User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 7
www.trinamic.com
1.2 Abbreviations
ABBREVIATIONS
CAN
Controller area network
CHGND
chassis ground / earth ground
COB
Communication object
FSA
Finite state automaton
FSM
Finite state machine
NMT
Network management
ID
Identifier
LSB
Least significant bit
MSB
Most significant bit
PDO
Process data object
PDS
Power drive system
RPDO
Receive process data object
SDO
Service data object
TPDO
Transmit process data object
EMCY
Emergency object
rw
Read and write
ro
Read only
hm
Homing mode
pp
Profile position mode
pv
Profile velocity mode
vm
Velocity mode
Table 1.1 Abbreviations
1.3 Firmware Update
The software running on the microprocessor of each module consists of two parts, a boot loader and the
CANopen firmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC
and remains untouched throughout the whole lifetime, the CANopen firmware can easily be updated by
the user. The new firmware can be loaded into the module via the firmware update function of the TMCL-
IDE.
TMCM-1140 AND TMCM1160
Connect the USB interface and use the bus-powered mode for a firmware update. Do not connect the
power supply of the module.
TMCM-1180
Update the firmware using the TMCL-IDE. It is not necessary to use a specific interface.