User Manual
CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 2
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Table of Contents
1 Preface ............................................................................................................................................................................. 6
1.1 General Features of the CANopen Implementation .................................................................................. 6
1.2 Abbreviations ........................................................................................................................................................ 7
1.3 Firmware Update ................................................................................................................................................. 7
2 Communication ............................................................................................................................................................. 9
2.1 Reference Model .................................................................................................................................................. 9
2.2 NMT State Machine ............................................................................................................................................ 10
2.3 Device Model....................................................................................................................................................... 12
2.4 Object Dictionary ............................................................................................................................................... 13
3 Communication Objects ........................................................................................................................................... 14
3.1 Detailed Object Specifications ....................................................................................................................... 14
3.1.1 Object 1000
h
: Device Type ......................................................................................................................... 14
3.1.2 Object 1001
h
: Error Register...................................................................................................................... 14
3.1.3 Object 1005
h
: COB-ID SYNC Message ..................................................................................................... 15
3.1.4 Object 1008
h
: Manufacturer Device Name ............................................................................................ 15
3.1.5 Object 1009
h
: Manufacturer Hardware Version ................................................................................... 15
3.1.6 Object 100A
h
: Manufacturer Software Version .................................................................................... 15
3.1.7 Object 100C
h
: Guard Time ......................................................................................................................... 16
3.1.8 Object 100D
h
: Life Time Factor ................................................................................................................ 16
3.1.9 Object 1010
h
: Store Parameters ............................................................................................................... 16
3.1.10 Object 1011
h
: Restore Default Parameters ........................................................................................... 17
3.1.11 Object 1014
h
: COB-ID Emergency Object .............................................................................................. 19
3.1.12 Object 1015
h
: Inhibit Time EMCY ............................................................................................................ 19
3.1.13 Object 1016
h
: Consumer Heartbeat Time .............................................................................................. 19
3.1.14 Object 1017
h
: Producer Heartbeat Time ................................................................................................ 19
3.1.15 Object 1018
h
: Identity Object ................................................................................................................... 20
3.1.16 Object 1023
h
: OS Command ..................................................................................................................... 20
3.1.17 Object 1029
h
: Error Behavior .................................................................................................................... 20
3.1.18 Objects 1400
h
-1405
h
: Receive PDO Communication Parameter ...................................................... 21
3.1.19 Objects 1600
h
-1605
h
: Receive PDO Mapping ........................................................................................ 21
3.1.20 Objects 1800
h
-1805
h
: Transmit PDO Communication Parameter .................................................... 22
3.1.21 Objects 1A00
h
-1A05
h
: Transmit PDO Mapping Parameter ................................................................ 23
4 Device Profile Objects (CiA402) and Modes of Operation .............................................................................. 24
4.1 Detailed Object Specifications ....................................................................................................................... 24
4.1.1 Object 605A
h
: Quick Stop Option Code ................................................................................................. 24
4.1.2 Object 605B
h
: Shutdown Option Code .................................................................................................. 25
4.1.3 Object 605C
h
: Disable Operation Option Code .................................................................................... 25
4.1.4 Object 605D
h
: Halt Option Code .............................................................................................................. 25
4.1.5 Object 605E
h
: Fault Reaction Option Code ........................................................................................... 26
4.1.6 Object 6060
h
: Modes of Operation.......................................................................................................... 26
4.1.7 Object 6061
h
: Modes of Operation Display .......................................................................................... 26
4.1.8 Object 606A
h
: Sensor Selection Code .................................................................................................... 27
4.1.9 Object 6085
h
: Quick Stop Deceleration .................................................................................................. 27
4.1.10 Object 608F
h
: Position Encoder Resolution .......................................................................................... 27
4.1.11 Object 60C5
h
: Max Acceleration ............................................................................................................... 28
4.1.12 Object 60C6
h
: Max Deceleration ............................................................................................................... 28
4.1.13 Object 60FD
h
: Digital Inputs ..................................................................................................................... 28
4.1.14 Object 6502
h
: Supported Drive Modes ................................................................................................... 29
4.2 Profile Position Mode ....................................................................................................................................... 30
4.2.1 Detailed Object Specifications ................................................................................................................. 30
4.2.1.1 Object 6040
h
: Controlword.............................................................................................................. 31
4.2.1.2 Object 6041
h
: Statusword ................................................................................................................ 32
4.2.1.3 Object 6062
h
: Position Demand Value......................................................................................... 33
4.2.1.4 Object 6063
h
: Position Actual Internal Value ............................................................................ 33
4.2.1.5 Object 6064
h
: Position Actual Value ............................................................................................. 33
4.2.1.6 Object 6065
h
: Following Error Window ...................................................................................... 34