CANopen MANUAL

DRIVES WITH / FOR STEPPER MOTOR
PANDRIVES AND MODULES
CANopen Firmware Version V3.18
CANopen MANUAL
TMCM-142-IF
1-Axis Controller/Driver Module
CAN Interface
+18V… 78V DC / 5A RMS
Encoder Feedback
PD-146-60-SE
Mechatronic Device
Controller/Driver
2-Phase NEMA24 Stepper Motor
Up to 3.1Nm Holding Torque
CAN Interface
24V DC / 2.8A RMS
Integrated Encoder
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
Table of Contents
1
Preface ............................................................................................................................................................................. 5
1.1
General Features of the CANopen Implementation .................................................................................. 5
1.2
Abbreviations ........................................................................................................................................................ 6
1.3
Firmware Update ................................................................................................................................................. 6
2
Communication ............................................................................................................................................................. 7
2.1
Reference Model ................................................................................................................................................... 7
2.2
NMT State Machine .............................................................................................................................................. 8
2.3
Device Model ....................................................................................................................................................... 10
2.4
Object Dictionary ............................................................................................................................................... 11
3
Communication Objects ........................................................................................................................................... 12
3.1
Detailed Object Specifications ....................................................................................................................... 12
3.1.1 Object 1000h: Device Type ......................................................................................................................... 12
3.1.2 Object 1001h: Error Register ...................................................................................................................... 12
3.1.3 Object 1005h: COB-ID SYNC Message ..................................................................................................... 13
3.1.4 Object 1008h: Manufacturer Device Name............................................................................................. 13
3.1.5 Object 1009h: Manufacturer Hardware Version ................................................................................... 13
3.1.6 Object 100Ah: Manufacturer Software Version .................................................................................... 13
3.1.7 Object 100Ch: Guard Time ......................................................................................................................... 14
3.1.8 Object 100Dh: Life Time Factor ................................................................................................................ 14
3.1.9 Object 1010h: Store Parameters ............................................................................................................... 14
3.1.10 Object 1011h: Restore Default Parameters ............................................................................................ 15
3.1.11 Object 1014h: COB-ID Emergency Object .............................................................................................. 17
3.1.12 Object 1015h: Inhibit Time EMCY............................................................................................................. 17
3.1.13 Object 1016h: Consumer Heartbeat Time .............................................................................................. 17
3.1.14 Object 1017h: Producer Heartbeat Time ................................................................................................ 17
3.1.15 Object 1018h: Identity Object ................................................................................................................... 18
3.1.16 Object 1023h: OS Command ...................................................................................................................... 18
3.1.17 Object 1029h: Error Behavior .................................................................................................................... 18
3.1.18 Objects 1400h-1403h: Receive PDO Communication Parameter ...................................................... 19
3.1.19 Objects 1600h-1603h: Receive PDO Mapping......................................................................................... 19
3.1.20 Objects 1800h-1803h: Transmit PDO Communication Parameter .................................................... 20
3.1.21 Objects 1A00h-1A03h: Transmit PDO Mapping Parameter ................................................................. 21
4
Device Profile Objects (CiA402) and Modes of Operation .............................................................................. 22
4.1
Detailed Object Specifications ....................................................................................................................... 22
4.1.1 Object 605Ah: Quick Stop Option Code ................................................................................................. 22
4.1.2 Object 605Bh: Shutdown Option Code .................................................................................................. 23
4.1.3 Object 605Ch: Disable Operation Option Code .................................................................................... 23
4.1.4 Object 605Dh: Halt Option Code .............................................................................................................. 23
4.1.5 Object 605Eh: Fault Reaction Option Code ........................................................................................... 24
4.1.6 Object 6060h: Modes of Operation .......................................................................................................... 24
4.1.7 Object 6061h: Modes of Operation Display .......................................................................................... 24
4.1.8 Object 606Ah: Sensor Selection Code .................................................................................................... 25
4.1.9 Object 608Fh: Position Encoder Resolution .......................................................................................... 25
4.1.10 Object 60FDh: Digital Inputs ..................................................................................................................... 25
4.1.11 Object 6502h: Supported Drive Modes ................................................................................................... 26
4.2
Profile Position Mode ....................................................................................................................................... 27
4.2.1 Detailed Object Specifications ................................................................................................................. 27
4.2.1.1
Object 6040h: Controlword .............................................................................................................. 28
4.2.1.2
Object 6041h: Statusword ................................................................................................................ 29
4.2.1.3
Object 6062h: Position Demand Value ......................................................................................... 30
4.2.1.4
Object 6063h: Position Actual Internal Value ............................................................................ 30
4.2.1.5
Object 6064h: Position Actual Value ............................................................................................. 30
4.2.1.6
Object 6065h: Following Error Window ...................................................................................... 31
4.2.1.7
Object 6067h: Position Window .................................................................................................... 31
4.2.1.8
Object 6068h: Position Window Time .......................................................................................... 31
4.2.1.9
Object 60A4h: Profile Jerk ................................................................................................................ 32
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TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
4.2.1.10
Object 606Ch: Velocity Actual Value ............................................................................................. 32
4.2.1.11
Object 607Ah: Target Position ........................................................................................................ 32
4.2.1.12
Object 607Dh: Software Position Limit ........................................................................................ 33
4.2.1.13
Object 6081h: Profile Velocity ......................................................................................................... 33
4.2.1.14
Object 6083h: Profile Acceleration ................................................................................................. 33
4.2.1.15
Object 6084h: Profile Deceleration ................................................................................................ 34
4.2.1.16
Object 6085h: Quick Stop Deceleration ........................................................................................ 34
4.2.1.17
Object 6086h: Motion Profile Type ................................................................................................ 34
4.2.2 How to Move a Motor in pp Mode ........................................................................................................ 35
4.3
Homing Mode ..................................................................................................................................................... 36
4.3.1 Connecting Home Switch, Left Switch, and Right Switch ............................................................... 37
4.3.1.1
TMCM-142-IF ........................................................................................................................................ 37
4.3.1.2
PDx-146-60-SE ...................................................................................................................................... 38
4.3.2 Homing Methods ......................................................................................................................................... 39
4.3.3 Detailed Object Definitions ....................................................................................................................... 42
4.3.3.1
Object 6040h: Controlword .............................................................................................................. 42
4.3.4 Object 6041h: Statusword .......................................................................................................................... 43
4.3.4.1
Object 606Ch: Velocity Actual Value ............................................................................................. 43
4.3.4.2
Object 607Ch: Home Offset .............................................................................................................. 44
4.3.4.3
Object 6098h: Homing Method ....................................................................................................... 44
4.3.4.4
Object 6099h: Homing Speeds ....................................................................................................... 45
4.3.4.5
Object 609Ah: Homing Acceleration ............................................................................................. 45
4.3.4.6
Object 2100h: Home Offset Display .............................................................................................. 45
4.3.5 How to Start a Homing in hm Mode .................................................................................................... 46
4.4
Profile Velocity Mode ........................................................................................................................................ 47
4.4.1 Detailed Object Definitions ....................................................................................................................... 47
4.4.1.1
Object 6040h: Controlword .............................................................................................................. 47
4.4.1.2
Object 6041h: Statusword ................................................................................................................ 48
4.4.1.3
Object 6062h: Position Demand Value ......................................................................................... 48
4.4.1.4
Object 6063h: Position Actual Internal Value ............................................................................ 48
4.4.1.5
Object 6064h: Position Actual Value ............................................................................................. 49
4.4.1.6
Object 6065h: Following Error Window ...................................................................................... 49
4.4.1.7
Object 606Ch: Velocity Actual Value ............................................................................................. 49
4.4.1.8
Object 607Dh: Software Position Limit ........................................................................................ 50
4.4.1.9
Object 6083h: Profile Acceleration ................................................................................................. 50
4.4.1.10
Object 6084h: Profile Deceleration ................................................................................................ 50
4.4.1.11
Object 6085h: Quick Stop Deceleration ........................................................................................ 51
4.4.1.12
Object 60FFh: Target Velocity ......................................................................................................... 51
4.4.2 How to Move a Motor in pv Mode ......................................................................................................... 51
5
Manufacturer Specific Area ...................................................................................................................................... 52
5.1
Detailed Object Specifications ....................................................................................................................... 52
5.1.1 Object 2000h: Microstep Resolution ........................................................................................................ 52
5.1.2 Object 2001h: Fullstep Resolution ........................................................................................................... 52
5.1.3 Object 2002h: Brake Delay Times............................................................................................................. 53
5.1.4 Object 2003h: Maximum Current .............................................................................................................. 53
5.1.5 Object 2004h: Standby Current ................................................................................................................. 53
5.1.6 Object 2005h: Limit Switches .................................................................................................................... 54
5.1.7 Object 200Ah: Enable Drive Delay Time ................................................................................................ 54
5.1.8 Object 200Bh: Encoder Parameters ......................................................................................................... 55
5.1.9 Object 200Ch: Brake Current Feed ........................................................................................................... 55
5.1.10 Object 2089h: Standby Delay .................................................................................................................... 55
5.1.11 Object 208Ah: Mixed Decay Run ............................................................................................................... 56
5.1.12 Object 208Bh: Mixed Decay Standby ....................................................................................................... 56
5.1.13 Object 208Ch: Velocity Dimension Index .............................................................................................. 56
5.1.14 Object 208Eh: Acceleration Dimension Index ...................................................................................... 56
5.1.15 Object 2100h: Home Offset Display......................................................................................................... 57
5.1.16 Object 2102h: Driver Error Flags .............................................................................................................. 57
5.1.17 Object 2107h: Microstep Resolution Display ........................................................................................ 57
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TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
6
7
8
9
5.1.18 Object 2108h: Absolute Resolver Value ................................................................................................. 57
5.1.19 Object 2700h: TMCL Direct Communication .......................................................................................... 58
5.1.20 Object 2701h: Manufacturer Specific Mode ........................................................................................... 58
5.1.21 Object 2702h: Digital inputs ...................................................................................................................... 58
5.1.22 Object 2703h: Digital Outputs ................................................................................................................... 59
5.1.23 Object 2704h: CAN Bit Rate ....................................................................................................................... 59
5.1.24 Object 2705h: Node ID ................................................................................................................................ 59
5.1.25 Object 2706h: Store ...................................................................................................................................... 60
5.1.26 Object 2707h: CAN Bit Rate Load ............................................................................................................. 60
5.1.27 Object 2708h: Node ID load ...................................................................................................................... 60
5.1.28 Object 270Eh: Device Analog Inputs....................................................................................................... 61
Emergency messages ................................................................................................................................................ 62
Life Support Policy ..................................................................................................................................................... 64
Revision History .......................................................................................................................................................... 65
8.1
Firmware Revision ............................................................................................................................................. 65
8.2
Document Revision ........................................................................................................................................... 66
References..................................................................................................................................................................... 67
Table of Figures
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
2.1 Overview CANopen NMT state machine ..................................................................................................... 8
2.2 Communication architecture .......................................................................................................................... 9
2.3 Device model ................................................................................................................................................... 10
3.1 Restore procedure........................................................................................................................................... 16
4.1 Finite state machine ...................................................................................................................................... 27
4.2 Homing mode function ................................................................................................................................. 36
4.3 Connectors of TMCM-142-IF.......................................................................................................................... 37
4.4 Connectors of PDx-146-60-SE ....................................................................................................................... 38
4.5 Homing on negative switch and index pulse ........................................................................................ 39
4.6 Homing on positive limit switch and index pulse ............................................................................... 39
4.7 Homing on positive home switch and index pulse ............................................................................. 40
4.8 Homing on negative home switch and index pulse ............................................................................ 40
4.9 Homing without index pulse ...................................................................................................................... 41
4.10 Homing on index pulse .............................................................................................................................. 41
4.11 Home offset definition ................................................................................................................................ 44
5.1 Brake output timing ....................................................................................................................................... 53
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TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
1 Preface
This document specifies objects and modes of operation of the TRINAMIC TMCM-142-IF and PD-146-60SE with CANopen firmware. As the TMCM-142-IF and the TMCM-146 are stepper motor controller and
driver modules the use of the CiA DS402 protocol (described in the CiA CANopen drives and motion
control device profile, Part 2) is fundamental. The CANopen firmware is designed to fulfill the DS301
version 4.02 and DS402 version 3.o standards. The CiA conformance has also been tested. This manual
assumes that the reader is already familiar with the basics of the CANopen protocol (especially DS301
and DS402). On the following pages you will find a short introduction or rather a short overview and
afterwards the information will be more in detail.
If necessary, you can always turn the board back into a TMCL module by loading the TMCL firmware
into the drive again.
1.1 General Features of the 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
 1, 2, 3, 4, 6
 Transmission modes: asynchronous
 Dynamic mapping with max. 3 mapping entries
 Default mappings: according to CiA-402 for PDO 1, 2, 3 and 6, manufacturer specific for
PDO4
-
TPDOs




1, 2, 3, 4, 6
Transmission modes: asynchronous, asynchronous with event timer, synchronous
Dynamic mapping with max. 3 mapping entries
Default mappings: according to CiA-402 for PDO 1, 2, 3 and 6, manufacturer specific for
PDO
Further Characteristics
SYNC:
consumer (TPDO3 and TPDO6 are synchronous PDOs)
Emergency:
producer
RTR:
supported only for node guarding/life guarding
Heartbeat:
consumer and producer
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TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
1.2 Abbreviations
ABBREVIATIONS
CAN
CHGND
COB
FSA
FSM
NMT
ID
LSB
MSB
PDO
PDS
RPDO
SDO
TPDO
EMCY
rw
ro
hm
pp
pv
vm
Controller area network
chassis ground / earth ground
Communication object
Finite state automaton
Finite state machine
Network management
Identifier
Least significant bit
Most significant bit
Process data object
Power drive system
Receive process data object
Service data object
Transmit process data object
Emergency object
Read and write
Read only
Homing mode
Profile position mode
Profile velocity mode
Velocity mode
Table 1.1 Abbreviations
1.3 Firmware Update
The software running on the microprocessor consists of two parts, a boot loader and the CANopen
firmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC and
remains untouched throughout the whole lifetime, the CANopen firmware can easily be updated by
the user. The new firmware can be loaded into the module via the firmware update function of the
TMCL-IDE.
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TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
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
Request
Indication
Response
Confirmation
Issued by the application to the application layer to request a service.
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.
Issued by the application to the application layer to respond to a previous received
indication.
Issued by the application layer to the application to report the result of a
previously issued request.
Table 2.1 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.
SERVICE TYPES
Local service
Unconfirmed
service
Confirmed
service
Provider
initiated service
Involves only the local service object. The application issues a request to its local
service object that executes the requested service without communicating with
peer service object(s).
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.
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.
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 2.2 Service types
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TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
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 following states:
Initialization
ID / Boot-up
Pre-operational
Stopped
Operational
Figure 2.1 Overview CANopen NMT state machine
After power-on or reset the device enters the Initialization state.
After the device initialization is finished, the device automatically transits to the Pre-operational State
and indicates this state transition by sending the boot-up message. This way the device indicates that
it is ready to work. A device that stays in Pre-operational state may start to transmit SYNC-, time
stamp- or heartbeat message. In contrast to the PDO communication that is disabled in this state, the
device can communicate via SDO.
The PDO communication is only possible within the Operational State. During Operational state the
device can use all supported communication objects.
A device that was switched to the Stopped State only reacts on received NMT commands. In addition
the device indicates the current NMT state by supporting the error control protocol during Stopped
state.
The transitions between states are made by issuing a network management (NMT) communication
object to the device. The NMT protocols are used to generate state machine change commands (e.g.
to start and stop the device), detect remote device boot-ups and error conditions.
The Heartbeat message of a CANopen device contains the device status of the NMT state machine and
is sent cyclically by the CANopen device.
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TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
The figure below shows the situation of the state machine in this device profile.
CANopen device profile CiA DSP 402
Modes of operation:
[used in this manual / according
to CiA DSP 402]
Homing mode
Profile position mode
Profile velocity mode
Device control state machine
CANopen Communication Profile CiA DS301
CAN
Figure 2.2 Communication architecture
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TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
10
2.3 Device Model
A device is structured like the following:
Communication
This function unit provides the communication objects and the appropriate
functionality to transport data items via the underlying network structure.
Object dictionary
The object dictionary is a collection of all the data items which have an
influence on the behavior of the application objects, the communication
objects and the state machine used on this device
Application
The application comprises the functionality of the device with respect to the
interaction with the process environment
Communication
Object
dictionary
State machine
Communication
object
Application
Application
object
Entry 1
Entry 2
Communication
object
Application
object
Communication
object
Application
object
Entry n
Communication
object
Bus system
Figure 2.3 Device model
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Application
object
Process
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
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 below:
Index (hex)
0000
0001 - 001F
0020 - 003F
0040 - 005F
0060 - 007F
0080 - 009F
00A0 - 0FFF
1000 - 1FFF
2000 - 5FFF
6000 - 9FFF
A000 - BFFF
C000 - FFFF
Object
Not used
Static data types
Complex data types
Manufacturer specific complex data types
Device profile specific static data types
Device profile specific complex data types
Reserved for further use
Communication profile area*1
Manufacturer specific profile area*2
Standardized device profile area*3
Standardized interface profile area
Reserved for further use
Table 2.3 Object Dictionary
*1
The communication profile area at indices 1000h through 1FFFh contains the communication
specific parameters for the CAN network. These entries are common to all devices.
*2
The manufacturer segment at indices 2000h through 5FFFh contains manufacturer specific objects.
These objects control the special features of the TRINAMIC motion control devices TMCM-142 and
PD-146.
*3
The standardized device profile area at indices 6000h through 9FFFh contains all data objects
common to a class of devices that can be read or written via the network. The device profiles
use entries from 6000h to 9FFFh to describe the device parameters and the device functionality.
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TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
12
3 Communication Objects
3.1 Detailed Object Specifications
3.1.1
Object 1000h: Device Type
This object contains information about the device type. The object 1000 h 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 gives additional information about optional functionality of the
device.
OBJECT DESCRIPTION
Index
Name
Device type
1000h
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
r0
00h
3.1.2
PDO Mapping
no
Value Range
UNSIGNED32
Default Value
40192h
Object 1001h: Error Register
This object is an error register. The module can map internal errors and object 1001 h is part of an
emergency object.
OBJECT DESCRIPTION
Index
Name
Error register
1001h
Object Code
Variable
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
00h
Access
r0
PDO Mapping
yes
STRUCTURE OF THE ERROR REGISTER
Bit
0
1
2
3
4
5
6
7
M/O
M
O
O
O
O
O
O
O
Description
Generic error
Current
Voltage
Temperature
Communication error
Device profile specific
Reserved (always 0)
Manufacturer specific
If a bit is set to 1, the specific error has occurred.
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Value Range
UNSIGNED8
Default Value
no
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
3.1.3
13
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.
OBJECT DESCRIPTION
Index
1005h
Name
COB-ID SYNC Message
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
3.1.4
PDO Mapping
no
Value Range
UNSIGNED32
Default Value
80h
Object 1008h: Manufacturer Device Name
This object contains the manufacturer device name.
OBJECT DESCRIPTION
Index
1008h
Name
Manufacturer device name
Object Code
Variable
Data Type
Visible string
ENTRY DESCRIPTION
Sub-Index
Access
Const.
00h
3.1.5
PDO Mapping
no
Value Range
no
Default Value
TMCM-142 or PD-146
Object 1009h: Manufacturer Hardware Version
This object contains the hardware version description.
OBJECT DESCRIPTION
Index
1009h
Name
Manufacturer hardware version
Object Code
Variable
Data Type
Visible string
ENTRY DESCRIPTION
Sub-Index
Access
Const.
00h
3.1.6
PDO Mapping
no
Value Range
no
Default Value
depends on device, e.g. 1.0
Object 100Ah: Manufacturer Software Version
This object contains the software version description.
OBJECT DESCRIPTION
Index
100Ah
Name
Manufacturer software version
Object Code
Variable
Data Type
visible string
ENTRY DESCRIPTION
Sub-Index
00h
Access
Const.
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PDO Mapping
no
Value Range
no
Default Value
according to software version
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
3.1.7
14
Object 100Ch: Guard Time
The objects at index 100Ch and 100Dh shall indicate the configured guard time respectively the life
time factor. The life time factor multiplied with the guard time gives the life time for the life guarding
protocol.
OBJECT DESCRIPTION
Index
Name
Guard time
100Ch
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
00h
3.1.8
Access
rw
ro, if life guarding is
not supported
PDO Mapping
Value Range
Default Value
no
UNSIGNED16
0000h
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
Life time factor
100Dh
Object Code
Variable
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
00h
3.1.9
Access
rw
ro, if life guarding is
not supported
PDO Mapping
Value Range
Default Value
no
UNSIGNED8
00h
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.
This command can only be carried out if the module is in ready to switch on mode.
SEVERAL PARAMETER GROUPS ARE DISTINGUISHED:
-
Sub-index
Sub-index
Sub-index
Sub-index
Sub-index
0h: contains the largest sub-index that is supported.
1h: saves all parameters.
2h: saves communication parameters 100Ch, 100Dh, 1015h, 1017h, and 1029h.
4h: saves motor axis 1 parameters (6040h… 6084h)
7h: saves device parameters / TRINAMIC specific parameters (2000 h… 270Eh).
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 safe.
Storage write access structure
Signature
ISO 8859 ASCII
hex
MSB
e
65h
v
76h
a
61h
LSB
s
73h
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: 0606 0000 h).
If a wrong signature is written, the device refuses to store and responds with Abort SDO transfer
(abort code: 0800 002xh).
www.trinamic.com
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
15
On read access to the appropriate sub-index the device provides information about its storage
functionality with the following format.
Storage read access structure
bits
UNSIGNED 32
MSB
31-2
Reserved
Bit-number
31-2
1
0
Value
0
0
1
0
1
LSB
0
1/0
1
1/0
Meaning
reserved
Device does not save parameters autonomously
Device saves parameters autonomously
Device does not save parameters on command
Device saves parameters on command
Autonomous saving means that a device stores the storable parameters in a non-volatile manner
without user request.
OBJECT DESCRIPTION
Index
Name
Store parameters
1010h
Object Code
ARRAY
Data Type
UNSIGNED 32
ENTRY DESCRIPTION
Sub-Index
00h
01h
02h
04h
07h
Description
Largest sub-index supported
Save all parameters
Save special communication
parameters
Save motor axis 1 parameters
Save device parameters
(TRINAMIC specific parameters)
Access
ro
PDO Mapping
no
Value Range
1h-7Fh
Default Value
no
rw
no
UNSIGNED32
no
rw
no
UNSIGNED32
no
rw
no
UNSIGNED32
no
rw
no
UNSIGNED32
no
Please mind the figures above which explain the value ranges of the write access and the read access
for the sub-indices.
3.1.10 Object 1011h: Restore Default 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.
This command can only be carried out if the module is in ready to switch on mode.
SEVERAL PARAMETER GROUPS ARE DISTINGUISHED:
-
Sub-index
Sub-index
Sub-index
Sub-index
Sub-index
0h: contains the largest sub-index that is supported.
1h: restores all parameters.
2h: restores communication parameters 100Ch, 100Dh, 1015h, 1017h, and 1029h.
4h: restores motor axis 1 parameters (6040h… 6084h)
7h: restores device parameters / TRINAMIC specific parameters (2000 h… 270Eh).
In order to avoid the restoring of default parameters by mistake, restoring is only executed when a
specific signature is written to the appropriate sub-index. This signature is load.
Signature
ASCII
hex
www.trinamic.com
MSB
d
64h
a
61h
o
6Fh
LSB
l
6Ch
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
16
On reception of the correct signature in the appropriate sub-index the device restores the default
parameters and then confirms the SDO transmission (initiate download response). If the restoring
failed, the device responds with an Abort SDO Transfer (abort code: 0606 0000 h). If a wrong signature
is written, the device refuses to restore the defaults and responds with an Abort SDO Transfer (abort
code: 0800 002xh).
The default values are set valid after the device is reset (reset node for sub-index 1h – 7Fh, reset
communication for sub-index 2h) or power cycled.
restore default
reset / power cycle
default values valid
Figure 3.1 Restore procedure
On read access to the appropriate sub-index the device provides information about its default
parameter restoring capability with the following format.
Structure of restore read access
UNSIGNED 32
MSB
bits
31-1
Reserved (0)
LSB
0
0/1
OBJECT DESCRIPTION
Index
1011h
Name
Restore default parameters
Object Code
ARRAY
Data Type
UNSIGNED 32
ENTRY DESCRIPTION
Sub-Index
00h
01h
02h
04h
07h
Description
Largest sub-index supported
Restore all default parameters
Restore special communication
parameters
Restore motor axis 1 parameters
Restore device parameters
(TRINAMIC specific parameters)
Access
ro
PDO Mapping
no
Value Range
1h-7Fh
Default Value
no
rw
no
UNSIGNED32
no
rw
no
UNSIGNED32
no
rw
no
UNSIGNED32
no
rw
no
UNSIGNED32
no
Please mind the figures above which explain the value ranges of the write access and the read access
for the sub-indices.
www.trinamic.com
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
17
3.1.11 Object 1014h: COB-ID Emergency Object
This object defines the COB-ID of the emergency object (EMCY).
OBJECT DESCRIPTION
Index
1014h
Name
COB-ID emergency object
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
no
Value Range
UNSIGNED32
Default Value
80h + NODE ID
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.
OBJECT DESCRIPTION
Index
1015h
Name
Inhibit time EMCY
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
no
Value Range
UNSIGNED16
Default Value
0
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.
MSB
bits
value
encoded as
31-24
Reserved
-
LSB
15-0
Heartbeat time
UNSIGNED16
23-16
Node-ID
UNSIGNED8
Table 3.1 Structure of consumer heartbeat time entry
OBJECT DESCRIPTION
Index
1016h
Name
Consumer heartbeat time
Object Code
ARRAY
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Description
Number of entries
01h
Consumer heartbeat time
Access
ro
PDO Mapping
no
Value Range
0… 127
Default Value
no
rw
no
UNSIGNED32
no
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
1017h
Name
Producer heartbeat time
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
www.trinamic.com
PDO Mapping
no
Value Range
UNSIGNED16
Default Value
0
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
18
3.1.15 Object 1018h: Identity Object
The object 1018h contains general information about the device.
The Vendor ID (sub-index 01h) contains a unique value allocated to each manufacturer. The
vendor ID of TRINAMIC is 286h.
The manufacturer-specific Product code (sub-index 2h) identifies a specific device version.
The Manufacturer-specific Revision number (sub-index 3h) consists of a major revision number
and a minor revision number.
OBJECT DESCRIPTION
Index
Name
Identity object
1018h
Object Code
RECORD
Data Type
Identity
Category
Optional
ENTRY DESCRIPTION
Sub-Index
00h
Description
Number of entries
Access
ro
PDO Mapping
no
Value Range
0… 3
Default Value
number of entries:3
01h
Vendor ID
ro
no
UNSIGNED32
reads 0x0286
02h
Product code
ro
no
UNSIGNED32
03h
Revision number
ro
no
UNSIGNED32
depends on the device e.g. 142 or 146
firmware revision number;
reads e.g. 0x20003 for version 2.3
3.1.16 Object 1023h: OS Command
The OS Command object is used as a command driven interface to programmable devices. The host
system puts the command into the object OS Command, which is of the type Command Par.
OBJECT DESCRIPTION
Index
Name
OS command
1023h
Object Code
RECORD
Data Type
Command Par
Category
Optional
ENTRY DESCRIPTION
Sub-Index
00h
01h
02h
03h
Description
Number of
supported entries
Command (TMCL
command)
Status (error code
of a TMCL
command)
Reply (reply of a
TMCL command)
Access
PDO Mapping
Value Range
Default Value
number of entries: 3 (for direct TMCL™
communication)
ro
no
3
rw
no
Octet string
no
ro
no
UNSIGNED8
no
ro
no
Octet string
no
3.1.17 Object 1029h: Error Behavior
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
Error behavior
1029h
Object Code
ARRAY
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
00h
Description
Number of error classes
Access
ro
PDO Mapping
no
Value Range
01h
Communication error
rw
no
UNSIGNED8
0 (enter stopped state)
Application error
rw
no
UNSIGNED8
1 (remain in current state)
02h
www.trinamic.com
2h
Default Value
2
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
19
3.1.18 Objects 1400h-1403h: Receive PDO Communication Parameter
This object contains the communication parameters for the PDOs the device is able to receive. The
sub-index 0h contains the number of valid entries within the communication record. Its value is at
least 2.
OBJECT DESCRIPTION
1400h-1403h
Index
Name
Receive PDO parameter
Object Code
RECORD
Data Type
PDO CommPar
1400h
RPDO 1
RECORD
PDO CommPar
1401h
RPDO 2
RECORD
PDO CommPar
1402h
RPDO 3
RECORD
PDO CommPar
1403h
RPDO 4
RECORD
PDO CommPar
ENTRY DESCRIPTION
Sub-Index
00h
Description
Largest sub-index
supported
Access
PDO Mapping
ro
no
Value Range
Number of
entries: 2
01h
COB-ID used by
PDO
rw
no
UNSIGNED32
02h
Transmission type
rw
no
UNSIGNED8
Default Value
2
Index
Index
Index
Index
Index
Index
Index
Index
1400h:
1401h:
1402h:
1403h:
1400h:
1401h:
1402h:
1403h:
200h
300h
400h
500h
Ffh
Ffh
Ffh
Ffh
+
+
+
+
Node-ID
Node-ID
Node-ID
Node-ID
3.1.19 Objects 1600h-1603h: Receive PDO Mapping
This object contains the mapping for the PDOs the device is able to receive. The sub-index 0h 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/received with the corresponding PDO. The subindices from 1h 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. All three
values are hexadecimal coded.
OBJECT DESCRIPTION
1600h-1603h
Index
Name
Receive PDO mapping
Object Code
RECORD
Data Type
PDO Mapping
1600h
Mapping for RPDO 1
RECORD
PDO Mapping
1601h
Mapping for RPDO 2
RECORD
PDO Mapping
1602h
Mapping for RPDO 3
RECORD
PDO Mapping
1603h
Mapping for RPDO 4
RECORD
PDO Mapping
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
00h
Number of mapped
application objects in
PDO
rw
no
1… 3
0 deactivated
01h
Mapping entry 1
rw
no
UNSIGNED32
02h
Mapping entry 2
rw
no
UNSIGNED32
03h
Mapping entry 3
rw
no
UNSIGNED32
www.trinamic.com
Index
Index
Index
Index
Index
Index
Index
Index
Index
Index
Index
Index
Index
Index
Index
Index
1600h:
1601h:
1602h:
1603h:
1600h:
1601h:
1602h:
1603h:
1600h:
1601h:
1602h:
1603h:
1600h:
1601h:
1602h:
1603h:
Default Value
1
2
2
2
60400010h
60400010h
60400010h
60400010h
0
60600008h
607A0020h
60FF0020h
0
0
0
0
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
20
3.1.20 Objects 1800h-1803h: Transmit PDO Communication Parameter
These objects contain the communication parameters for the PDOs the device is able to transmit.
OBJECT DESCRIPTION
Index
1800h-1803h
1800h
1801h
1802h
1803h
Name
Transmit PDO communication
parameter
Object Code
Data Type
RECORD
PDO CommPar
RECORD
PDO CommPar
RECORD
PDO CommPar
RECORD
PDO CommPar
RECORD
PDO CommPar
TPDO 1 transmit
communication parameter
TPDO 2 transmit0
communication parameter
TPDO 3 transmit
communication parameter
TPDO 4 transmit
communication parameter
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
00h
Largest sub-index supported
ro
no
01h
TPDO 1-4, 6: COB-ID
rw
no
UNSIGNED32
02h
Transmission type
rw
no
UNSIGNED8
03h
Inhibit time
rw
no
UNSIGNED16
04h
Compatibility entry
ro
no
05h
Event timer
rw
no
UNSIGNED8
0 not used
UNSIGNED16
www.trinamic.com
Value Range
2… 5
Number of
entries: 5
Default Value
5
Index
Index
Index
Index
Index
Index
Index
Index
1800h:
1801h:
1802h:
1803h:
1800h:
1801h:
1802h:
1803h:
180h
280h
380h
480h
ffh
ffh
1
1
0
0
0
+
+
+
+
Node-ID
Node-ID
Node-ID
Node-ID
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
21
3.1.21 Objects 1A00h-1A03h: Transmit PDO Mapping Parameter
These objects contain the mapping for the PDOs the device is able to transmit.
OBJECT DESCRIPTION
Index
1A00h-1A03h
1A00h
1A01h
1A02h
1A03h
Name
Transmit PDO mapping
parameter
TPDO 1: transmit PDO
mapping parameter
TPDO 2: transmit PDO
mapping parameter
TPDO 3: transmit PDO
mapping parameter
TPDO 4: transmit PDO
mapping parameter
Object Code
Data Type
RECORD
PDO mapping
PDO mapping
RECORD
PDO mapping
RECORD
PDO mapping
RECORD
PDO mapping
RECORD
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
00h
Number of mapped application
objects in PDO
rw
no
Value Range
0 deactivated
Number of entries: 1…
3
no
01h
02h
03h
Mapping entry 1
Mapping entry 2
Mapping entry 3
www.trinamic.com
rw
UNSIGNED32
no
UNSIGNED32
no
UNSIGNED32
rw
rw
Default Value
Index 1A00h: 1
Index 1A01h: 2
Index 1A02h: 2
Index 1A03h: 2
Index 1A00h: 60410010h
Index 1A01h: 60410010h
Index 1A02h: 60410010h
Index 1A03h: 60410010h
Index 1A00h: 0
Index 1A01h: 60610008h
Index 1A02h: 60640020h
Index 1A03h: 606c0020h
Index 1A00h: 0
Index 1A01h: 0
Index 1A02h: 0
Index 1A03h: 0
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
22
4 Device Profile Objects (CiA402) and Modes of
Operation
The PDS behavior depends on the activated mode of operation. The PDS implements several modes
of operation. 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 OPERATION MODES CAN BE CHOSEN:
-
Profile position mode
Homing mode
Profile velocity mode
Please refer to object 6060h (section 4.1.6) for information about how to choose an operation mode.
4.1 Detailed Object Specifications
4.1.1
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 operations. The following quick stop option
codes are supported in the current version of the CANopen firmware:
VALUE DEFINITION
Value
1
2
5
6
Slow
Slow
Slow
Slow
down
down
down
down
on
on
on
on
Definition
slow down ramp and transit into switch on disabled
quick stop ramp and transit into switch on disabled
slow down ramp and stay in quick stop active
quick stop ramp and stay in quick stop active
OBJECT DESCRIPTION
Index
605Ah
Name
Quick stop option code
Object Code
Variable
Data Type
SIGNED16
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
See value definition above
Default Value
2
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
4.1.2
23
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 slow down ramp is the deceleration value of the used mode of
operations. The shutdown option code always has the value 0 as only this is supported.
VALUE DEFINITION
Value
0
Definition
Disable drive function (switch-off the drive power stage)
OBJECT DESCRIPTION
Index
Name
Shutdown option code
605Bh
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
r0
00h
4.1.3
PDO Mapping
Refer to CiA402-3
Value Range
See value definition above
Default Value
0
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.
VALUE DEFINITION
Value
1
Definition
Slow down with slow down ramp; disable of the drive function
OBJECT DESCRIPTION
Index
Name
Disable operation
option code
605Ch
Object Code
Data Type
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
r0
00h
4.1.4
PDO Mapping
Refer to CiA402-3
Value Range
See value definition above
Default Value
1
Object 605Dh: Halt Option Code
This object indicates what action is performed when the halt function is executed. The slow down
ramp is the deceleration value of the used mode of operation. The halt option code always has the
value 1 as only this is supported.
VALUE DEFINITION
Value
1
Definition
Slow down on slow down ramp and stay in operation enabled
OBJECT DESCRIPTION
Index
605Dh
Name
Halt option code
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
00h
Access
r0
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
See value definition above
Default Value
1
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
4.1.5
24
Object 605Eh: Fault Reaction Option Code
This object indicates what action is performed when fault is detected in the power drive system. The
slow down ramp is the deceleration value of the used mode of operation. The fault reaction option
code always has the value 2 as only this is supported.
VALUE DEFINITION
Value
2
Definition
Slow down on quick stop ramp
OBJECT DESCRIPTION
Index
Name
Fault reaction option
code
605Eh
Object Code
Data Type
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
r0
00h
4.1.6
PDO Mapping
Refer to CiA402-3
Value Range
See value definition above
Default Value
2
Object 6060h: Modes of Operation
This object indicates the requested operation mode. Supported operating modes are:
VALUE DEFINITION
Value
0
1
3
6
Definition
No mode*
Profile position mode
Profile velocity mode
Homing mode
* 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
Modes of operation
6060h
Object Code
Variable
Data Type
SIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
4.1.7
PDO Mapping
Refer to CiA402-3
Value Range
See value definition above
Default Value
0
Object 6061h: Modes of Operation Display
This object shows the operating mode that is set.
VALUE DEFINITION
Value
0
1
3
6
Definition
No mode*
Profile position mode
Profile velocity mode
Homing mode
* 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
6061h
Name
Modes of operation
display
Object Code
Data Type
Variable
SIGNED8
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
See value definition above
Default Value
0
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
4.1.8
25
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
0
-1
Definition
Encoder used
No encoder
OBJECT DESCRIPTION
Index
Name
Sensor selection code
606Ah
Object Code
Variable
Data Type
SIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
4.1.9
PDO Mapping
Refer to CiA402-3
Value Range
See value definition above
Default Value
-1
Object 608Fh: Position Encoder Resolution
This object indicates the configured encoder increments and number of motor revolutions. The
position encoder resolution is calculated by the following formula (all values are dimensionless.):
OBJECT DESCRIPTION
Index
Name
Position encoder resolution
608Fh
Object Code
Array
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
01h
02h
Description
Highest sub index
supported
Encoder
increments
Motor revolutions
Entry category
Access
PDO Mapping
Value Range
Default Value
Mandatory
c
Refer to CiA402
02h
2
Mandatory
rw
Refer to CiA402
UNSIGNED32
1
Mandatory
ro
Refer to CiA402
UNSIGNED32
2
4.1.10 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.
VALUE DEFINITION
Value
0b
Definition
Switched off
1b
Switched on
OBJECT DESCRIPTION
Index
60FDh
Name
Digital inputs
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
r0
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED32
Default Value
0000 0000h
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
26
4.1.11 Object 6502h: Supported Drive Modes
This object provides information on the supported drive modes and contains always the value
0x00000025 which means that the following modes are provided by the drive:
-
0
1
3
6
=
=
=
=
no mode
profile position mode
profile velocity mode
homing mode
OBJECT DESCRIPTION
Index
6502h
Name
Supported drive modes
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
r0
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
See above
Default Value
0x00000025
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
4.2 Profile Position Mode
A target position is applied to the trajectory generator. It is generating a position-demand-value for
the position control loop described in the position control function.
Please refer to object 6060h (section 4.1.6) for information about how to choose an operation mode.
Object 6061 h (section 4.1.7) shows the operation mode that is set.
4.2.1
Detailed Object Specifications
The following text offers detailed object specifications. According to this it is necessary to show how
the state machine works in detail:
Controlword 6040h
Power disabled
Fault
Start
Fault reaction active
automatically
automatically
0
14
Not ready to switch on
Fault
15
automatically
1
Switch on disabled
2
7
Ready to switch on
10 12
3
6
98
13
Switched on
4
5
Operation enable
11
13
16
Quick stop active
13
Power enabled
Statusword 6041h
Figure 4.1 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.
www.trinamic.com
27
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
28
4.2.1.1 Object 6040h: Controlword
This object indicates the received command controlling the power drive system finite state
automation (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to
Figure 4.1 Finite state machine for detailed information.
STRUCTURE OF CONTROLWORD / VALUE DEFINITION
15
11
nu
10
9
8
7
r
oms
h
fr
4
6
oms
3
2
1
0
eo
qs
ev
so
LSB
MSB
LEGEND: nu = not used; r = reserved; oms = operation mode specific; h = halt;
fr = fault reset; eo = enable operation; qs = quick stop; ev = enable voltage; so = switch on
OPERATION MODE SPECIFIC BITS IN PP MODE
Bit
Name
4
New set point
5
6
9
Change immediately
Absolute/relative
Change set point
Definition
0-to-1: The next positioning will be started after the last
one has completed.
Not supported
0 = new position is absolute; 1 = new position is relative
Not supported
COMMAND CODING
Command
Bit 7
0
0
Shutdown
Switch on
Switch on + enable
operation
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset
Bits of controlword
Bit 3
Bit 2
Bit 1
x
1
1
0
1
1
Bit 0
0
1
Transitions
2, 6, 8
3
0
1
1
1
1
3 + 4 (NOTE)
0
0
0
0
x
x
0
1
x
x
0
1
1
x
0
1
1
1
x
x
x
1
1
x
7, 9, 10, 12
7, 10, 11
5
4, 16
15
OBJECT DESCRIPTION
Index
6040h
Name
Controlword
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
00h
rw
Refer to CiA402-3
www.trinamic.com
Value Range
See command
coding above
Default Value
Device and operation mode specific
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
29
4.2.1.2 Object 6041h: Statusword
This object provides the status of the PDS FSA. It reflects the status of the CiA402 state machine.
Please refer to Figure 4.1 Finite state machine for detailed information. The object is structured as
defined below.
For more information about the coding refer to the CANopen Drives and motion control device profile,
part 2 please.
STRUCTURE OF STATUSWORD / VALUE DEFINITION
15
14
ms
oms
11
10
9
8
7
6
5
4
3
2
1
0
ila
tr
rm
ms
w
sod
qs
ve
f
oe
so
rtso
LSB
MSB
LEGEND: ms = manufacturer specific; oms = operation mode specific; ila = internal limit active;
tr = target reached; rm = remote; w = warning; sod = switch on disabled; qs = quick stop;
ve = voltage enabled; f = fault; oe = operation enabled; so = switched on;
rtso = ready to switch on
TRINAMIC SPECIFIC BITS
Bit
14
15
Name
Motor activity
Direction of rotation
Definition
0 = motor stop; 1 = motor rotates
This bit determines/shows the direction of rotation
OPERATION MODE SPECIFIC BITS IN PP MODE
Bit
10
12
13
Name
Target reached
Set point acknowledge
Following error
Definition
Set when the motor is within the target position window
0 = set point processed; 1 = set point still in process
Not supported
STATE CODING
xxxx xxxx x0xx 0000b
Statusword
PDS FSA state
Not ready to switch on
xxxx xxxx x1xx 0000b
Switch on disabled
xxxx xxxx x01x 0001b
Ready to switch on
xxxx xxxx x01x 0011b
Switched on
xxxx xxxx x01x 0111b
Operation enabled
xxxx xxxx x00x 0111b
Quick stop active
xxxx xxxx x0xx 1111b
Fault reaction active
xxxx xxxx x0xx 1000b
Fault
OBJECT DESCRIPTION
Index
6041h
Name
Statusword
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
00h
r0
Refer to CiA402-3
www.trinamic.com
Value Range
See state coding
above
Default Value
no
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
30
4.2.1.3 Object 6062h: Position Demand Value
This object provides the demanded position value. The value is given in microsteps. Object 6062h
indicates the actual position that the motor should have. It is not to be confused with the objects
6063h and 6064h.
OBJECT DESCRIPTION
Index
6062h
Name
Position demand value
Object Code
Variable
Data Type
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
ro
00h
PDO Mapping
Refer to CiA402-3
Value Range
SIGNED32
Default Value
no
4.2.1.4 Object 6063h: Position Actual Internal Value
This object provides the actual value of the encoder or the motor. Please use the sensor selection
object 606Ah (4.1.8) for selecting the motor or the encoder first. Object 6063h indicates the actual
position of the encoder or the motor, re-scaled to the microstep resolution. The value is given in
microsteps.
OBJECT DESCRIPTION
Index
6063h
Name
Position actual internal
value
Object Code
Data Type
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
ro
00h
PDO Mapping
Refer to CiA402-3
Value Range
SIGNED32
Default Value
no
4.2.1.5 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
6064h
Name
Position actual value
Object Code
Variable
Data Type
SIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
SIGNED32
Default Value
no
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
31
4.2.1.6 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. If the value of the following
error window is 0 or FFFF FFFFh, the following control will be switched off.
When the difference between motor position (object 6062 h) and encoder position (object 6063h or
6064h) is greater than the value set here, the motor will be stopped and an emergency message will
be sent. Setting this object to zero will turn off this feature completely.
Setting this object to a too low value will lead to false alarms!
OBJECT DESCRIPTION
Index
6065h
Name
Following error
window
Object Code
Data Type
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED32
Default Value
0… 8388607
4.2.1.7 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 FFFF FFFFh, the position window control is switched off.
If this object is set to zero, the target reached event will be signaled when the demand position
(6062h) has reached the target position (6064h).
When the position window is set to a value greater than zero, the target reached event will be
signaled when the actual encoder position value (6064h) is within the target position - position
window and target position + position window.
OBJECT DESCRIPTION
Index
6067h
Name
Position window
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED32
Default Value
0… 8388607
4.2.1.8 Object 6068h: Position Window Time
This object indicates the configured time, during which the actual position within the position
window is measured. The value is given in ms. If this object is set to a value greater than zero and
also the position window (6067h) is set to a value greater than zero the target reached event will not
be signaled until the actual position (6064h) is at least as many milliseconds within the position
window as defined by this object.
OBJECT DESCRIPTION
Index
6068h
Name
Position window time
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED16
Default Value
0
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
32
4.2.1.9 Object 60A4h: Profile Jerk
This object indicates the configured set of jerk parameters that shall be used during the profile
movement. The bow of S-shaped ramps is set here. Object 60A4h can only be used when S-shaped
ramps are selected by setting object 6086h to 1.
OBJECT DESCRIPTION
Index
60A4h
Name
Position jerk
Object Code
ARRAY
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
01h
Description
Bow of S-shaped
ramps
Entry category
Access
PDO Mapping
Value Range
Default Value
Mandatory
rw
Refer to CiA402-3
UNSIGNED32
1… 18
4.2.1.10 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 paragraph 5.1.13).
OBJECT DESCRIPTION
Index
606Ch
Name
Velocity actual value
Object Code
Variable
Data Type
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
ro
00h
PDO Mapping
Refer to CiA402-3
Value Range
SIGNED32
Default Value
no
4.2.1.11 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
607Ah
Name
Target position
Object Code
Variable
Data Type
SIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
SIGNED32
Default Value
-2147483647… +2147483647
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
33
4.2.1.12 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
Corrected max position limit
=
=
min position limit – home offset
max position limit – home offset
The limit positions are given in microsteps (same as target position). Two limits for moving the motor
in positioning mode can be set here. It will then not be possible to leave this window.
OBJECT DESCRIPTION
Index
607Dh
Name
Software position limit
Object Code
Array
Data Type
SIGNED32
ENTRY DESCRIPTION
Sub-Index
01h
Description
Min position limit
Entry category
Mandatory
Access
rw
PDO Mapping
Refer to CiA402-3
Value Range
SIGNED32
Default Value
-2147483647
02h
Max position limit
Mandatory
rw
Refer to CiA402-3
SIGNED32
-2147483647
4.2.1.13 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, paragraph 5.1.13)
OBJECT DESCRIPTION
Index
6081h
Name
Profile velocity
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED32
Default Value
depends on the units
4.2.1.14 Object 6083h: Profile Acceleration
This object indicates the configured acceleration. Object 6083h sets the maximum acceleration to be
used in profile positioning mode.
Please choose the units for object 6083h with object 208Eh, described in paragraph 5.1.14. Object 208Eh
reads 0 when internal units are selected or 179 when user units (PPS/s) are selected.
OBJECT DESCRIPTION
Index
6083h
Name
Profile acceleration
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED32
Default Value
depends on the units
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
34
4.2.1.15 Object 6084h: Profile Deceleration
This object indicates the configured deceleration. It sets the maximum deceleration used in profile
positioning mode.
Please choose the units for object 6084h with object 208Eh, described in paragraph 5.1.14. Object 208Eh
reads 0 when internal units are selected or 179 when user units (PPS/s) are selected. The deceleration
is according to the acceleration.
OBJECT DESCRIPTION
Index
6084h
Name
Profile deceleration
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED32
Default Value
Depends on the units
4.2.1.16 Object 6085h: Quick Stop Deceleration
This object indicates the configured deceleration used to stop the motor when the quick stop function
is activated and the quick stop code object 605Ah is set to 2 [or 6]. The value is given in the same
unit as profile acceleration object 6083h. Object 6085h defines the deceleration that is to be used
during a quick stop operation.
OBJECT DESCRIPTION
Index
6085h
Name
Quick stop
deceleration
Object Code
Data Type
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED32
Default Value
Depends on the units
4.2.1.17 Object 6086h: Motion Profile Type
This object indicates the configured type of motion profile used to perform a profiled motion. Set
this object to 0 for trapezoid ramps and to 1 for S-shaped ramps.
VALUE DEFINITION
Value
0
1
Definition
Linear ramp, trapezoidal profile
Sin2 ramp, S-shaped profile, refer to object 60A4h (profile jerk, paragraph 4.2.1.9)
OBJECT DESCRIPTION
Index
6086h
Name
Motion profile type
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED16
Default Value
0
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
4.2.2
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 6040h to switch to READY_TO_SWITCH_ON state.
-
Write 7 to object 6040h to switch to SWITCHED_ON state.
-
Write 15 to object 6040h to switch to OPERATION_ENABLED state.
-
Write the desired target position (e.g. 500000) to object 607Ah.
-
Mark the new target position as active by writing 31 to object 6040h. The motor starts moving
now.
-
Reset the activation by writing 15 to object 6040h (this can be done while the motor is still
moving).
www.trinamic.com
35
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
4.3 Homing Mode
This clause 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 4.2 shows the defined input objects as well as the output objects. The user can specify the
speeds, acceleration and method of homing. The home offset object 607C h allows displacing zero in
the coordinate system for the home position.
Controlword 6040h
Homing method 6098h
Homing speeds 6099h
Statusword 6041h
Homing
method
Homing acceleration 609Ah
Position demand internal value 60FCh
or
Position demand value 6062h
Home offset 607Ch
Figure 4.2 Homing mode function
BY CHOOSING A HOMING METHOD, THE FOLLOWING IS DETERMINED:
-
the homing signal (positive limit switch, negative limit switch, and home switch),
the direction of actuation where appropriate, and
the position of the index pulse.
The home position and the zero position are offset by the home offset (see object 607Ch).
THERE ARE FOUR SOURCES OF HOMING SIGNAL 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.
Please refer to object 6060h (section 4.1.6) for information about how to choose an operation mode.
Object 6061 h (section 4.1.7) shows the operation mode that is set.
www.trinamic.com
36
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
4.3.1
37
Connecting Home Switch, Left Switch, and Right Switch
First of all it is necessary to connect the switches. The tables and figures below will show you the
right way.
4.3.1.1 TMCM-142-IF
The TMCM-142-IF module consists of two PCBs, the TMCM-142 base board and the standard TMCM-IF
adapter/interface add-on board.
Connector 3
Pin 1
5
9
Pin 1
Connector 2
Pin 1
Pin 1
Standard
adapter
Base
Terminal 1
1
6
USB
Terminal1
Connector 1
GND +V B2 B1 A2 A1
Figure 4.3 Connectors of TMCM-142-IF
Please connect home switch, left switch, and right switch as follows. Use base connector 3 (or rather
the corresponding connector of the adapter board).
CONNECTING SWITCHES
Pin (connector 3)
23
19
7
Name
HOME
(IN_8)
STOP_L
STOP_R
www.trinamic.com
Function
Digital user controlled input #9. Optically isolated, active low
(power supply on pin 15)
Optically isolated, active low limit switch input left
Optically isolated, active low limit switch input right
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
4.3.1.2 PDx-146-60-SE
The PDx-146-60-SE provides two D-SUB connectors for external connections, a 9-pin D-SUB male
connector for CAN communication and a 26-pin high density D-SUB male connector for power,
additional I/Os, and switches.
Power and I/O connector
1
10
19
9
18
26
Figure 4.4 Connectors of PDx-146-60-SE
Please connect home switch, left switch, and right switch as follows. Use the power and I/O
connector.
CONNECTING SWITCHES
Pin
Name
16
STOP_L
17
STOP_R
18
HOME
www.trinamic.com
Function
Left stop switch input (+24V and +5V tolerant, internal 20k pull-down
resistor, programmable 1k pull-up to +5V with protection diode)
Right stop switch input (+24V and +5V tolerant, internal 20k pull-down
resistor, programmable 1k pull-up to +5V with protection diode)
Home switch input (+24V and +5V tolerant, internal 20k pull-down resistor,
programmable 1k pull-up to +5V with protection diode)
38
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
4.3.2
Homing Methods
There are several different methods of homing. For choosing your homing method, refer to object
6098h please.
OVERVIEW: HOMING METHODS
Method no.
0
1
2
3
5
17
18
19
21
33
34
35
Description
No homing. This is the default setting.
Search the left end switch, than search the next encoder index pulse.
Search the right end switch, than 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.
Search the left end switch.
Search the right end switch.
Search the positive edge of the home switch.
Search the negative edge of the home switch.
Search next index pulse in negative direction.
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.
METHOD 1: HOMING ON NEGATIVE LIMIT SWITCH AND INDEX PULSE
Using this method, the initial direction of movement shall be leftward if the negative limit switch is
inactive (here: low). The home position shall be at the first index pulse to the right of the position
where the negative limit switch becomes inactive.
1
Index pulse
Negative limit switch
Figure 4.5 Homing on negative switch and index pulse
METHOD 2: HOMING ON POSITIVE LIMIT SWITCH AND INDEX PULSE
Using this method, the initial direction of movement shall be rightward if the positive limit switch is
inactive (here: low). The position of home shall be at the first index pulse to the left of the position
where the positive limit switch becomes inactive.
2
Index pulse
Positive limit switch
Figure 4.6 Homing on positive limit switch and index pulse
www.trinamic.com
39
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
METHOD 3: HOMING ON POSITIVE HOME SWITCH AND INDEX PULSE
Using this method, the initial direction of movement shall be dependent on the state of the home
switch. The home position shall be at the index pulse to either to the left or the right of the point
where the home switch changes state. If the initial position is situated so that the direction of
movement shall reverse during homing, the point at which the reversal takes place is anywhere after
a change of state of the home switch.
3
3
Index pulse
Home switch
Figure 4.7 Homing on positive home switch and index pulse
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.
5
5
Index pulse
Home switch
Figure 4.8 Homing on negative home switch and index pulse
www.trinamic.com
40
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
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. Method 19 (similar
to method 3) is shown in Figure 4.9.
Method no.
17
18
19
21
Description
Search the left end switch. (Similar to method 1)
Search the right end switch. (Similar to method 2)
Search the positive edge of the home switch. (Similar to method 3)
Search the negative edge of the home switch. (Similar to method 5.)
19
19
Home switch
Figure 4.9 Homing without index pulse
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.
33
34
Index pulse
Figure 4.10 Homing on index pulse
METHOD 35: HOMING ON INDEX PULSE / 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.
www.trinamic.com
41
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
4.3.3
42
Detailed Object Definitions
4.3.3.1 Object 6040h: Controlword
This object indicates the received command controlling the power drive system finite state
automation (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to
Figure 4.1 Finite state machine for detailed information.
STRUCTURE OF CONTROLWORD / VALUE DEFINITION
15
9
see 4.2.1.1
7
8
Halt
6
5
4
see 4.2.1.1 Reserved (0) Homing operation start
3
0
see 4.2.1.1
LSB
MSB
OPERATION MODE SPECIFIC BITS IN HM MODE
Bit
4
8
Name
Homing operation start
Halt
Definition
Set to 1 to start homing; setting to 0 stops homing
Not supported
OBJECT DESCRIPTION
Index
Name
Controlword
6040h
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
See command coding above.
Default Value
device and operation mode specific
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
4.3.4
43
Object 6041h: Statusword
This object provides the status of the PDS FSA. It reflects the status of the CiA402 state machine.
Please refer to Figure 4.1 Finite state machine for detailed information. The object is structured as
defined below.
For more information about the coding refer to the CANopen Drives and motion control device profile,
part 2 please.
STRUCTURE OF STATUSWORD / VALUE DEFINITION
15
14
13
see 4.2.1.2
12
11
Homing error Homing attained see 4.2.1.2
10
9
Target reached
0
see 4.2.1.2
LSB
MSB
OPERATION MODE SPECIFIC BITS IN HM MODE
Bit
Name
10
Target reached
12
13
Homing attained
Homing error
Definition
Set when the zero position has been found or homing
has been stopped by setting controlword bit 4 to zero
Set when the zero position has been found
Not supported
DEFINITION OF BIT 10, BIT 12, AND BIT 13
Bit 13
0
0
0
0
1
1
1
Bit 12
0
0
1
1
0
0
1
Bit 10
0
1
0
1
0
1
x
Definition
Homing procedure is in progress
Homing procedure is interrupted or not reached
Homing is attained, but target is not reached
Homing procedure is completed successfully
Homing error occurred, velocity is not 0
Homing error occurred, velocity is 0
reserved
OBJECT DESCRIPTION
Index
6041h
Name
Statusword
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
00h
r0
Refer to CiA402-3
Value Range
See state coding
above
Default Value
No
4.3.4.1 Object 606Ch: Velocity Actual Value
This object shows the actual velocity value of the motor. The unit can be selected with object 208Ch,
described in paragraph 5.1.13.
OBJECT DESCRIPTION
Index
606Ch
Name
Velocity actual value
Object Code
Variable
Data Type
SIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
SIGNED32
Default Value
No
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
44
4.3.4.2 Object 607Ch: Home Offset
This object indicates the configured difference between the zero position for the application and the
machine home position/home switch (found during homing). While homing, the machine home
position is found and once the homing is completed, the zero position is offset from the home
position by adding the home offset to the home position. The effect of setting the home position to
a non-zero value depends on the selected homing method. The value of this object is given in
microsteps. Negative values indicate the opposite direction.
Zero position
Home switch
Home offset
Figure 4.11 Home offset definition
OBJECT DESCRIPTION
Index
607Ch
Name
Home offset
Object Code
Variable
Data Type
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
Refer to CiA402-3
Value Range
SIGNED32
Default Value
-2147483647… +2147483647
4.3.4.3 Object 6098h: Homing Method
The homing method to be used in homing mode can be selected here. The actual firmware supports
the following homing methods.
VALUE DEFINITION
Value
0
1
2
3
5
17
18
19
21
33
34
35
Definition
No homing. This is the default value, but there is actually no homing method 0.
Search the left end switch, than search the next encoder index pulse.
Search the right end switch, than search the next encoder index pulse.
Search the positive edge of the home switch, than search the next encoder index pulse.
Search the negative edge of the home switch, than search the next encoder index pulse.
Search the left end switch.
Search the right end switch.
Search the positive edge of the home switch.
Search the negative edge of the home switch.
Search next index pulse in negative direction.
Search next index pulse in positive direction.
The actual position is used as the home position. All position values (objects 6062 h, 6063h, and 6064h) are set
to zero, but the motor will not move.
OBJECT DESCRIPTION
Index
Name
Homing method
6098h
Object Code
Variable
Data Type
SIGNED8
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
0, 3, 5, 19, 21, 33, 34, 35
Default Value
0
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
45
4.3.4.4 Object 6099h: Homing Speeds
This object indicates the configured speeds used during homing procedure. The values are given in
units, which can be selected with object 208Ch, described in paragraph 5.1.13. Using object 6099h a
fast and a slow homing speed can be set. In most homing modes, the home switch is searched with
the fast speed first. When the home switch has been found, the motor will be decelerated to the
slow speed (using the homing acceleration, object 609Ah) and then stopped at the exact switch point.
OBJECT DESCRIPTION
Index
6099h
Name
Homing speeds
Object Code
ARRAY
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Description
Entry category
Access
PDO Mapping
Value Range
01h
Fast homing speed
Mandatory
rw
Refer to CiA402-3
UNSIGNED32
02h
Slow homing speed
Mandatory
rw
Refer to CiA402-3
UNSIGNED32
Default Value
Depends on the
unit setting
Depends on the
unit setting
4.3.4.5 Object 609Ah: Homing Acceleration
This object indicates the configured acceleration and deceleration to be used during homing
operation. The values for accelerating to the fast homing speed and for decelerating to the slow
homing speed can be set here. The values are given in units, which can be selected with object 208Eh,
described in paragraph 5.1.14.
OBJECT DESCRIPTION
Index
609Ah
Name
Homing acceleration
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED32
4.3.4.6 Object 2100h: Home Offset Display
The value is given in microsteps.
OBJECT DESCRIPTION
Index
2100h
Name
Home offset display
Object Code
Variable
Data Type
SIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
www.trinamic.com
PDO Mapping
no
Value Range
Refer to home offset
Default Value
0
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
4.3.5
How to Start a Homing in hm Mode
Here is a little example that shows how to home the motor in hm mode. In this little example we
assume that the module has been reset (and then switched to pre-operational or operational) by NMT
commands before. The home switch must be connected to the home switch input. It can be operated
manually.
-
Select hm mode by writing 6 to object 6060h.
-
Write 6 to object 6040h to switch to READY_TO_SWITCH_ON state.
-
Write 7 to object 6040h to switch to SWITCHED_ON state.
-
Write 15 to object 6040h to switch to OPERATION_ENABLED state.
-
Select homing method 19 by writing 19 to object 6098h.
-
Set the homing speeds by writing e.g. 50000 to object 6099h sub index 1 and e.g. 10000 to
object 6099h sub index 2.
-
Write 31 to object 6040h to start the homing process.
-
Press and release the home switch.
-
When homing has finished, write 15 to object 6040h again.
www.trinamic.com
46
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
47
4.4 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
4.4.1
Detailed Object Definitions
4.4.1.1 Object 6040h: Controlword
This object indicates the received command controlling the power drive system finite state
automation (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to
Figure 4.1 Finite state machine for detailed information.
STRUCTURE OF CONTROLWORD / VALUE DEFINITION
15
9
see 4.2.1.1
8
7
Halt
see 4.2.1.1
4
6
Reserved
3
0
see 4.2.1.1
LSB
MSB
There are no mode specific bits supported in this mode.
OBJECT DESCRIPTION
Index
6040h
Name
Controlword
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
00h
rw
Refer to CiA402-3
www.trinamic.com
Value Range
See command
coding above
Default Value
Device and operation mode specific
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
48
4.4.1.2 Object 6041h: Statusword
This object provides the status of the PDS FSA. It reflects the status of the CiA402 state machine.
Please refer to Figure 4.1 Finite state machine for detailed information. The object is structured as
defined below.
For more information about the coding refer to the CANopen Drives and motion control device profile,
part 2 please.
STRUCTURE OF STATUSWORD / VALUE DEFINITION
15
14
13
see 4.2.1.2
12
11
10
Max slippage error Speed see 4.2.1.2 Target reached
9
0
see 4.2.1.2
LSB
MSB
OPERATION MODE SPECIFIC BITS IN PV MODE
Bit
10
12
13
Name
Target reached
Speed
Max slippage error
Definition
Indicates that the desired speed is reached
Not supported
Not supported
OBJECT DESCRIPTION
Index
6041h
Name
Controlword
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
00h
r0
Refer to CiA402-3
Value Range
See state coding
above
Default Value
No
4.4.1.3 Object 6062h: Position Demand Value
This object provides the demanded position value. The value is given in microsteps. Object 6062h
indicates the actual position that the motor should have. It is not to be confused with objects 6063 h
and 6064h.
OBJECT DESCRIPTION
Index
6062h
Name
Position demand value
Object Code
Variable
Data Type
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
ro
00h
PDO Mapping
Refer to CiA402-3
Value Range
SIGNED32
Default Value
No
4.4.1.4 Object 6063h: Position Actual Internal Value
This object indicates the actual position of the encoder, re-scaled to the microstep resolution of the
motor. If necessary, the data unit may be transformed from user-defined units to increments. The
value is given in microsteps or encoder steps, depending on object 606Ah (described in paragraph
4.1.8).
OBJECT DESCRIPTION
Index
6063h
Name
Position actual internal
value
Object Code
Data Type
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
SIGNED32
Default Value
No
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
49
4.4.1.5 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. The value is given in microsteps.
OBJECT DESCRIPTION
Index
6064h
Name
Position actual value
Object Code
Variable
Data Type
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
ro
00h
PDO Mapping
Refer to CiA402-3
Value Range
SIGNED32
Default Value
No
4.4.1.6 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 is given in microsteps. If the value of the following error
window is 0 or FFFF FFFFh, the following control will be switched off.
When the difference between motor position (object 6062 h) and encoder position (object 6063h or
6064h) is greater than the value set here, the motor will be stopped and an emergency message will
be sent. Setting this object to zero will turn off this feature completely. Setting this object to a too
low value will lead to false alarms.
OBJECT DESCRIPTION
Index
6065h
Name
Following error
window
Object Code
Data Type
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED32
Default Value
0… 8388607
4.4.1.7 Object 606Ch: Velocity Actual Value
This object gives the actual velocity value derived either from the velocity sensor or from the position
sensor.
OBJECT DESCRIPTION
Index
606Ch
Name
Velocity actual value
Object Code
Variable
Data Type
INTEGER32
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
INTEGER32
Default Value
no
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
50
4.4.1.8 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. The
position actual vale is always checked against these limits. The limit position is always relative to the
machine home position. Before being compared with the target position, they have to be corrected
internally by the home offset as follows:
Corrected min position limit
Corrected max position limit
=
=
min position limit - home offset
max position limit - home offset
This calculation needs only be performed when home offset or software position limit is changed.
The limit positions are given in microsteps (same as target position). Two limits for moving the motor
in positioning mode can be set here. Overstepping the window will lead to an emergency message
and the motor will be stopped.
OBJECT DESCRIPTION
Index
607Dh
Name
Software position limit
Object Code
Array
Data Type
SIGNED32
ENTRY DESCRIPTION
Sub-Index
01h
Description
Min position limit
Access
rw
PDO Mapping
Refer to CiA402-3
Value Range
SIGNED32
Default Value
-2147483647… +2147483647
02h
Max position limit
rw
Refer to CiA402-3
SIGNED32
-2147483647… +2147483647
4.4.1.9 Object 6083h: Profile Acceleration
This object indicates the configured acceleration. Object 6083h sets the maximum acceleration to be
used in profile velocity mode.
Please choose the units for object 6083h with object 208Eh, described in paragraph 5.1.14. Object 208Eh
reads 0 when internal units are selected or 179 when user units (PPS/s) are selected.
OBJECT DESCRIPTION
Index
6083h
Name
Profile acceleration
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED32
Default Value
Depends on the units
4.4.1.10 Object 6084h: Profile Deceleration
This object indicates the configured deceleration. It sets the maximum deceleration used in profile
velocity mode.
Please choose the units for object 6083h with object 208Eh, described in paragraph 5.1.14. Object 208Eh
reads 0 when internal units are selected or 179 when user units (PPS/s) are selected.
OBJECT DESCRIPTION
Index
6084h
Name
Profile deceleration
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
www.trinamic.com
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED32
Default Value
Depends on the units
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
51
4.4.1.11 Object 6085h: Quick Stop Deceleration
This object indicates the configured deceleration used to stop the motor when the quick stop function
is activated and the quick stop code object 605Ah is set to 2 or 6. The quick stop deceleration is also
used if the fault reaction code object 605Eh is 2 and the halt option code object 605Dh is 2. Object
6085h defines the deceleration that is to be used during a quick stop operation.
The value is given in the same physical unit as profile acceleration object 6083h. You can choose the
units for object 6083h with object 208Eh, described in paragraph 5.1.14. Object 208Eh reads 0 when
internal units are selected or 179 when user units (PPS/s) are selected.
OBJECT DESCRIPTION
Index
Name
Quick stop
deceleration
6085h
Object Code
Data Type
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
Refer to CiA402-3
Value Range
UNSIGNED32
Default Value
Depends on the units
4.4.1.12 Object 60FFh: Target Velocity
This object indicates the configured target velocity and is used as input for the trajectory generator.
Object 60FFh sets the target velocity when using profile velocity mode. The drive then accelerates or
decelerates to that velocity using the acceleration and deceleration set by objects 6083 h and 6084h.
The values are given in units, which can be selected with object 208Ch, described in paragraph 5.1.13.
OBJECT DESCRIPTION
Index
Name
Target velocity
60FFh
Object Code
Variable
Data Type
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
00h
rw
Refer to CiA402-3
SIGNED32
4.4.2
Default Value
-2147483647… +2147483647 /
depends on selected units
How to Move a Motor in pv Mode
Here is a little example that shows how to get a motor running in pv mode. In this little example we
assume that the module has been reset (and then switched to pre-operational or operational) by NMT
commands before.
-
If you do not have any limit switches connected, first disable the limit switch inputs by
writing 3 to object 2005h.
-
Select pv mode by writing 3 to object 6060h.
-
Write 6 to object 6040h to switch to READY_TO_SWITCH_ON state.
-
Write 7 to object 6040h to switch to SWITCHED_ON state.
-
Write 15 to object 6040h to switch to OPERATION_ENABLED state.
-
Write the desired target speed (e.g. 100000) to object 60FFh. The motor now accelerates to
that speed.
-
Stop the motor by writing 0 to object 60FFh.
www.trinamic.com
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
52
5 Manufacturer Specific Area
The manufacturer segment contains manufacturer specific objects. These objects control the special
features of the TRINAMIC motion control devices TMCM-142 and PD-146.
5.1 Detailed Object Specifications
5.1.1
Object 2000h: Microstep Resolution
This object sets the microstep resolution of the drive. A value of 0 means 2048 microsteps (2048/2 x). It
is only writeable in the SWITCHED_ON_DISABLED state, but always readable.
OBJECT DESCRIPTION
Index
2000h
Name
Microstep resolution
Object Code
Variable
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
5.1.2
PDO Mapping
no
Value Range
0… 11
Default Value
0
Object 2001h: Fullstep Resolution
This object shows the fullstep resolution of the motor shipped with a PANdrive. It is normally 200
(1.8° motor).
OBJECT DESCRIPTION
Index
2001h
Name
Fullstep resolution
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
www.trinamic.com
PDO Mapping
no
Value Range
200
Default Value
200
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
5.1.3
53
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.
Brake
Bridge
ON
OFF
ON
OFF
t1
Operation Enable
t2
200Ah 2002h
t3
2002h
sub index
sub index
2
1
Figure 5.1 Brake output timing
OBJECT DESCRIPTION
Index
2002h
Name
Brake delay times
Object Code
ARRAY
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
01h
02h
5.1.4
Description
Time between applying brake / disabling
power stage
Time between releasing brake / switching
the state machine to operational
Access
PDO Mapping
Value Range
Default Value
rw
no
0… 65535
0
rw
no
0… 65535
0
Object 2003h: Maximum Current
This object defines the current used when the motor is moving. A value of 16 means 100% of the
maximum current of the drive.
OBJECT DESCRIPTION
Index
2003h
Name
Maximum current
Object Code
Variable
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
5.1.5
PDO Mapping
no
Value Range
0… 16
Default Value
7
Object 2004h: Standby Current
This object defines the current used when the motor is standing. A value of 16 means 100% of the
maximum current of the drive.
OBJECT DESCRIPTION
Index
2004h
Name
Standby current
Object Code
Variable
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
www.trinamic.com
PDO Mapping
no
Value Range
0… 16
Default Value
0
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
5.1.6
54
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
Limit switches
2005h
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
Bit
0
1
2
3
4
5
5.1.7
PDO Mapping
no
Value Range
0… 7
Default Value
0
Definition
Left limit switch deactivated, if set.
Right limit switch deactivated, if set.
Left limit switch inverted, if set.
Right limit switch inverted, if set.
Home switch deactivated, if set.
Home switch inverted, if set.
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 2002h.
OBJECT DESCRIPTION
Index
200ah
Name
Enable drive delay
time
Object Code
Data Type
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
www.trinamic.com
PDO Mapping
no
Value Range
0… 65535
Default Value
0
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
5.1.8
55
Object 200Bh: Encoder Parameters
This object defines the polarity
SWITCHED_ON_DISABLED state.
of
the
encoder
channels.
It
is
only
writable
in
OBJECT DESCRIPTION
Index
200bh
Name
Encoder parameters
Object Code
ARRAY
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Description
Null channel polarity
Bit 0
Access
PDO Mapping
Value Range
Default Value
rw
no
UNSIGNED8
7
Polarity of channel A
on index pulse (0=low,
1=high)
Polarity of channel B
on index pulse (0=low,
1=high)
Polarity of channel N
on index pulse (0=low,
1=high)
Ignore channel A/B
polarity on index pulse
Bit 1
01h
Bit 2
Bit 3
02h
Direction of rotation
rw
no
0/1
0
03h
Initialize position*)
rw
no
0/1
1
5.1.9
Object 200Ch: Brake Current Feed
This object configures how much current has to be fed into the brake to apply and to release it. 0
means 0%, 255 means 100% of the maximum current (this depends on the module). In most cases it
is needed to feed current into the brake to release it. The default configuration is made for this case.
Setting both values to 0 disables the automatic brake control. This object is only writable in
SWITCHED_ON_DISABLED state.
OBJECT DESCRIPTION
Index
200ch
Name
Brake current feed
Object Code
ARRAY
Data Type
Unsigned8
ENTRY DESCRIPTION
Sub-Index
01h
Description
Apply current
02h
Release current
Access
rw
PDO Mapping
no
Value Range
UNSIGNED8
Default Value
0
rw
no
UNSIGNED8
255
5.1.10 Object 2089h: Standby Delay
Time after the motor is stopped until the motor current is changed to standby current (in units of
4.096ms). This can only be changed in SWITCHED_ON_DISABLED mode.
OBJECT DESCRIPTION
Index
2089h
Name
Standby delay
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
www.trinamic.com
PDO Mapping
no
Value Range
0… 4096
Default Value
0
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
56
5.1.11 Object 208Ah: Mixed Decay Run
Use mixed decay when the motor is running if set to 1. This can only be changed in
SWITCHED_ON_DISABLED mode.
OBJECT DESCRIPTION
Index
208ah
Name
Mixed decay run
Object Code
Variable
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
no
Value Range
0… 1
Default Value
1
5.1.12 Object 208Bh: Mixed Decay Standby
Use mixed decay when the motor is standing if set to 1. This can only be changed in
SWITCHED_ON_DISABLED mode.
OBJECT DESCRIPTION
Index
208bh
Name
Mixed decay standby
Object Code
Variable
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
no
Value Range
0… 1
Default Value
0
5.1.13 Object 208Ch: Velocity Dimension Index
Writing 0 selects internal units, writing 181 sets PPS units for velocity and PPS/s units for acceleration.
This can only be changed in SWITCHED_ON_DISABLED mode.
OBJECT DESCRIPTION
Index
208ch
Name
Velocity dimension index
Object Code
Variable
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
no
Value Range
0 or 181
Default Value
0
5.1.14 Object 208Eh: Acceleration Dimension Index
This object reads 0 when internal units are selected or 179 when user units (PPS/s) are selected. This
depends on the setting of object 208Eh, paragraph 5.1.14)
OBJECT DESCRIPTION
Index
208eh
Name
Acceleration dimension
index
Object Code
Data Type
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
www.trinamic.com
PDO Mapping
no
Value Range
0 or 179
Default Value
0
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
57
5.1.15 Object 2100h: Home Offset Display
The value is given in microsteps.
OBJECT DESCRIPTION
Index
2100h
Name
Home offset display
Object Code
Variable
Data Type
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
ro
00h
PDO Mapping
no
Value Range
Refer to Home offset
Default Value
0
5.1.16 Object 2102h: Driver Error Flags
This object shows the hardware error flags of the motor driver IC.
THERE ARE THE FOLLOWING ERROR BITS:
Bit
7
6
5
4
3
2
1
0
Name
OT
OTPW
UV
OCHS
OLB
OLA
OCB
OCA
Function
Overtemperature
Temperature prewarning
Driver undervoltage
Overcurrent high side
Open load bridge B
Open load bridge A
Overcurrent bridge B low side
Overcurrent bridge A low side
Remark
1 = chip of due to overtemperature
1= prewarning temperature exceeded
1 = undervoltage on VS
3 PWM cycles with overcurrent within 63 PWM cycles
No PWM switch off for 14 oscillator cycles
No PWM switch off for 14 oscillator cycles
3 PWM cycles with overcurrent within 63 PWM cycles
3 PWM cycles with overcurrent within 63 PWM cycles
OBJECT DESCRIPTION
Index
2102h
Name
Driver error flags
Object Code
Variable
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
ro
00h
PDO Mapping
no
Value Range
0… 255
Default Value
0
5.1.17 Object 2107h: Microstep Resolution Display
This object shows the microstep resolution (set by object 2000h when internal units are selected or
calculated when user units are selected).
OBJECT DESCRIPTION
Index
2107h
Name
Microstep resolution display
Object Code
Variable
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
PDO Mapping
no
Value Range
0… 11
Default Value
0
5.1.18 Object 2108h: Absolute Resolver Value
This object shows the actual value of the encoder.
OBJECT DESCRIPTION
Index
2108h
Name
Absolute resolver value
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
www.trinamic.com
PDO Mapping
no
Value Range
0… 4095
Default Value
no
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
58
5.1.19 Object 2700h: TMCL Direct Communication
After writing the make signature 0x656b616d 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 has to be reset (using the DS-301 reset application command) to return to normal CANopen
functionality.
OBJECT DESCRIPTION
Index
Name
Microstep resolution display
2700h
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
00h
ro
no
Value Range
Make signature
0x656b616d
Default Value
0
5.1.20 Object 2701h: Manufacturer Specific Mode
Writing the make signature to this object turns on the manufacturer specific mode. The manufacturer
specific mode can be turned off again by writing the kill signature to this object.
read:
0 = manufacturer specific mode is inactive
1 = manufacturer specific mode is active
write:
656b616dh = make signature
6c6c696bh = kill signature
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.
OBJECT DESCRIPTION
Index
2701h
Name
Manufacturer specific mode
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
rw
00h
PDO Mapping
no
Value Range
see textbox
Default Value
0
5.1.21 Object 2702h: Digital inputs
Bits 16… 23 of this object reflect the states of the digital inputs of the module.
Bit
16
17
18
19
etc.
Input
IN_O
IN_1
IN_2
IN_3
OBJECT DESCRIPTION
Index
2702h
Name
Digital inputs
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
www.trinamic.com
PDO Mapping
no
Value Range
-
Default Value
0
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
59
5.1.22 Object 2703h: Digital Outputs
With this object the digital outputs (general purpose outputs) can be set. Bits 16… 23 of sub index 1
switch outputs OUT_0 and OUT_1 of the module. Bits 16… 23 of sub index 2 determine which outputs
can be switched. The number of available digital outputs depends on the module type.
OBJECT DESCRIPTION
Index
Name
Digital outputs
2703h
Object Code
Array
Data Type
ENTRY DESCRIPTION
Sub-Index
01h
Description
Physical outputs
02h
Output mask
Access
rw
PDO Mapping
no
Value Range
UNSIGNED32
Default Value
0
rw
no
UNSIGNED32
0
With this object the digital outputs (general purpose outputs) can be set. Bits 16..23 of sub index 1
switch outputs 0..8 of the module. Bits 16..23 of sub index 2 determine which outputs can be
switched. The number of available digital outputs depends on the module type.
5.1.23 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 2706. After that, reset the
module. The new setting becomes active now.
OBJECT DESCRIPTION
Index
Name
CAN bit rate load
2704h
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
PDO Mapping
no
Value Range
20, 50, 125, 250, 500, 1000
Default Value
1000
5.1.24 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 becomes
active now.
OBJECT DESCRIPTION
Index
Name
Node ID load
2705h
Object Code
Variable
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
00h
Access
rw
PDO Mapping
no
Value Range
1… 127
HOW TO CHANGE THE NODE ID:
-
Write new node ID in object 2705h.
-
Write safe signature 65766173h in sub-index 01h of object 2706h.
-
Reset module.
www.trinamic.com
Default Value
1
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
60
5.1.25 Object 2706h: Store
Writing the save signature to this object permanently saves changes made on objects 2707 h and
2708h.
Save signature:
65766173h
OBJECT DESCRIPTION
Index
Name
Store
2706h
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
PDO Mapping
no
Value Range
Highest sub-index supported
Default Value
1
01h
rw
no
Save signature
0
5.1.26 Object 2707h: CAN Bit Rate Load
Shows the selected CAN bit rate.
OBJECT DESCRIPTION
Index
Name
CAN bit rate
2707h
Object Code
Variable
Data Type
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
PDO Mapping
No
Value Range
20, 50, 125, 250, 500, 800, 1000
Default Value
1000
5.1.27 Object 2708h: Node ID load
This object shows the selected node ID.
OBJECT DESCRIPTION
Index
Name
Node ID
2708h
Object Code
Variable
Data Type
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
00h
Access
ro
www.trinamic.com
PDO Mapping
no
Value Range
1… 127
Default Value
Depends on ID switches
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
61
5.1.28 Object 270Eh: Device Analog Inputs
This object provides the values of the analog inputs of the device (if the device is equipped with
analogue inputs).
OBJECT DESCRIPTION
Index
270Eh
Name
Device Analog Inputs
Object Code
Variable
Data Type
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
01h
Access
ro
ro
PDO Mapping
no
no
Value Range
Highest sub-index
0..1023
Default Value
8
0
02h
ro
no
0..1023
0
03h
ro
no
0..1023
0
04h
ro
no
0..1023
0
05h
ro
no
0..1023
0
06h
ro
no
0..1023
0
07h
ro
no
0.1023
0
08h
ro
no
0..1023
0
00h
www.trinamic.com
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
6 Emergency messages
The module sends an emergency message if an error occurs. The message contains information about
the error type. The module can map internal errors and object 1001h (error register) is part of every
emergency object.
ERROR CODES FOR THE PD-146 AND THE TMCM-142:
Error code
Add. byte
Description
1
2
3
4
5
0000h
0
0
0
0
0
1000h
1
0
0
0
0
1000h
2
0
0
0
0
2310h
0
0
0
0
0
2311h
0
0
0
0
0
2312h
0
0
0
0
0
3230h
0
0
0
0
0
4310h
1
0
0
0
0
Overtemperature pre-warning
The temperature in the motor driver exceeds the pre-warning limit.
4310h
2
0
0
0
0
Overtemperature error
The motor driver has been switched off because the temperature limit has been exceeded.
5441h
0
0
0
0
0
6320h
0
0
0
0
0
8110h
1
0
0
0
0
81110h
2
0
0
0
0
CAN Tx buffer overflow
The software CAN transmit buffer is full and thus some CAN messages are lost.
81110h
3
0
0
0
0
CAN Rx buffer overflow
The software CAN receive buffer is full and so some CAN messages are lost.
8120h
0
0
0
0
0
8140h
0
0
0
0
0
8611h
0
0
0
0
0
0xff00
0
0
0
0
0
Undervoltage
The supply voltage is too low to drive a motor.
ff01h
1
0
0
0
0
Positive software limit
The actual position is outside the range defined by object 0x607d.
www.trinamic.com
Fault reset
The fault reset command has been executed.
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.
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.
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.
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.
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.
stallGuard™ error
The actual load value exceeds the stallGuard™ limit. Please note, that the actual versions
of PD-146 and TMCM-142 do not have the stallGuard™ feature. We consider this for future
versions.
Shutdown switch active
The enable signal is missing (due to the shutdown switch) and the motor driver has been
switched off.
Parameter error
The data in the received PDO is either wrong or cannot be accepted due to the internal
state of the drive.
CAN controller overflow
The receive message buffer of the CAN controller hardware is full and some CAN messages
are lost.
CAN error passive
The CAN controller has detected communication errors and has entered the CAN Error
passive state.
CAN controller recovered from bus-off state
The CAN controller had detected too many errors and had changed into the bus-off state.
The drive has been stopped and disabled. This message is sent after the CAN controller has
recovered from bus-off state and is bus-on again.
Following error
The deviation between motor position counter and encoder position counter has exceeded
the following error window.
62
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
ff01h
2
0
0
0
0
Negative software limit
The actual position is outside the range defined by object 0x607d.
ff01h
3
0
0
0
0
Positive limit switch
The positive limit switch has been touched outside of the homing function.
ff01h
4
0
0
0
0
Negative limit switch
The negative limit switch has been touched outside of the homing function.
www.trinamic.com
63
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
7 Life Support Policy
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.
© TRINAMIC Motion Control GmbH & Co. KG 2011-2014
Information given in this data sheet is believed to be
accurate and reliable. However neither 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.
www.trinamic.com
64
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
8 Revision History
8.1 Firmware Revision
Version
3.00
3.01
Author
Date
2009-SEP-15 OK
2009-OCT-12 OK
3.02
3.03
3.05
2010-JAN-07 OK
2010-JAN-29 OK
2010-DEC-15 OK
3.06…
3.17
3.18
OK
25.04.2014
OK
Description
First version for TMC457 based modules
Home switch polarity reversed
Node ID and bitrate can be configured via
manufacturer specific objects
Home switch polarity switchable (via object 2005h)
Internal error corrections and optimizations
Heartbeat consumer functionality added
Non volatile storage of some motor parameters
added
Analog inputs can be read via object 270Eh
Not deployed.
Attention!
Per default, the encoder is not active. Set the sensor
selection code (object 606Ah) to meet your needs.
New or modified objects:
100Ch guard time new
100Dh life time factor new
1010h store parameters updated
1011 restore default parameters updated
2108h absolute resolver value new
6098h homing methods updated and new
methods added
2108h absolute resolver value new
Table 8.1 Firmware revision
www.trinamic.com
65
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
8.2 Document Revision
Version
0.95
0.96
1.00
1.01
1.02
1.03
Date
Author
2009-SEP-15
OK
2009-OCT-12
OK
2010-FEB-23
SD
2010-MAR-15
SD
2010-MAY-24
SD
2010-JUN-15
SD
1.04
2011-AUG-01
SD
2.00
2014-JUN-26
SD
Description
Initial version for TMC457 based modules
Description of homing modes corrected
Initial version based on version 0.96
Controlword and statusword corrected
Objects 2704h, 2705h, 2707h, 2708h corrected
Object 2706h and 6098h corrected, minor changes
Objects 1010h, 1011h, and 1016h added; new front
page
Attention!
Per default, the encoder is not active. Set the sensor
selection code (object 606Ah) to meet your needs.
New or modified objects:
100Ch guard time new
100Dh life time factor new
1010h store parameters updated
1011 restore default parameters updated
2108h absolute resolver value new
6098h homing methods updated and new
methods added
2108h absolute resolver value new
200Bh updated
Changes related to the design.
Table 8.2 Document revision
www.trinamic.com
66
TMCM-142/PD-146 CANopen V3.18 Manual (Rev. 2.00 / 2014-JUN-26)
9 References
[TMCM-142-IF]
[TMCM-142-IF]
[PD-146-60-SE]
[PD-146-60-SE]
[TMCM-IF]
[QSH5718]
[QSH6018]
www.trinamic.com
TMCM-142-IF Hardware Manual (see http://www.trinamic.com)
TMCM-142-IF TMCL™ Firmware Manual (see http://www.trinamic.com)
PD-146-60-SE Hardware Manual (see http://www.trinamic.com)
PD-146-60-SE TMCL™ Firmware Manual (see http://www.trinamic.com)
TMCM-IF Hardware Manual (see http://www.trinamic.com)
QSH5718 Manual (see http://www.trinamic.com)
QSH6018 Manual (see http://www.trinamic.com)
67