User Manual

PD42-1270 CANopen
®
Firmware Manual • Firmware Version V3.19 | Document Revision V1.0 • 2017-Mar-02
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1 Preface
This document specifies objects and modes of operation of the Trinamic PD42-1270 stepper motor control
PANdrive ™ with CANopen firmware. The CANopen firmware is designed to fulfill the CANopen DS402 and
DS301 standards. This manual assumes that the reader is already familiar with the basics of the CANopen
protocol, defined by the DS301 and DS402 standards of the CAN-CiA.
If necessary, it is always possible to turn the PD42-1270 into a TMCL module by loading the PD42-1270
TMCL firmware again with the help of the firmware update function of the TMCL-IDE 3.0. First switch to
the bootloader as described in Section 1.3 and then load the desired file.
1.1 General Features of this CANopen Implementation
Main Characteristics
• Communication according to standard CiA-301 V4.1
• CAN bit rate: 20. . . 1000kBit/s
• CAN ID: 11 bit
• Node ID: 1. . . 127 (use vendor specific objects for changing the node ID)
• NMT services: NMT slave
SDO Communication
• 1 server
• Expedited transfer
• Segmented transfer
• No block transfer
PDO Communication
• Producer
• Consumer
• RPDOs
– Axis 0: 1, 2, 3, 4
– Transmission modes: asynchronous.
– Dynamic mapping with max. 3 mapping entries.
– Default mappings: according to CiA-402 for first three PDOs of each axis, manufacturer specific
for other PDOs of each axis.
• TPDOs
– Axis 0: 1, 2, 3, 4
– Transmission modes: asynchronous, asynchronous with event timer, synchronous.
– Dynamic mapping with max. 3 mapping entries.
– Default mappings: according to CiA-402 for first three PDOs of each axis, manufacturer specific
for other PDOs of each axis.
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