homing Methods 17 –21 ....... 91

284

Structure of the Control Word in hm

Mode ................... 93

285

Operation Mode speciﬁc Bits in hm

Mode ................... 93

286 Command Coding ............ 93

287 Object Description (6040hin hm Mode) 94

288 Entry Description (6040hin hm Mode) 94

289

Structure of the Status Word in hm Mode

290 Trinamic Speciﬁc Bits .......... 94

291

Operation Mode speciﬁc Bits in hm

Mode ................... 95

292 State Coding ............... 95

293 Object Description (6041hin hm Mode) 95

294 Entry Description (6041hin hm Mode) 95

295 Object Description (606Ch)...... 96

296 Entry Description (606Ch)....... 96

297 Object Description (607Ch)...... 96

298 Entry Description (607Ch)....... 96

299 Object Description (6098h)....... 97

300 Entry Description (6098h)....... 97

301 Object Description (6099h)....... 97

302 Entry Description (6099h)....... 97

303 Object Description (609Ah)...... 98

304 Entry Description (609Ah)....... 98

305 Object Description (2100h)....... 98

306 Entry Description (2100h)....... 98

307 Emergency Messages (EMCY) . . . . . 101

308 Document Revision ........... 106

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12 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.

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 docu-

mentation 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 docu-

mentation.

This CANopen

Firmware Manual is a non-commercial publication that seeks to provide concise scientiﬁc

and technical user information to the target user. Thus, trademark designations and symbols are only

entered in the Short Spec of this document that introduces the product at a quick glance. The trademark

designation /symbol is also entered when the product or feature name occurs for the ﬁrst time in the

document. All trademarks and brand names used are property of their respective owners.

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 repre-

sentations or warranties, either express or implied, of merchantability, ﬁtness for a particular purpose

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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 environ-

ments 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.

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13 Revision History

13.1 Document Revision

Version Date Author Description

V1.0 2017-Mar-02 BS First release.

Table 308: Document Revision

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