User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 81
www.trinamic.com
5.2.1 Object 2710
h
: Pull-up Resistors
This object switches the pull-up resistors of the inputs on or off.
TMCM-1140: All pull-up can be switched by bit 0 (0=off, 1=on).
TMCM-1160, TMCM-1180: Bit 0 pull-up resistor for stop left input, bit 1 switches pull-up resistor for stop
right input, and bit 2 switches pull-up resistor for home input.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2710
h
Pull-up resistors
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0/1 resp. 0..7
0
6 Emergency Messages
The module sends an emergency message if an error occurs. The message contains information about the
error type. The module can map internal errors and object 1001
h
(error register) is part of every emergency
object.
Please note, that the additional byte 2 shows which motor is affected.
ERROR CODES FOR TMCM-1140 / TMCM-1160 / TMCM-1180
Error code
Add. byte
Description
1
2
3
4
5
0x0000
0
0/1/2
0
0
0
Fault reset
The fault reset command has been executed.
0x1000
1
0/1/2
0
0
0
Generic error: open load bridge A
The motor driver indicates open load on bridge A. It is possible that the motor cable is
broken or that there is an error in the power amplifier itself.
0x1000
2
0/1/2
0
0
0
Generic error: open load bridge B
The motor driver indicates open load on bridge B. It is possible that the motor cable is
broken or that there is an error in the power amplifier itself.
0x2310
0
0/1/2
0
0
0
Overcurrent high side
The motor driver indicates an overcurrent on the high side. This can be caused by a
short circuit in the driver stage.
0x2311
0
0/1/2
0
0
0
Overcurrent bridge B
The motor driver indicates that there is overcurrent on bridge B. This can be caused by
a short circuit in the motor itself or in the motor driver stage.
0x2312
0
0/1/2
0
0
0
Overcurrent bridge A
The motor driver indicates that there is overcurrent on bridge A. This can be caused by
a short circuit in the motor itself or in the motor driver stage.
0x3230
0
0/1/2
0
0
0
stallGuard2™ error
The actual load value exceeds the stallGuard2 limit.
0x4310
1
0/1/2
0
0
0
Overtemperature pre-warning
The temperature in the motor driver exceeds the pre-warning limit.
0x4310
2
0/1/2
0
0
0
Overtemperature error
The motor driver has been switched off because the temperature limit has been
exceeded.
0x5441
0
255
0
0
0
Shutdown switch active
The enable signal is missing (due to the shutdown switch) and the motor driver has
been switched off.
0x6320
0
255
0
0
0
Parameter error
The data in the received PDO is either wrong or cannot be accepted due to the internal
state of the drive.
0x8110
1
255
0
0
0
CAN controller overflow
The receive message buffer of the CAN controller hardware is full and some CAN
messages are lost.