User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 6
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1 Preface
This document specifies objects and modes of operation for the TMCM-1140, TMCM-1160, and TMCM-1180
with CANopen firmware. As these products are stepper motor controller and driver modules the use of
the CiA DSP402 protocol (described in the CiA CANopen drives and motion control device profile, Part 2)
is fundamental. The CANopen firmware is designed to fulfill the DS301 version 4.02 and DS402 version
3.0 standards. The CiA conformance has also been tested. This manual assumes that the reader is already
familiar with the basics of the CANopen protocol (especially DS301 and DS402). On the following pages
you will find a overview and afterwards the information will be more in detail.
If necessary, you can always turn the board back into a TMCL module by loading the TMCL firmware into
the drive again.
1.1 General Features of the CANopen Implementation
MAIN CHARACTERISTICS
Communication according to standard CiA-301 V4.1
CAN bit rate: 20… 1000kBit/s
CAN ID: 11 bit
Node ID: 1… 127 (use vendor specific objects)
NMT services: NMT slave
SDO communication
- 1 server
- Expedited transfer
- Segmented transfer
- No block transfer
PDO communication
- Producer
- Consumer
- RPDOs
 1, 2, 3, 4, 6
 Transmission modes: asynchronous
 Dynamic mapping with max. 3 mapping entries
 Default mappings: according to CiA-402 for PDO 1, 2, 3 and 6, manufacturer specific for PDO4
- TPDOs
 1, 2, 3, 4, 6
 Transmission modes: asynchronous, asynchronous with event timer, synchronous
 Dynamic mapping with max. 3 mapping entries
 Default mappings: according to CiA-402 for PDO 1, 2, 3 and 6, manufacturer specific for PDO
Further Characteristics
SYNC: consumer (TPDO3 and TPDO6 are synchronous PDOs)
Emergency: producer
RTR: supported only for node guarding/life guarding