User Manual
CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 3
www.trinamic.com
4.2.1.7 Object 6067
h
: Position Window .................................................................................................... 34
4.2.1.8 Object 6068
h
: Position Window Time.......................................................................................... 34
4.2.1.9 Object 606C
h
: Velocity Actual Value ............................................................................................. 35
4.2.1.10 Object 607A
h
: Target Position ........................................................................................................ 35
4.2.1.11 Object 607D
h
: Software Position Limit ........................................................................................ 35
4.2.1.12 Object 607F
h
: Maximum Profile Velocity ..................................................................................... 36
4.2.1.13 Object 6081
h
: Profile Velocity ......................................................................................................... 36
4.2.1.14 Object 6083
h
: Profile Acceleration ................................................................................................ 36
4.2.1.15 Object 6084
h
: Profile Deceleration ................................................................................................ 37
4.2.2 How to Move a Motor in pp Mode ........................................................................................................ 37
4.3 Homing Mode ..................................................................................................................................................... 38
4.3.1 Connecting Home Switch, Left Switch, and Right Switch............................................................... 39
4.3.1.1 TMCM-1140 ........................................................................................................................................... 39
4.3.1.2 TMCM-1160 ........................................................................................................................................... 40
4.3.1.2.1 Digital Inputs STOP_L, STOP_R, and HOME ......................................................................... 41
4.3.1.3 TMCM-1180 ........................................................................................................................................... 42
4.3.1.3.1 Connect a Brake ......................................................................................................................... 43
4.3.2 Homing Methods ......................................................................................................................................... 44
4.3.3 Detailed Object Definitions ...................................................................................................................... 47
4.3.3.1 Object 6040
h
: Controlword.............................................................................................................. 47
4.3.3.2 Object 6041
h
: Statusword ................................................................................................................ 48
4.3.3.3 Object 606C
h
: Velocity Actual Value ............................................................................................. 48
4.3.3.4 Object 607C
h
: Home Offset ............................................................................................................. 49
4.3.3.5 Object 6098
h
: Homing Method....................................................................................................... 49
4.3.3.6 Object 6099
h
: Homing Speeds ....................................................................................................... 50
4.3.3.7 Object 609A
h
: Homing Acceleration ............................................................................................. 50
4.3.3.8 Object 2100
h
: Home Offset Display .............................................................................................. 50
4.3.4 How to Start a Homing in hm Mode .................................................................................................... 51
4.4 Velocity Mode ..................................................................................................................................................... 52
4.4.1 Detailed Object Definitions ...................................................................................................................... 52
4.4.1.1 Object 6040
h
: Controlword.............................................................................................................. 52
4.4.1.2 Object 6041
h
: Statusword ................................................................................................................ 53
4.4.1.3 Object 6042
h
: vl Target Velocity .................................................................................................... 53
4.4.1.4 Object 6043
h
: vl Velocity Demand ................................................................................................ 54
4.4.1.5 Object 6044
h
: vl Velocity Actual Value ........................................................................................ 54
4.4.1.6 Object 6046
h
: vl Velocity Min Max Amount ................................................................................ 54
4.4.1.7 Object 6048
h
: vl Velocity Acceleration ......................................................................................... 55
4.4.1.8 Object 6049
h
: vl Velocity Deceleration ........................................................................................ 55
4.4.2 How to Move a Motor in vl Mode .......................................................................................................... 55
4.5 Profile Velocity Mode ....................................................................................................................................... 56
4.5.1.1 Object 6040
h
: Controlword.............................................................................................................. 56
4.5.1.2 Object 6041
h
: Statusword ................................................................................................................ 57
4.5.1.3 Object 6062
h
: Position Demand Value......................................................................................... 57
4.5.1.4 Object 6063
h
: Position Actual Internal Value ............................................................................ 57
4.5.1.5 Object 6064
h
: Position Actual Value ............................................................................................. 58
4.5.1.6 Object 6065
h
: Following Error Window ...................................................................................... 58
4.5.1.7 Object 606C
h
: Velocity Actual Value ............................................................................................. 58
4.5.1.8 Object 607D
h
: Software Position Limit ........................................................................................ 59
4.5.1.9 Object 6083
h
: Profile Acceleration ................................................................................................ 59
4.5.1.10 Object 6084
h
: Profile Deceleration ................................................................................................ 59
4.5.1.11 Object 60FF
h
: Target Velocity ......................................................................................................... 60
4.5.2 How to Move a Motor in pv Mode......................................................................................................... 60
5 Manufacturer Specific Area ...................................................................................................................................... 61
5.1 coolStep™ related Objects (Overview) ........................................................................................................ 61
5.2 Detailed Object Specifications ....................................................................................................................... 63
5.2.1 Object 2000
h
: Microstep Resolution ....................................................................................................... 63
5.2.2 Object 2001
h
: Fullstep Resolution ........................................................................................................... 63