User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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1 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.
This manual assumes that the reader is already familiar with the basics of EtherCAT and the CoE protocol
(especially DS402).
1.1 General Features of this CoE Implementation
Main Characteristics
• Communication according to EtherCAT standards
• Protocols: CoE
SDO Communication
• 1 server
• Expedited transfer
• Segmented transfer
• No block transfer
PDO Communication
• Producer
• Consumer
• RPDOs
– Dynamic mapping with max. 9 mapping entries.
– Default mappings: manufacturer specific.
• TPDOs
– Dynamic mapping with max. 9 mapping entries.
– Default mappings: manufacturer specific.
Sync managers
• Sync manager 0: receive mailbox used for SDO communication
• Sync manager 1: send mailbox used for SDO communication
• Sync manager 2: process data output (used for TPDO)
• Sync manager 3: process data input (used for RPDO)
Further Characteristics
• Emergency: producer
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