Trinamic TMCM-1617-CANopen Owner's manual

Type
Owner's manual

This manual is also suitable for

Module for BLDC/PMSM MODULE
TMCM-1617 CoE Firmware Manual
Firmware Version V1.06 | Document Revision V1.01 2021-02-28
The TMCM-1617 is a low-weight miniaturized single axis servo drive for 3-phase BLDC motors with
up to 18A RMS motor current and +24V supply. With CAN, RS485, and EtherCAT®it offers various
communication options. TMCM-1617 supports incremental encoders and digital hall sensors as
position feedback. Customization and different housing options are possible.
Features
Servo drive for BLDC motors
+8. . . 28V DC supply voltage
Up to 18A RMS max. motor current
RS485, CAN & EtherCAT®interfaces
Incremental encoder feedback
Digital HALL sensor feedback
Reference switch inputs
Cooling via aluminum housing
L/W/H: 36.8mm x 26.8mm x 11.1mm
Weight: ca. 24g
Customization options
Applications
Robotics
Laboratory Automation
Manufacturing
Factory Automation
Servo Drives
Low Inductance Motors
Simplified Block Diagram
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EtherCAT®is a registered trademark and patented technology, licensed by Beckhoff Automa-
tion GmbH, Germany.
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Contents
1 Preface 6
1.1 General Features of this CoE Implementation ............................ 6
1.2 Abbreviations used in this Manual ................................... 7
1.3 Firmware Update ............................................. 7
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 13
3.1 Detailed Object Specifications ...................................... 13
3.1.1 Object 1000h: Device Type .................................. 13
3.1.2 Object 1001h: Error Register ................................. 13
3.1.3 Object 1008h: Manufacturer Device Name ......................... 14
3.1.4 Object 1009h: Manufacturer Hardware Version ...................... 14
3.1.5 Object 100Ah: Manufacturer Software Version ....................... 15
3.1.6 Object 1018h: Identity Object ................................. 15
3.1.7 Object 1600h: Receive PDO Mapping Parameter ..................... 16
3.1.8 Objects 1A00h: Transmit PDO Mapping Parameter .................... 17
3.1.9 Objects 1C00h: Sync Manager Communication Type ................... 17
3.1.10 Objects 1C12h: Sync Manager 2 PDO Assignment ..................... 18
3.1.11 Objects 1C13h: Sync Manager 3 PDO Assignment ..................... 19
4 Manufacturer specific Area 20
4.1 Detailed Object Specifications ...................................... 20
4.1.1 Object 2000h: Device Info ................................... 20
4.1.2 Object 2003h: Maximum Current .............................. 20
4.1.3 Object 2004h: Open Loop Current .............................. 21
4.1.4 Object 2005h: Limit Switches ................................. 21
4.1.5 Object 2006h: Brake Chopper ................................. 22
4.1.6 Object 2041h: Torque Mode Settings ............................ 23
4.1.7 Object 2042h: Velocity Mode Settings ............................ 23
4.1.8 Object 2043h: Position Mode Settings ............................ 24
4.1.9 Object 2050h: Motor Type ................................... 24
4.1.10 Object 2055h: Commutation Mode ............................. 24
4.1.11 Object 2056h: Motor Pole Pairs ................................ 25
4.1.12 Object 2057h: Motor Shaft Direction ............................. 26
4.1.13 Object 2058h: Position Scaler ................................. 26
4.1.14 Object 2060h: ADC Configuration .............................. 26
4.1.15 Object 2070h: Hall Sensor Settings .............................. 27
4.1.16 Object 2080h: ABN Encoder Settings ............................ 28
4.1.17 Object 2101h: Motor Status Flags .............................. 28
4.1.18 Object 2102h: Open Loop Commutation Angle ...................... 29
4.1.19 Object 2103h: Encoder Commutation Angle ........................ 30
4.1.20 Object 2104h: Hall Commutation Angle ........................... 30
4.1.21 Object 2140h: Home Offset Display ............................. 31
4.1.22 Object 2702h: Digital Inputs .................................. 31
4.1.23 Object 2703h: Digital Outputs ................................. 31
4.1.24 Object 270Eh: Analog Inputs ................................. 32
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5 Profile Specific Area 34
5.1 Detailed Object Specifications ...................................... 34
5.1.1 Object 605Ah: Quick Stop Option Code ........................... 34
5.1.2 Object 605Bh: Shutdown Option Code ........................... 35
5.1.3 Object 605Ch: Disable Operation Option Code ....................... 35
5.1.4 Object 605Dh: Halt Option Code ............................... 36
5.1.5 Object 605Eh: Fault Reaction Option Code ......................... 36
5.1.6 Object 6060h: Modes of Operation ............................. 37
5.1.7 Object 6061h: Modes of Operation Display ......................... 38
5.1.8 Object 606Ah: Sensor Selection Code ............................ 39
5.1.9 Object 608Fh: Position Encoder Resolution ......................... 39
5.1.10 Object 60FDh: Digital Inputs ................................. 40
5.1.11 Object 6502h: Supported Drive Modes ........................... 40
6 Profile Position Mode 42
6.1 Detailed Object Specifications ...................................... 42
6.1.1 Object 6040h: Control Word ................................. 43
6.1.2 Object 6041h: Status Word .................................. 44
6.1.3 Object 6062h: Position Demand Value ........................... 45
6.1.4 Object 6063h: Position Actual Internal Value ........................ 46
6.1.5 Object 6064h: Position Actual Value ............................. 46
6.1.6 Object 6065h: Following Error Window ........................... 47
6.1.7 Object 6067h: Position Window ............................... 47
6.1.8 Object 6068h: Position Window Time ............................ 48
6.1.9 Object 606Ch: Velocity Actual Value ............................. 48
6.1.10 Object 607Ah: Target Position ................................ 49
6.1.11 Object 607Dh: Software Position Limit ........................... 49
6.1.12 Object 6081h: Profile Velocity ................................. 50
6.1.13 Object 6083h: Profile Acceleration .............................. 50
6.1.14 Object 6084h: Profile Deceleration .............................. 51
6.1.15 Object 6085h: Quick Stop Deceleration ........................... 51
6.1.16 Object 60F2h: Positioning Option Code ........................... 51
6.2 How to move a Motor in pp Mode ................................... 52
7 Profile Velocity Mode 53
7.1 Detailed Object Specifications ...................................... 53
7.1.1 Object 6040h: Control Word ................................. 53
7.1.2 Object 6041h: Status Word .................................. 54
7.1.3 Object 6062h: Position Demand Value ........................... 56
7.1.4 Object 6063h: Position Actual Internal Value ........................ 56
7.1.5 Object 6064h: Position Actual Value ............................. 56
7.1.6 Object 6065h: Following Error Window ........................... 57
7.1.7 Object 606Ch: Velocity Actual Value ............................. 57
7.1.8 Object 607Dh: Software Position Limit ........................... 58
7.1.9 Object 6083h: Profile Acceleration .............................. 58
7.1.10 Object 6085h: Quick Stop Deceleration ........................... 59
7.1.11 Object 60FFh: Target Velocity ................................. 59
7.2 How to move a Motor in pv Mode ................................... 60
8 Homing Mode 61
8.1 Homing Methods ............................................. 62
8.1.1 Homing Method 17: Homing on negative Limit Switch .................. 62
8.1.2 Homing Method 18: Homing on positive Limit Switch .................. 62
8.1.3 Homing Method 19: Homing on positive Home Switch .................. 63
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8.1.4 Homing Method 21: Homing on negative Home Switch ................. 63
8.1.5 Homing Method 35: Current Position as Home Position ................. 64
8.2 Detailed Object Specifications ...................................... 65
8.2.1 Object 6040h: Control Word ................................. 65
8.2.2 Object 6041h: Status Word .................................. 66
8.2.3 Object 606Ch: Velocity Actual Value ............................. 67
8.2.4 Object 607Ch: Home Offset .................................. 68
8.2.5 Object 6098h: Homing Method ................................ 69
8.2.6 Object 6099h: Homing Speeds ................................ 69
8.2.7 Object 609Ah: Homing Acceleration ............................. 69
8.3 How to start a Homing in hm Mode .................................. 70
9 Cyclic synchronous Position Mode 71
9.1 Detailed Object Specifications ...................................... 71
9.1.1 Object 6040h: Control Word ................................. 71
9.1.2 Object 6041h: Status Word .................................. 72
9.1.3 Object 6062h: Position Demand Value ........................... 74
9.1.4 Object 6063h: Position Actual Internal Value ........................ 74
9.1.5 Object 6064h: Position Actual Value ............................. 74
9.1.6 Object 606Ch: Velocity Actual Value ............................. 75
9.1.7 Object 607Ah: Target Position ................................ 75
9.1.8 Object 607Dh: Software Position Limit ........................... 76
9.1.9 Object 60B0h: Position Offset ................................. 76
9.1.10 Object 60C2h: Interpolation Time Period .......................... 77
10 Cyclic synchronous Velocity Mode 78
10.1 Detailed Object Specifications ...................................... 78
10.1.1 Object 6040h: Control Word ................................. 78
10.1.2 Object 6041h: Status Word .................................. 79
10.1.3 Object 606Ch: Velocity Actual Value ............................. 81
10.1.4 Object 60FFh: Target Velocity ................................. 81
10.1.5 Object 607Dh: Software Position Limit ........................... 81
10.1.6 Object 60B1h: Velocity Offset ................................. 82
10.1.7 Object 60C2h: Interpolation Time Period .......................... 82
11 Cyclic synchronous Torque Mode 84
11.1 Detailed Object Specifications ...................................... 84
11.1.1 Object 6040h: Control Word ................................. 84
11.1.2 Object 6041h: Status Word .................................. 85
11.1.3 Object 6062h: Position Demand Value ........................... 86
11.1.4 Object 6063h: Position Actual Internal Value ........................ 87
11.1.5 Object 6064h: Position Actual Value ............................. 87
11.1.6 Object 6071h: Target Torque ................................. 88
11.1.7 Object 6077h: Torque actual Value .............................. 88
11.1.8 Object 607Dh: Software Position Limit ........................... 88
11.1.9 Object 60B2h: Torque Offset ................................. 89
11.1.10 Object 60C2h: Interpolation Time Period .......................... 89
12 Emergency Messages (EMCY) 91
13 Figures Index 93
14 Tables Index 94
15 Supplemental Directives 97
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15.1 Producer Information .......................................... 97
15.2 Copyright .................................................. 97
15.3 Trademark Designations and Symbols ................................. 97
15.4 Target User ................................................ 97
15.5 Disclaimer: Life Support Systems .................................... 97
15.6 Disclaimer: Intended Use ........................................ 97
15.7 Collateral Documents & Tools ...................................... 98
16 Revision History 99
16.1 Firmware Revision ............................................ 99
16.2 Document Revision ............................................ 99
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1 Preface
This document specifies objects and modes of operation of the Triamic TMCM-1617 stepper motor control
module with CANopen-over-EtherCAT (CoE) firmware. The CoE firmware is designed to fulfill the Ether-
CAT®version of the CANopen DS402 standards. The EtherCAT®conformance has also been tested. This
manual assumes that the reader is already familiar with the basics of EtherCAT®and the CoE protocol
(especially DS402).
If necessary it is always possible to turn the module into a TMCLor CANopen®module by loading the
TMCM-1617 TMCLor CANopen®fimware again through the CAN or RS485 interface using the firmware
update function of the TMCL-IDE 3.0.
1.1 General Features of this CoE Implementation
Main Characteristics
Communication according to EtherCAT®standards
Protocols: CoE, FoE
SDO Communication
1 server
Expedited transfer
Segmented transfer
No block transfer
PDO Communication
Producer
Consumer
RPDOs
Dynamic mapping with max. 6 mapping entries.
Default mappings: manufacturer specific.
TPDOs
Dynamic mapping with max. 9 mapping entries.
Default mappings: manufacturer specific.
Sync managers
Sync manager 0: receive mailbox used for SDO communication
Sync manager 1: send mailbox used for SDO communication
Sync manager 2: process data output (used for TPDO)
Sync manager 3: process data input (used for RPDO)
Further Characteristics
Emergency: producer
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1.2 Abbreviations used in this Manual
Abbreviations
CAN Controller area network
CoE CANopen over EtherCAT
CHGND chassis ground / earth ground
COB Communication object
FoE File transfer over EtherCAT
FSA Finite state automaton
FSM Finite state machine
NMT Network management
ID Identifier
LSB Least significant bit
MSB Most significant bit
PDO Process data object
PDS Power drive system
RPDO Receive process data object
SDO Service data object
TPDO Transmit process data object
EMCY Emergency object
rw Read and write
ro Read only
hm Homing mode
pp Profile position mode
pv Profile velocity mode
vm Velocity mode
Table 1: Abbreviations used in this Manual
1.3 Firmware Update
The software running on the microprocessor consists of two parts, a boot loader and the CoE firmware
itself. Whereas the boot loader is installed during production and testing at TRINAMIC and remains un-
touched throughout the whole lifetime, the CoE firmware can easily be updated by the user. The new
firmware can either be loaded into the module via file transfer over EtherCAT (FoE) or via the firmware
update function of the TMCL-IDE, using the CAN interface or the RS-485 interface of the module.
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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 ser-
vices this object exchanges data via the EtherCAT with peer service object(s) using a protocol.
The application and the application layer interact with service primitives.
Service Primitives
Primitive Definition
Request Issued by the application to the application layer to request a service.
Indication Issued by the application layer to the application to report an internal event detected
by the application layer or indicate that a service is requested.
Response Issued by the application to the application layer to respond to a previous received
indication.
Confirmation Issued by the application layer to the application to report the result of a previously
issued request.
Table 2: Service Primitives
A service type defines the primitives that are exchanged between the application layer and the cooper-
ating 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 commu-
nicating 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 1.
Init
Pre-Operational Bootstrap
Safe-Operational
Operational
(OI)
(PI) (IP)
(OP)
(PS) (SP)
(SO) (OS)
(IB) (BI)
Figure 1: NMT State Machine
After power-on or reset the device enters the Initialization (INIT) state.
The master can then switch the device to Pre-Operational (PRE-OP) state. In this state, only SDO commu-
nication is possible. PDO communication is not possible.
In Safe-Operational (SAFE-OP) state, also PDO communication is possible. Inputs can be read, but out-
puts cannot be switched and the motor cannot be run.
In Operational (OP) state, all features of the module can be used. PDO communication is possible, outputs
can be switched and the motor can be used. During Operational state the device can use all supported
communication objects.
When switching from Operational to Safe-Operational state the motor will be stopped if it has been run-
ning. When the EtherCAT connection is lost during Operational state the device will also automatically
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switch to Safe-Operational state.
The Bootstrap (BOOT) state is used for firmware updates via FoE. Before FoE can be used the device has
to be switched to this state.
2.3 Device Model
A CoE device mainly consists of the following parts:
Communication: This function unit provides the communication objects and the appropriate func-
tionality to transport data items via the underlying network structure.
Object dictionary: The object dictionary is a collection of all the data items which have an influence
on the behavior of the application objects, the communication objects and the state machine used
on this device.
Application: The application comprises the functionality of the device with respect to the interaction
with the process environment.
Communication Application
Object dictionary
State machine Application
object
Communication
object
Entry 1
Entry 2
Entry n
Bus system Process
Communication
object
Communication
object
Communication
object
Application
object
Application
object
Application
object
Figure 2: Device Model
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2.4 Object Dictionary
The most important part of a device profile is the object dictionary description. The object dictionary is
essentially a grouping of objects accessible via the network in an ordered pre-defined fashion. Each object
within the dictionary is addressed using a 16-bit index. The overall layout of the standard object dictionary
is 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
The communication profile area at indices 1000hthrough 1FFFhcontains the communication specific pa-
rameters for the CAN network. These entries are common to all devices.
The manufacturer segment at indices 2000hthrough 5FFFhcontains manufacturer specific objects. These
objects control the special features of the Trinamic TMCM-1617 motion control device.
The standardized device profile area at indices 6000hthrough 9FFFhcontains 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 CoE device
according to the EtherCAT standard.
3.1 Detailed Object Specifications
3.1.1 Object 1000h: Device Type
This object contains information about the device type. The object 1000hdescribes 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 error information. The CANopen device maps internal errors into object 1001h. It is
part of an emergency object.
Object Description
Index Name Object Type Data Type
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 1008h: Manufacturer Device Name
This object contains the name of the device as given by the manufacturer.
Object Description
Index Name Object Type Data Type
1008hManufacturer Device Name Variable Visible String
Table 10: Object Description (1008h)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no — TMCM-1617
Table 11: Entry Description (1008h)
3.1.4 Object 1009h: Manufacturer Hardware Version
This object contains the hardware version description.
Object Description
Index Name Object Type Data Type
1009hManufacturer Hardware Version Variable Visible String
Table 12: Object Description (1009h)
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Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no Depends on device, e.g. 1.0.
Table 13: Entry Description (1009h)
3.1.5 Object 100Ah: Manufacturer Software Version
This object contains the software version description.
Object Description
Index Name Object Type Data Type
100AhManufacturer Software Version Variable Visible String
Table 14: Object Description (100Ah)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no Depends on device, e.g. 1.0.
Table 15: Entry Description (100Ah)
3.1.6 Object 1018h: Identity Object
The object 1018hcontains general information about the device:
The vendor ID (sub-index 01h) contains a unique value allocated to each manufacturer. The vendor
ID of Trinamic is 286h.
The manufacturer specific product code (sub-index 2h) identifies a specific device version.
The manufacturer specific revision number (sub-index 3h) consists of a major revision number and
a minor revision number.
Object Description
Index Name Object Type Data Type
1018hIdentity object Record Identity
Table 16: Object Description (1018h)
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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 1617
03hRevision number ro no UNSIGNED32 e.g. 20003hfor version 2.3
Table 17: Entry Description (1018h)
3.1.7 Object 1600h: Receive PDO Mapping Parameter
This object contains the mapping parameters for the RPDO the device is able to receive. The sub-index
00hcontains 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 01hto 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
1600hReceive PDO mapping parameter RECORD PDO Mapping
Table 18: Object Description (1600h)
Entry Description
Sub-index Description Access Value Range Default Value
00hNumber of
mapped appli-
cation objects in
PDO
rw 0. . . 9 Index 1600h: 4
01hMapping entry 1 rw UNSIGNED32 60400010h
02hMapping entry 3 rw UNSIGNED32 607A0020h
03hMapping entry 4 rw UNSIGNED32 60710010h
04hMapping entry 5 rw UNSIGNED32 60FF0020h
05hMapping entry 2 rw UNSIGNED32 0h
06hMapping entry 6 rw UNSIGNED32 0h
07hMapping entry 7 rw UNSIGNED32 0h
08hMapping entry 8 rw UNSIGNED32 0h
09hMapping entry 9 rw UNSIGNED32 0h
Table 19: Entry Description (1600h)
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3.1.8 Objects 1A00h: Transmit PDO Mapping Parameter
This object contains the mapping parameters for the TPDO the device is able to transmit. The sub-index
00hcontains 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 01hto 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
1A00hTransmit PDO mapping parameter RECORD PDO Mapping
Table 20: Object Description (1A00h)
Entry Description
Sub-index Description Access Value Range Default Value
00hNumber of
mapped aapli-
cation objects in
PDO
rw 0. . . 9 6
01hMapping entry 1 rw UNSIGNED32 60410010h
02hMapping entry 2 rw UNSIGNED32 60610008h
03hMapping entry 3 rw UNSIGNED32 60640020h
04hMapping entry 4 rw UNSIGNED32 60770010h
05hMapping entry 5 rw UNSIGNED32 606C0020h
06hMapping entry 6 rw UNSIGNED32 60FD0020h
07hMapping entry 7 rw UNSIGNED32 0h
08hMapping entry 8 rw UNSIGNED32 0h
09hMapping entry 9 rw UNSIGNED32 0h
Table 21: Entry Description (1A00h)
3.1.9 Objects 1C00h: Sync Manager Communication Type
This object describes the communication types of the EtherCAT sync managers. The types of the first four
synch managers are normally fixed and should not be changed. Sync managers can have the following
for communication types:
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1617 CoE Firmware Manual Firmware Version V1.06 | Document Revision V1.01 2021-02-28 18 / 99
Sync Manager Communication Types
Type Description
1 Mailbox receive
2 Mailbox send
3 Process data input
4 Process data output
Table 22: Sync Manager Communication Types
Object Description
Index Name Object Type Data Type
1C00hSync manager communication type RECORD UNSIGNED8
Table 23: Object Description (1C00h)
Entry Description
Sub-index Description Access Value Range Default
Value
00hNumber of entries rw 0. . . 3 4
01hCommunication type sync manager 1 rw UNSIGNED8 1
02hCommunication type sync manager 2 rw UNSIGNED8 2
03hCommunictaion type sync manager 3 rw UNSIGNED8 3
04hCommunictaion type sync manager 4 rw UNSIGNED8 4
Table 24: Entry Description (1C00h)
3.1.10 Objects 1C12h: Sync Manager 2 PDO Assignment
This object contains the index of the PDO definiton object that is assigned to sync manager 2. Normally,
the RPDO objects are assigned to sync manager 2. Under most cicumstances there is no need to change
this setting.
Object Description
Index Name Object Type Data Type
1C12hSync manager 2 PDO assignment RECORD PDO assignment
Table 25: Object Description (1C12h)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1617 CoE Firmware Manual Firmware Version V1.06 | Document Revision V1.01 2021-02-28 19 / 99
Entry Description
Sub-index Description Access Value Range Default
Value
00hNumber of assigned PDOs rw 0. . . 1 1
01hPDO mapping index of assigned RPDO rw UNSIGNED16 1600h
Table 26: Entry Description (1C12h)
3.1.11 Objects 1C13h: Sync Manager 3 PDO Assignment
This object contains the index of the PDO definiton object that is assigned to sync manager 3. Normally,
the TPDO objects are assigned to sync manager 3. Under most cicumstances there is no need to change
this setting.
Object Description
Index Name Object Type Data Type
1C13hSync manager 3 PDO assignment RECORD PDO assignment
Table 27: Object Description (1C13h)
Entry Description
Sub-index Description Access Value Range Default
Value
00hNumber of assigned PDOs rw 0. . . 1 1
01hPDO mapping index of assigned TPDO rw UNSIGNED16 1A00h
Table 28: Entry Description (1C13h)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Download newest version at www.trinamic.com
TMCM-1617 CoE Firmware Manual Firmware Version V1.06 | Document Revision V1.01 2021-02-28 20 / 99
4 Manufacturer specific Area
The manufacturer segment contains manufacturer specific objects. These objects control the special fea-
tures of the Trinamic Motion Control device TMCM-1617.
4.1 Detailed Object Specifications
4.1.1 Object 2000h: Device Info
This object provides version information about the motor controller chip used on this module.
Object Description
Index Name Object Type Data Type
2000hDevice Info Variable Record
Table 29: Object Description (2000h)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
1 MC_Type no 0 4294967295 0 ro
2 MC_Version no 0 4294967295 0 ro
3 MC_Date no 0 4294967295 0 ro
4 MC_Time no 0 4294967295 0 ro
5 MC_Variant no 0 4294967295 0 ro
Table 30: Entry Description (2000h)
4.1.2 Object 2003h: Maximum Current
This objects limits the maximum current that is used to drive the motor. The value is given in mA.
Object Description
Index Name Object Type Data Type
2003hMaximum Current Variable UNSIGNED32
Table 31: Object Description (2003h)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Download newest version at www.trinamic.com
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Trinamic TMCM-1617-CANopen Owner's manual

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