COOKIE Cookie for BLDC/PMSM Motors TMCC160 CoE Firmware Manual Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 The CoE Firmware is used in combination with the integrated TMCC160 motionCookieTM microsystem with 3-Phase BLDC/PMSM gate driver for up to 24V and 1A gate current.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Contents 1 Preface 1.1 General Features of this CoE Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 Abbreviations used in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.3 Firmware Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Communication 2.1 Reference Model . 2.2 NMT State Machine 2.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 6 Profile Position Mode 6.1 Detailed Object Specifications . . . . . . . . . . . . . 6.2 Detailed Object Specifications . . . . . . . . . . . . . 6.2.1 Object 6040h : Control Word . . . . . . . . . . 6.2.2 Object 6041h : Status Word . . . . . . . . . . 6.2.3 Object 6062h : Position Demand Value . . . . 6.2.4 Object 6063h : Position Actual Internal Value 6.2.5 Object 6064h : Position Actual Value . . . . . 6.2.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 9.1.8 Object 607Dh : Software Position Limit . 9.1.9 Object 607Fh : Max Profile Velocity . . . 9.1.10 Object 6081h : Profile Velocity (pp) . . . 9.1.11 Object 6082h : End Velocity . . . . . . . 9.1.12 Object 6083h : Profile Acceleration . . . 9.1.13 Object 6084h : Profile Deceleration . . . 9.1.14 Object 6085h : Quick Stop Deceleration 9.2 How to move a Motor in csp Mode . . . . . . . . . . . . . . . . . . .
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 1 5 / 88 Preface This document specifies objects and modes of operation of the Trinamic TMCC160 BLDC/PMSM motor control module with CANopen-over-EtherCAT (CoE) firmware. The CoE firmware is designed to fulfill the EtherCAT version of the CANopen DS402 standards. The EtherCAT conformance has also been tested.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 1.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 2 2.1 7 / 88 Communication 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.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 8 / 88 Service Types Type Definition Local service Involves only the local service object. The application issues a request to its local service object that executes the requested service without communicating with peer service object(s). Unconfirmed service Involves one or more peer service objects. The application issues a request to its local service object.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 2.2 9 / 88 NMT State Machine The finite state machine (FSM) or simply state machine is a model of behavior composed of a finite number of states, transitions between those states, and actions. It shows which way the logic runs when certain conditions are met. Starting and resetting the device is controlled via the state machine. The NMT state machine consists of the states shown in figure 1.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Safe-Operational state. The Bootstrap (BOOT) state is used for firmware updates via FoE. Before FoE can be used the device has to be switched to this state. 2.3 Device Model A CoE device mainly consists of the following parts: • Communication: This function unit provides the communication objects and the appropriate functionality to transport data items via the underlying network structure.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 2.4 11 / 88 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.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 3 12 / 88 Communication Area The communication area contains all objects that define the communication parameters of the CoE device according to the EtherCAT standard. 3.1 Detailed Object Specifications 3.1.1 Object 1000h : Device Type This object contains information about the device type. The object 1000h describes the type of device and its functionality.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Error Register Bits Bit Definition 0 Generic error 1 Current 2 Voltage 3 Temperature 4 Communication error 5 Device profile specific 6 Reserved (always 0) 7 Manufacturer specific Table 9: Error Register Bits 3.1.3 Object 1008h : Manufacturer Device Name This object contains the name of the device as given by the manufacturer.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 14 / 88 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no — Depends on device, e.g. 1.0. Table 13: Entry Description (1009h ) 3.1.5 Object 100Ah : Manufacturer Software Version This object contains the software version description.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 00h Number of entries ro no 0. . . 3 3 01h Vendor ID ro no UNSIGNED32 0286h 02h Product code ro no UNSIGNED32 160 03h Revision number ro no UNSIGNED32 e.g. 20003h for version 2.3 Table 17: Entry Description (1018h ) 3.1.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 3.1.8 16 / 88 Objects 1A00h : Transmit PDO Mapping Parameter This object contains the mapping parameters for the TPDO the device is able to transmit. The sub-index 00h contains the number of valid entries within the mapping record. This number of entries is also the number of the application variables which shall be transmitted with the corresponding TPDO.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub-index Description Access Value Range 00h Number of assigned PDOs rw 0. . . 1 01h PDO mapping index of assigned RPDO rw UNSIGNED16 Default Value 1 1600h Table 26: Entry Description (1C12h ) 3.1.11 Objects 1C13h : Sync Manager 3 PDO Assignment This object contains the index of the PDO definiton object that is assigned to sync manager 3.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 4 19 / 88 Manufacturer specific area The manufacturer segment contains manufacturer specific objects. These objects control the special features of the Trinamic Motion Control device TMCC160. 4.1 Detailed object specifications 4.1.1 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.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 4.1.2 Object 200Dh : Status Flags This object provides information about the actual module status flags. (0: not active, 1: active). This object is organized bit-wise.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub- PDO index Name Mapping Min Max Default Unit Access 0 Supply Voltage no 0 480 240 [100mV] R Table 35: Entry Description (200Eh ) 4.1.4 Object 200Fh : Driver Temperatur The actual temperature of the motor driver.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 4.1.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 4.1.
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/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub- PDO index Name Mapping Min Max Default 0 Velocity Ramp Mode no 0 1 1 Unit Access RW Table 51: Entry Description (2056h ) 4.1.
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/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 4.1.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Object Description Index Name Object Type Data Type 2702h Digital Inputs Variable UNSIGNED32 Table 64: Object Description (2702h ) Entry Description Sub- PDO index Name Mapping Min Max Default 0 Digital Inputs no 0 7 0 Unit Access R Table 65: Entry Description (2702h ) 4.1.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub- PDO index Name Mapping Min Max Default 1 ADC_IN_0 no 0 65535 0 R 2 ADC_SINGLE_SHUNT no 0 65535 32767 R 3 ADC_phase_A no 0 65535 32767 R 4 ADC_phase_B no 0 65535 32767 R 5 ADC_VSupply no 0 65535 0 R 6 ADC_Temp no 0 65535 0 R Table 69: Entry Description (270Eh ) ©2018 TRINAMIC Motion Control GmbH & Co.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 5 30 / 88 Profile specific area The profile segment contains CiA-402 standard motion control objects. These objects control the motion control functions of the TMCC160. 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.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 31 / 88 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw refer to CiA-402 0/1/3/6/8/9/10 0 Table 72: Entry Description (6060h ) 5.0.2 Object 6061h : Modes of Operation Display This object shows the operating mode that is currently set.
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TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 6 33 / 88 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 5.0.1) for information about how to choose an operation mode. Object 6061h (section 5.0.2) shows the operation mode that is set. 6.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 6.2 6.2.1 34 / 88 Detailed Object Specifications Object 6040h : Control Word This object indicates the received command controlling the power drive system finite state automaton (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to figure 3 for detailed information.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 81: Object Description (6040h in pp Mode) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See command coding above. Table 82: Entry Description (6040h in pp Mode) 6.2.2 Object 6041h : Status Word This object provides the status of the PDS FSA.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 36 / 88 Operation Mode specific Bits in pp Mode Bit Name Definition 10 Target reached Set when the motor is within the position window. 12 Set point acknowledged 0: Set point processed. 1: Set point still in process. 13 Following error Not supported.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Object Description Index Name Object Type Data Type 6062h Position Demand Value Variable SIGNED32 Table 89: Object Description (6062h ) Entry Description Sub- PDO index Name Mapping Min Max Default 0 Position Demand Value yes -2147483648 2147483647 0 Unit Access R Table 90: Entry Description (6062h ) 6.2.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub- PDO index Name Mapping Min Max Default 0 Position Actual Value yes -2147483648 2147483647 0 Unit Access R Table 94: Entry Description (6064h ) 6.2.6 Object 6067h : Position Window This object indicates the configured symmetrical range of accepted positions relative to the target position.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub- PDO index Name Mapping Min Max Default Unit Access 0 Velocity Actual Value yes -2147483648 2147483647 0 [rpm] R Table 98: Entry Description (606Ch ) 6.2.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub- PDO index Name Mapping Min Max Default Unit Access 1 Min Position Limit no -2147483648 2147483647 -2147483648 RW 2 Max Position Limit no -2147483648 2147483647 2147483647 RW Table 102: Entry Description (607Dh ) 6.2.10 Object 607Fh : Max Profile Velocity Max. absolute velocity for velocity and positioning mode.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 6.2.12 Object 6082h : End Velocity This object indicates the configured velocity normally attained at the end of the deceleration ramp during a profiled motion and is valid for both directions of motion. The end velocity is the velocity used when reaching the new position.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Object Description Index Name Object Type Data Type 6084h Profile Deceleration Variable UNSIGNED32 Table 111: Object Description (6084h ) Entry Description Sub- PDO index Name Mapping Min Max Default Unit Access 0 Profile Deceleration no 0 100000 2000 [rpm/s] RW Table 112: Entry Description (6084h ) 6.2.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 6.3 43 / 88 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. • Select pp mode by writing 1 to object 6060h (Modes_of_Operation).
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 7 44 / 88 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.
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TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Trinamic Specific Bits Bit Name Definition 14 Motor activity 0: Motor stands still. 1: Motor rotates. 15 Direction of rotation This bit shows the direction of rotation. Table 120: Trinamic Specific Bits Operation Mode specific Bits in pv Mode Bit Name Definition 10 Target reached Indicates that the target speed has been reached. 12 Speed Not supported. 13 Max. slippage error Not supported.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 124: Entry Description (6041h in pv Mode) 7.1.3 Object 606Bh : Velocity Demand Value This objects provides the output value of the trajectory generator.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 7.1.5 Object 6083h : Profile Acceleration This object indicates the configured acceleration. Object 6083h sets the maximum acceleration to be used in profile positioning mode, and profile velocity mode.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 7.2 49 / 88 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. • Select pv mode by writing 3 to object 6060h (Modes_of_Operation). • Write 6 to object 6040h (Controlword) to switch to READY_TO_SWITCH_ON state.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 8 50 / 88 Homing mode This chapter describes the method by which a drive seeks the home position (reference point). There are various methods of achieving this using limit switches at the ends of travel or a home switch in mid-travel. Some methods also use the index (zero) pulse train from an incremental encoder. The user may specify the speeds, acceleration and the method of homing.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 8.1 51 / 88 Homing Methods The TMCC160 supports a subset of different standard CANopen homing methods. The homing method that is to be used can be choosen via object 6098h (section 8.2.5). Supported Homing Methods Method Description 0 No homing (default value for object 6098h ). 17 Search the left end switch. 18 Search the right end switch. 35 The actual position is used as home position.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 8.2 8.2.1 52 / 88 Detailed Object Specifications Object 6040h : Control Word This object indicates the received command controlling the power drive system finite state automaton (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to figure 3 for detailed information.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 138: Object Description (6040h in hm Mode) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See command coding above. Table 139: Entry Description (6040h in hm Mode) 8.2.2 Object 6041h : Status Word This object provides the status of the PDS FSA.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Operation Mode specific Bits in hm Mode Bit Name Definition 10 Target reached Set when the zero position has been found or homing has been stopped by setting controlword bit 4 to zero. 12 Home attained Set when zero position has been found. 13 Homing error Not supported.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Object Description Index Name Object Type Data Type 606Ch Velocity Actual Value Variable SIGNED32 Table 146: Object Description (606Ch ) Entry Description Sub- PDO index Name Mapping Min Max Default Unit Access 0 Velocity Actual Value yes -2147483648 2147483647 0 [rpm] R Table 147: Entry Description (606Ch ) 8.2.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub- PDO index Name Mapping Min Max Default 0 Homing Method no 0 35 0 Unit Access RW Table 151: Entry Description (6098h ) 8.2.6 Object 6099h : Homing Speeds This object indicates the configured speeds used during fast and slow homing procedure. In most homing modes, the home switch is searched with the fast speed first.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub- PDO index Name Mapping Min Max Default Unit Access 0 Homing Acceleration no 0 100000 2000 [rpm/s] RW Table 155: Entry Description (609Ah ) 8.2.8 Object 2100h : Home Offset Display This object shows the home offset. The value is given in encoder or hall increments.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 8.3 58 / 88 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 .
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 9 59 / 88 Cyclic synchonous Position Mode The cyclic synchronous position mode is used to directly control the position of the motor. It contains limit functions, but not a trajectory generator. The trajectory generator is located in the control device (the master), not in the drive device.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 160: Object Description (6040h in csp Mode) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See command coding above. Table 161: Entry Description (6040h in csp Mode) 9.1.2 Object 6041h : Status Word This object provides the status of the PDS FSA.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 61 / 88 Operation Mode specific Bits in csp Mode Bit Name Definition 10 Reserved Not used. 12 Target position ignored 0: Target position ignored. 1: Target position used as input to position controller. 13 Following error 0: No following error. 1: Following error.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Object Description Index Name Object Type Data Type 6062h Position Demand Value Variable SIGNED32 Table 168: Object Description (6062h ) Entry Description Sub- PDO index Name Mapping Min Max Default 0 Position Demand Value yes -2147483648 2147483647 0 Unit Access R Table 169: Entry Description (6062h ) 9.1.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub- PDO index Name Mapping Min Max Default 0 Position Actual Value yes -2147483648 2147483647 0 Unit Access R Table 173: Entry Description (6064h ) 9.1.6 Object 606Ch : Velocity Actual Value This object shows the actual velocity value derived from the velocity sensor.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 9.1.8 Object 607Dh : Software Position Limit This object indicates the configured maximal and minimal software position limits. These parameters define the absolute position limits for the position demand value and the position actual value. Every new target position is checked against these limits. The limit positions are always relative to the machine home position.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 9.1.10 65 / 88 Object 6081h : Profile Velocity (pp) 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.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Object Description Index Name Object Type Data Type 6083h Profile Acceleration Variable UNSIGNED32 Table 186: Object Description (6083h ) Entry Description Sub- PDO index Name Mapping Min Max Default Unit Access 0 Profile Acceleration no 0 100000 2000 [rpm/s] RW Table 187: Entry Description (6083h ) 9.1.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub- PDO index Name Mapping Min Max Default Unit Access 0 Quick Stop Deceleration no 0 100000 2000 [rpm/s] RW Table 191: Entry Description (6085h ) 9.2 How to move a Motor in csp Mode Here is a little example that shows how to get a motor running in csp mode.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 10 68 / 88 Cyclic synchonous Velocity Mode The cyclic synchronous velocity mode is used to directly control the velocity of the motor. It contains limit functions, but not a trajectory generator. The trajectory generator is located in the control device (the master), not in the drive device.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 194: Object Description (6040h in csv Mode) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See command coding above. Table 195: Entry Description (6040h in csv Mode) 10.1.2 Object 6041h : Status Word This object provides the status of the PDS FSA.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Operation Mode specific Bits in pv Mode Bit Name Definition 10 Target reached Indicates that the target speed has been reached. 12 Speed Not supported. 13 Max. slippage error Not supported.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Object Description Index Name Object Type Data Type 606Bh Velocity Demand Value Variable SIGNED32 Table 202: Object Description (606Bh ) Entry Description Sub- PDO index Name Mapping Min Max Default 0 Velocity Demand Value yes -2147483648 2147483647 0 Unit Access R Table 203: Entry Description (606Bh ) 10.1.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub- PDO index Name Mapping Min Max Default Unit Access 0 Profile Acceleration no 0 100000 2000 [rpm/s] RW Table 207: Entry Description (6083h ) 10.1.6 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.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 10.2 73 / 88 How to move a Motor in csv Mode Here is a little example that shows how to get a motor running in csv 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. • Select csv mode by writing 9 to object 6060h (Modes_of_Operation). • Write 6 to object 6040h (Controlword) to switch to READY_TO_SWITCH_ON state.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 11 74 / 88 Cyclic synchronous Torque Mode The cyclic synchronous torque mode is used to directly control the torque of the motor, without the need for position or velocity control. It contains limit functions, but not a trajectory generator. The cyclic synchronous torque mode covers the following sub-functions: • Demand value input directly via an object. • Monitoring and limiting the torque. 11.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 212: Object Description (6040h in cst Mode) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See command coding above. Table 213: Entry Description (6040h in cst Mode) 11.1.2 Object 6041h : Status Word This object provides the status of the PDS FSA.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Operation Mode specific Bits in cst Mode Bit Name Definition 10 Reserved Not used. 12 Target torque ignored 0: Target torque ignored. 1: Target torque used as input to control loop. 13 Reserved Not used.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 77 / 88 Object Description Index Name Object Type Data Type 6071h Target Torque Variable SIGNED32 Table 220: Object Description (6071h ) Entry Description Sub- PDO index Name Mapping Min Max Default Unit Access 0 Target Torque yes -90000 90000 0 [mA] RW Table 221: Entry Description (6071h ) 11.1.4 Object 6072h : Max Torque Max. allowed absolute motor current.
/ 88 TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Entry Description Sub- PDO index Name Mapping Min Max Default Unit Access 0 Torque Demand Value yes -90000 90000 0 [mA] R Unit Table 225: Entry Description (6074h ) 11.1.6 Object 6077h : Torque Actual Value The actual motor current.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 11.2 79 / 88 How to move a Motor in cst Mode Here is a little example that shows how to get a motor running in cst mode. In this little example we assume that the module has been reset (and then switched to start) by NMT commands before. • Select cst mode by writing 10 to object 6060h (Modes_of_Operation). • Write 6 to object 6040h (Controlword) to switch to READY_TO_SWITCH_ON state.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 12 80 / 88 Emergency Messages (EMCY) The module sends an emergency message if an error occurs. The message contains information about the error type. The module can map internal errors and object 1001h (error register) is part of every emergency object.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 Error code Additional byte 81 / 88 Description 1 2 3 4 5 8611h 0 0 0 0 0 Following error The deviation between motor position counter and encoder position counter has exceeded the following error window. ff00h 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 607dh .
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 13 1 2 82 / 88 Figures Index NMT State Machine . . . . . . . . . . . Device Model . . . . . . . . . . . . . . 9 10 ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com 3 4 DS402 Finite State Machine . . . . . . Homing Mode Function . . . . . . . .
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 14 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 83 / 88 Tables Index Abbreviations used in this Manual . . Service Primitives . . . . . . . . . . . . Service Types . . . . . . . . . . . . . . Object Dictionary . . . . . . . . . . . . Object Description (1000h ) . . . . . . . Entry Description (1000h ) . . . . . .
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 Entry Description (607Fh ) . . . . . . . Object Description (6081h ) . . . . . . . Entry Description (6081h ) . . . . . . . Object Description (6082h ) . . . . . . . Entry Description (6082h ) . . . . . . .
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 204 205 206 207 208 209 210 211 212 213 214 215 216 217 Object Description (606Ch ) . . . . . . Entry Description (606Ch ) . . . . . . . Object Description (6083h ) . . . . . . . Entry Description (6083h ) . . . . . . . Object Description (60FFh ) . . . . . . . Entry Description (60FFh ) . . . . . . . Structure of the Control Word in cst Mode . . . . . . . . . . . . . . . . . . . Command Coding . . . . . . . . . .
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 15 86 / 88 Supplemental Directives 15.1 Producer Information 15.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2018 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 87 / 88 or of any other nature are made hereunder with respect to information/specification or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product.
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04 16 16.1 Revision History Firmware Revision Version Date Author Description 4.00 02.10.2017 ED First release. 4.01 03.01.2018 ED Added Distributed Clocks support. Table 231: Firmware Revision 16.2 Document Revision Version Date Author Description 1.00 25.10.2017 ED First release. 1.01 04.01.2018 ED Added CSP and CSV mode.