User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01

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Further Characteristics

• SYNC: consumer (TPDOs 3 are synchronous PDOs)

• Emergency: producer

• RTR: supported only for node guarding/life guarding

• Heartbeat: consumer and producer

1.2 Abbreviations used in this Manual

Abbreviations

CAN Controller area network

CHGND chassis ground / earth ground

COB Communication object

FSA Finite state automaton

FSM Finite state machine

NMT Network management

ID Identiﬁer

LSB Least signiﬁcant bit

MSB Most signiﬁcant bit

PDO Process data object

PDS Power drive system

RPDO Receive process data object

SDO Service data object

TPDO Transmit process data object

EMCY Emergency object

rw Read and write

ro Read only

hm Homing mode

pp Proﬁle position mode

pv Proﬁle velocity mode

vm Velocity mode

Table 1: Abbreviations used in this Manual

1.3 Firmware Update

The software running on the microprocessor consists of two parts, a boot loader and the 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,

using the USB interface of the module.

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com