User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 20
www.trinamic.com
3.1.15 Object 1018
h
: Identity Object
The object 1018
h
contains general information about the device.
- The Vendor ID (sub-index 01
h
) contains a unique value allocated to each manufacturer. The
vendor ID of TRINAMIC is 0286
h
.
- The manufacturer-specific Product code (sub-index 2
h
) identifies a specific device version.
- The Manufacturer-specific Revision number (sub-index 3
h
) consists of a major revision number
and a minor revision number.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
Category
1018
h
Identity object
RECORD
Identity
Optional
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Number of entries
ro
no
0… 3
number of entries:3
01
h
Vendor ID (TRINAMIC)
ro
no
UNSIGNED32
reads 0286
h
02
h
Product code
ro
no
UNSIGNED32
1180, 1160, or 1140
03
h
Revision number
ro
no
UNSIGNED32
firmware revision number;
reads e.g. 3016
h
for version 3.16
04
h
Serial number
ro
no
UNSIGNED32
serial number
3.1.16 Object 1023
h
: OS Command
The OS Command object is used as a command driven interface to programmable devices. The host system
puts the command into the object OS Command, which is of the type Command Par.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
Category
1023
h
OS command
RECORD
Command Par
Optional
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Number of
supported entries
ro
no
3
number of entries: 3 (for direct TMCL
communication)
01
h
Command (TMCL
command)
rw
no
Octet string
no
02
h
Status (error code
of a TMCL
command)
ro
no
UNSIGNED8
no
03
h
Reply (reply of a
TMCL command)
ro
no
Octet string
no
3.1.17 Object 1029
h
: Error Behavior
If a device failure is detected in operational state, the device can be configured to enter alternatively the
stopped state or remain in the current state in case of a device failure. Device failures include the following
errors:
- Communication error
- Application error
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1029
h
Error behavior
ARRAY
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Number of error classes
ro
no
2
h
2
01
h
Communication error
rw
no
UNSIGNED8
0 (enter stopped state)
02
h
Application error
rw
no
UNSIGNED8
1 (remain in current state)