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Module for Stepper

MODULE

TMCM-1276 CANopen

Firmware Manual

Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28

The TMCM-1276 is a single axis controller/driver module for 2-phase bipolar stepper motors with

with coil currents of up to 3A RMS. The TMCM-1276 CANopen

ﬁrmware allows to control the mod-

ule using the CANopen

protocol, making use of the Trinamic TMC5160 motion controller and

motor driver. Dynamic current control, and quiet, smooth and eﬃcient operation are combined

with stealthChop™, dcStep™, stallGuard™ and coolStep™ features.

Features

• Single Axis Stepper motor control

• Supply voltage 24V DC

• CANopen

CiA-402 Drive Proﬁle

• Encoder Support

• dcStep™

•

Integrated sixPoint

™

ramp motion

controller

• stealthChop™ silent PWM mode

• spreadCycle™ smart mixed decay

• stallGuard2™ load detection

•

coolStep

™

automatic current scal-

ing

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• CNC

• Life Science

• Biotechnology

• Liquid Handling

Simpliﬁed Block Diagram

CAN

Stepper

Motor

Energy Efficient

Driver

TMC

262

TMCM-1276

Input

SPI

10...30V DC

TMCL™

Memory

I2C

ARM

Cortex M0+™

Microcontroller

REFL/REFR

ENCA/ENCB

ENABLE

Stepper

Motor

Controller

Driver

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (114 pages)

PAGE 1
MODULE Module for Stepper TMCM-1276 CANopen® Firmware Manual Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 The TMCM-1276 is a single axis controller/driver module for 2-phase bipolar stepper motors with with coil currents of up to 3A RMS. The TMCM-1276 CANopen® ﬁrmware allows to control the module using the CANopen® protocol, making use of the Trinamic TMC5160 motion controller and motor driver.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 2 / 114 Contents 1 Preface 1.1 General Features of this CANopen Implementation . . . . 1.2 Abbreviations used in this Manual . . . . . . . . . . . . . . 1.3 Firmware Update . . . . . . . . . . . . . . . . . . . . . . . . 1.4 Trinamic’s unique Features — easy to use with CANopen 1.4.1 stallGuard2 . . . . . . . . . . . . . . . . . . . . . . . 1.4.2 coolStep . . . . . . . . . . . . . . . . . . . . . . . . . .
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 4.2.13 4.2.14 4.2.15 4.2.16 4.2.17 4.2.18 4.2.19 4.2.20 4.2.21 4.2.22 4.2.23 4.2.24 4.2.25 4.2.26 4.2.27 4.2.28 4.2.29 4.2.30 4.2.31 4.2.32 4.2.33 4.2.34 4.2.35 4.2.36 4.2.37 4.2.38 4.2.39 4.2.40 4.2.41 4.2.42 4.2.43 4.2.44 4.2.45 4.2.46 4.2.47 4.2.48 4.2.49 4.2.50 4.2.51 4.2.52 4.2.53 4.2.54 4.2.55 4.2.56 4.2.57 4.2.58 4.2.59 4.2.60 Object 2013h : Proﬁle D1 . . . . . . . . . . . . . .
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 4 / 114 5 Proﬁle speciﬁc Area 5.1 Detailed Object Speciﬁcations . . . . . . . . . . . . . . 5.1.1 Object 605Ah : Quick Stop Option Code . . . . 5.1.2 Object 605Bh : Shutdown Option Code . . . . 5.1.3 Object 605Ch : Disable Operation Option Code 5.1.4 Object 605Dh : Halt Option Code . . . . . . . . 5.1.5 Object 605Eh : Fault Reaction Option Code . . 5.1.6 Object 6060h : Modes of Operation . . . . . . . 5.1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 8.1.5 Homing Method 17, 18, 19, and 21: Homing without Index Pulse 8.1.6 Homing Method 33 and 34: Homing on next Index Pulse . . . . 8.1.7 Homing Method 35: Current Position as Home Position . . . . . 8.2 Detailed Object Speciﬁcations . . . . . . . . . . . . . . . . . . . . . . . . . 8.2.1 Object 6040h : Control Word . . . . . . . . . . . . . . . . . . . . . . 8.2.2 Object 6041h : Status Word . . . . . . . .
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 1 6 / 114 Preface This document speciﬁes objects and modes of operation of the Trinamic TMCM-1276 stepper motor control module with CANopen ﬁrmware. The CANopen ﬁrmware is designed to fulﬁll the CANopen DS402 and DS301 standards. This manual assumes that the reader is already familiar with the basics of the CANopen protocol, deﬁned by the DS301 and DS402 standards of the CAN-CiA.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 7 / 114 Further Characteristics • SYNC: consumer (TPDOs 3 are synchronous PDOs) • Emergency: producer • RTR: supported only for node guarding/life guarding • Heartbeat: consumer and producer 1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 8 / 114 CAN interface of the module. To reset the module to bootloader mode, write the hex number 12345678h to object 5FFFh . Both LEDs of the TMCM-1276 will turn on and remain lighting. Now the new ﬁrmware can be uploaded using the Firmware Update Tool of the TMCL-IDE 3.0. 1.4 1.4.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 0,9 Efficiency with coolStep 0,8 Efficiency with 50v torque reserve 0,7 0,6 0,5 Efficiency 0,4 0,3 0,2 0,1 0 0 50 100 150 200 250 300 350 Velocity [RPM] Figure 2: Energy Eﬃciency Example with coolStep ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 10
TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 2 2.1 10 / 114 Communication Reference Model The application layer comprises a concept to conﬁgure and communicate real-time-data as well as the mechanisms for synchronization between devices. The functionality which the application layer offers to an application is logically divided over different service data objects (SDO) in the application layer.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 11 / 114 Service Types Type Deﬁnition Local service Involves only the local service object. The application issues a request to its local service object that executes the requested service without communicating with peer service object(s). Unconﬁrmed service Involves one or more peer service objects. The application issues a request to its local service object.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 2.2 12 / 114 NMT State Machine The ﬁnite state machine (FSM) or simply state machine is a model of behavior composed of a ﬁnite number of states, transitions between those states, and actions. It shows which way the logic runs when certain conditions are met. Starting and resetting the device is controlled via the state machine. The NMT state machine consists of the states shown in ﬁgure 3.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 13 / 114 CANopen device profile CiA DSP 402 Modes of operation: Profile Position (pp) Profile Velocity (pv) Homing (hm) ... Device control state machine CANopen Communication Profile CiA DS301 NMT State Machine CAN Figure 4: Communication Architecture 2.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 14 / 114 Application Communication Object dictionary State machine Application object Entry 1 Entry 2 Communication object Communication object Application object Communication object Application object Entry n Application object Communication object Bus system Process Figure 5: Device Model 2.4 Object Dictionary The most important part of a device proﬁle is the object dictionary description.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 15 / 114 The communication proﬁle area at indices 1000h through 1FFFh contains the communication speciﬁc parameters for the CAN network. These entries are common to all devices. The manufacturer segment at indices 2000h through 5FFFh contains manufacturer speciﬁc objects. These objects control the special features of the Trinamic TMCM-1276 motion control device.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 3 16 / 114 Communication Area The communication area contains all objects that deﬁne the communication parameters of the CANopen device according to the DS301 standard. 3.1 Detailed Object Speciﬁcations 3.1.1 Object 1000h : Device Type This object contains information about the device type. The object 1000h describes the type of device and its functionality.
PAGE 17
TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 17 / 114 Error Register Bits Bit Deﬁnition 0 Generic error 1 Current 2 Voltage 3 Temperature 4 Communication error 5 Device proﬁle speciﬁc 6 Reserved (always 0) 7 Manufacturer speciﬁc Table 9: Error Register Bits 3.1.3 Object 1005h : COB-ID SYNC Message This object deﬁnes the COB-ID of the synchronization object (SYNC). Further, it deﬁnes whether the module generates the SYNC.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 3.1.4 Object 1008h : Manufacturer Device Name This object contains the name of the device as given by the manufacturer.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 19 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no — Depends on device, e.g. 1.0. Table 18: Entry Description (100Ah ) 3.1.7 Object 100Ch : Guard Time The objects at index 100Ch and 100Dh shall indicate the conﬁgured guard time respectively the life time factor.
PAGE 20
TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 20 / 114 There are several parameter groups: • Sub-index 0h : contains the largest sub-index that is supported. • Sub-index 1h : saves all parameters. • Sub-index 2h : saves communication parameters 100Ch , 100Dh , 1015h , 1017h , and 1029h . • Sub-index 3h : saves device proﬁle parameters. • Sub-index 4h : saves motor 0 parameters.
PAGE 21
TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 3.1.10 21 / 114 Object 1011h : Restore Parameters With this object the default values of parameters according to the communication or device proﬁle are restored. By read access the device provides information about its capabilities to restore these values. There are several parameter groups: • Sub-index 0h : contains the largest sub-index that is supported. • Sub-index 1h : restores all parameters.
PAGE 22
TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 22 / 114 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 01h Restore all parameters rw no UNSIGNED32 — 02h Restore communication parameters rw no UNSIGNED32 — 03h Restore device proﬁle parameters rw no UNSIGNED32 — 04h Restore motor axis 0 parameters rw no UNSIGNED32 — Table 28: Entry Description (1011h ) 3.1.
PAGE 23
TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 3.1.13 23 / 114 Object 1016h : Consumer Heartbeat Time The consumer heartbeat time deﬁnes the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time conﬁgured on the module producing this heartbeat. The monitoring starts after the reception of the ﬁrst heartbeat. If the consumer heartbeat time is 0 the corresponding entry is not used.
PAGE 24
TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 24 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED16 0 Table 37: Entry Description (1017h ) 3.1.15 Object 1018h : Identity Object The object 1018h contains general information about the device: • The vendor ID (sub-index 01h ) contains a unique value allocated to each manufacturer. The vendor ID of Trinamic is 286h .
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 27 / 114 Entry Description Sub-index Description Access Value Range Default Value 00h Number of mapped application objects in PDO rw 0. . .
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 4 30 / 114 Manufacturer speciﬁc Area The manufacturer segment contains manufacturer speciﬁc objects. These objects control the special features of the Trinamic Motion Control device TMCM-1276. 4.1 Objects related to coolStep Figure 6 shows an overview of the coolStep related objects for motor #0. Please bear in mind that the ﬁgure only shows one example for a drive.
PAGE 31
TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 31 / 114 coolStep Adjustment Objects Object Name Description 2003h Absolute maximum current The maximum value is 255. This value means 100% of the maximum current of the module. The current adjustment is within the range 0. . . 255 and can be adjusted in 32 steps (0. . . 255 divided by eight; step 0 = 0. . . 7, step 1 = 8. . . 15 and so on).
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 4.2 Detailed Object Speciﬁcations 4.2.1 Object 2000h : Microstep Resolution 32 / 114 This object sets the microstep resolution of the drive. A value of 8 selects 256 (28 ) microsteps per full step.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 4.2.5 34 / 114 Object 2004h : Standby Current This object deﬁnes the current used when the motor is standing (two seconds after the last move). A value of 255 means 100% of the maximum current of the drive.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 35 / 114 Bit Deﬁnitions Bit Deﬁnition 0 Left limit switch deactivated if set. 1 Right limit switch deactivated if set. 2 Left limit switch inverted if set. 3 Right limit switch inverted if set. 4 Home switch deactivated if set. 5 Home switch inverted if set. Table 63: Bit Deﬁnitions (2005h ) 4.2.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 36 / 114 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Null channel polarity rw no 0/1 0 2 Direction of rotation rw no 0/1 0 3 Initialize position rw no 0/1 1 Table 67: Entry Description (200Bh ) 4.2.9 Object 200Ch : Brake Current Feed This object conﬁgures how much current has to be fed into the brake to apply and to release it.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 37 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 268435455 0 Table 71: Entry Description (2010h ) 4.2.11 Object 2011h : Proﬁle A1 This object contains the acceleration value used for ramping up from the start velocity (object 2011h , see section 4.2.10) to the velocity V1 (object (h 2012), see section 4.2.12).
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 4.2.13 38 / 114 Object 2013h : Proﬁle D1 This object contains the deceleration value used for decelerating from the maximum positioning velocity to the velocity V1 (object 2012h , see section 4.2.12).
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 39 / 114 Object Description Index Name Object Type Data Type 2089h Setting Delay Variable UNSIGNED16 Table 80: Object Description (2089h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 400 0 Table 81: Entry Description (2089h ) 4.2.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 40 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0/179 179 Table 85: Entry Description (208Eh ) 4.2.18 Object 2092h : Chopper Blank Time This object serves for selecting the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For low current drivers, a setting of 1 or 2 is good.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 4.2.20 41 / 114 Object 2094h : Chopper Hysteresis Decrement This object serves for the hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 4.2.22 42 / 114 Object 2096h : Chopper Hysteresis Start This object provides the hysteresis start setting. Please notice that this value is an offset to the hysteresis end value.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 43 / 114 Object Description Index Name Object Type Data Type 2098h Smart Energy Current Minimum Variable UNSIGNED8 Table 98: Object Description (2098h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 99: Entry Description (2098h ) 4.2.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 44 / 114 Object Description Index Name Object Type Data Type 209Ah Smart Energy Hysteresis Variable UNSIGNED8 Table 102: Object Description (209Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 15 0 Table 103: Entry Description (209Ah ) 4.2.27 Object 209Bh : Smart Energy Current Up Step This object sets the current increment step.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 45 / 114 Object Description Index Name Object Type Data Type 209Ch Smart Energy Hysteresis Start Variable UNSIGNED8 Table 106: Object Description (209Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 15 0 Table 107: Entry Description (209Ch ) 4.2.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 46 / 114 Object Description Index Name Object Type Data Type 209Eh stallGuard2 Threshold Variable SIGNED8 Table 110: Object Description (209Eh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no -63. . . 63 0 Table 111: Entry Description (209Eh ) 4.2.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 47 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 2147483647 0 Table 115: Entry Description (20A4h ) 4.2.33 Object 20A5h : Smart Energy Threshold Speed The coolStep functionality will be enabled when the actual speed is above this speed. It will be disabled again when the actual speed drops below this value.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 4.2.35 48 / 114 Object 20B1h : PWM Gradient Velocity dependent gradient for the PWM amplitude (stealthChop). Setting this value to 0 turns off stealthChop. Object Description Index Name Object Type Data Type 20B1h PWM Gradient Variable UNSIGNED8 Table 120: Object Description (20B1h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . .
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 49 / 114 Object Description Index Name Object Type Data Type 20B3h dcStep Minimum Speed Variable UNSIGNED32 Table 124: Object Description (20B3h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 16777215 0 Table 125: Entry Description (20B3h ) 4.2.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 50 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 255 0 Table 129: Entry Description (20B5h ) 4.2.40 Object 20B6h : Fullstep Threshold Speed Depending on the settings of objects 20B7h and 20B8h (see sections 4.2.41 and 4.2.42) the driver switches to fullstep mode and/or to a different chopper mode when the speed set by this object is exceeded.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 51 / 114 Object Description Index Name Object Type Data Type 20B8h High Speed Chopper Mode Variable UNSIGNED8 Table 134: Object Description (20B8h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 135: Entry Description (20B8h ) 4.2.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no -2147483648. . . 2147483647 0 Table 139: Entry Description (2100h ) 4.2.45 Object 2101h : Actual Load Value This object shows the home offset. The value is given in microsteps.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 53 / 114 Object Description Index Name Object Type Data Type 2102h Home Offset Display Variable UNSIGNED8 Table 143: Object Description (2102h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . . 255 0 Table 144: Entry Description (2102h ) 4.2.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 54 / 114 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Lower 32 Bits ro no 0. . . ffffffffh 0 2 Higher 32 Bits ro no 0. . . ffffffffh 0 3 64 Bit Value ro no 0. . . ffffffffffffffffh 0 Table 148: Entry Description (210Bh ) 4.2.49 Object 2121h : PWM Scale Value Actual PWM scale value used when the motor driver is operaing in stealthChop mode.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 4.2.51 55 / 114 Object 2700h : TMCL Direct Communication After writing the make signature 656b616dh to this object the drive switches to TMCL mode. The drive can then only be controlled via TMCL commands written to the OS command object 1023/01h . The drive can only be reset to normal CANopen functionality using the DS-301 reset application command.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 4.2.53 56 / 114 Object 2702h : Device Digital Inputs Bits 23. . . 16 of this object reﬂect the states of the general purpose inputs of the module. The number of available inputs depends on the module type.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 57 / 114 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Physical outputs rw yes UNSIGNED32 0 2 Output mask rw yes UNSIGNED32 0 Table 162: Entry Description (2703h ) 4.2.55 Object 2704h : CAN Bit Rate With this object it is possible to change the CAN bit rate. To do this, ﬁrst write the new value to this object.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 58 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 1. . . 127 1 Table 166: Entry Description (2705)h How to change the node ID of a module: • Write new node ID to object 2705h . • Write save signature 65766173h to sub-index 1 of object 2706h . • Reset the module. 4.2.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 20. . . 1000 depends on bit rate Table 170: Entry Description (2707)h 4.2.59 Object 2708h : Node ID Load This object shows the selected node ID.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 5 60 / 114 Proﬁle speciﬁc Area The proﬁle segment contains CiA-402 standard motion control objects. These objects control the motion control functions of the TMCM-1276. Since it is not possible to operate the modes in parallel, the user is able to activate the required function by selecting a mode of operation.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 5.1.2 61 / 114 Object 605Bh : Shutdown Option Code This object indicates what action is performed if there is a transition from operation enabled state to ready to switch on state. The shutdown option code always has the value 0 as only this is supported.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 62 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 1 1 Table 183: Entry Description (605Ch ) 5.1.4 Object 605Dh : Halt Option Code This object indicates what action is performed when the halt function is executed. The slow down ramp is the deceleration value of the used mode of operation.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 63 / 114 Object Description Index Name Object Type Data Type 605Eh Fault reaction option code Variable UNSIGNED16 Table 188: Object Description (605Eh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 2 2 Table 189: Entry Description (605Eh ) 5.1.6 Object 6060h : Modes of Operation This object indicates the requested operation mode.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 5.1.7 64 / 114 Object 6061h : Modes of Operation Display This object shows the operating mode that is currently set. Value Deﬁnition Value Mode 0 No mode 1 Proﬁle position mode (pp) 3 Proﬁle velocity mode (pv) 6 Homing mode (hm) 8 Cyclic synchronous position mode (csp) Table 193: Value Description (6061h ) The motor will not run when the operating mode is set to 0.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 65 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw mappable UNSIGNED32 0 Table 197: Entry Description (60FDh ) 5.1.9 Object 6502h : Supported Drive Modes This object provides information on the supported drive modes. A bit that is set means that the mode is supported, a bit that is not set means that the mode is not supported by the drive.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 6 66 / 114 Proﬁle Position Mode A target position is applied to the trajectory generator. It is generating a position demand value for the position control loop described in the position control function. Please refer to object 6060h (section 5.1.6) for information about how to choose an operation mode. Object 6061h (section 5.1.7) shows the operation mode that is set. 6.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 6.1.1 67 / 114 Object 6040h : Control Word This object indicates the received command controlling the power drive system ﬁnite state automaton (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to ﬁgure 8 for detailed information.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 68 / 114 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 204: Object Description (6040h in pp Mode) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See command coding above. Table 205: Entry Description (6040h in pp Mode) 6.1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 69 / 114 Operation Mode speciﬁc Bits in pp Mode Bit Name Deﬁnition 10 Target reached Set when the motor is within the position window. 12 Set point acknowledged 0: Set point processed. 1: Set point still in process. 13 Following error Not supported.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 70 / 114 Object Description Index Name Object Type Data Type 6062h Position Demand Value Variable SIGNED32 Table 212: Object Description (6062h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 213: Entry Description (6062h ) 6.1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 71 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 217: Entry Description (6064h ) 6.1.6 Object 6065h : Following Error Window This object indicates the conﬁgured range of tolerated position values symmetrically to the position demand value.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 72 / 114 Object Description Index Name Object Type Data Type 6067h Position Window Variable UNSIGNED32 Table 220: Object Description (6067h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 FFFFFFFFh Table 221: Entry Description (6067h ) 6.1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 73 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 225: Entry Description (606Ch ) 6.1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 74 / 114 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Mininmum Position Limit rw no SIGNED32 -2147483648 2 Maximum Position Limit rw no SIGNED32 2147483647 Table 229: Entry Description (607Dh ) 6.1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 6.1.14 75 / 114 Object 6083h : Proﬁle Acceleration This object indicates the conﬁgured acceleration. Object 6083h sets the maximum acceleration to be used in proﬁle position and proﬁle velocity mode. The units for object 6083h can be choosen with object 208Eh , described in section 4.2.17.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 76 / 114 Object Description Index Name Object Type Data Type 6085h Quick stop deceleration Variable UNSIGNED32 Table 238: Object Description (6085h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 51200 Table 239: Entry Description (6085h ) 6.1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 6.2 77 / 114 How to move a Motor in pp Mode Here is a little example that shows how to get a motor running in pp mode. In this little example we assume that the module has been reset (and then switched to pre-operational or operational) by NMT commands before. Please note that the values are decimal.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 7 78 / 114 Proﬁle Velocity Mode The proﬁle velocity mode is used to control the velocity of the drive without a special regard of the position. It contains limit functions and trajectory generation. The proﬁle velocity mode covers the following sub-functions: • Demand value input via trajectory generator. • Monitoring of the proﬁle velocity using a window-function.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 Trinamic Speciﬁc Bits Bit Name Deﬁnition 14 Motor activity 0: Motor stands still. 1: Motor rotates. 15 Direction of rotation This bit shows the direction of rotation. Table 248: Trinamic Speciﬁc Bits Operation Mode speciﬁc Bits in pv Mode Bit Name Deﬁnition 10 Target reached Indicates that the target speed has been reached. 12 Speed Not supported. 13 Max. slippage error Not supported.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 81 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 252: Entry Description (6041h in pv Mode) 7.1.3 Object 6062h : Position Demand Value This object provides the demanded position value. The value is given in microsteps. Object 6062h indicates the actual position that the motor should have.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 82 / 114 Object Description Index Name Object Type Data Type 6064h Position Actual Value Variable SIGNED32 Table 257: Object Description (6064h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 258: Entry Description (6064h ) 7.1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 83 / 114 Object Description Index Name Object Type Data Type 606Ch Velocity Actual Value Variable SIGNED32 Table 261: Object Description (606Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 262: Entry Description (606Ch ) 7.1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 84 / 114 In proﬁle velocity mode, this object also sets the deceleration to be used (the deceleration ramp is always the same as the acceleration ramp in pv mode).
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 85 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 SIGNED32 0 Table 270: Entry Description (60FFh ) 7.2 How to move a Motor in pv Mode Here is a little example that shows how to get a motor running in pv mode.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 8 86 / 114 Homing Mode This chapter describes the method by which a drive seeks the home position (reference point). There are various methods of achieving this using limit switches at the ends of travel or a home switch in mid-travel. Some methods also use the index (zero) pulse train from an incremental encoder. The user may specify the speeds, acceleration and the method of homing.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 8.1 87 / 114 Homing Methods The TMCM-1276 supports a subset of different standard CANopen homing methods. The homing method that is to be used can be choosen via object 6098h (section 8.2.5). Supported Homing Methods Method Description 0 No homing (default value for object 6098h ). 1 Search the left end switch, then search the next encoder index pulse.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 8.1.2 88 / 114 Homing Method 2: Homing on positive Limit Switch and Index Pulse Using this method, the initial direction of movement shall be rightward if the positive limit switch is inactive (here: low). The position of home shall be at the ﬁrst index pulse to the left of the position where the positive limit switch becomes inactive. 2 2 Index pulse Positive limit switch Figure 11: Homing Method 2 8.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 89 / 114 5 5 Index pulse Home switch Figure 13: Homing Method 5 8.1.5 Homing Method 17, 18, 19, and 21: Homing without Index Pulse These methods are similar to methods 1 to 5 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions. As an example, homing method 19 (which is similar to homing method 3) is shown in ﬁgure 14.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 90 / 114 33 34 Index pulse Figure 15: Homing Methods 33 and 34 8.1.7 Homing Method 35: Current Position as Home Position In this method, the current position shall be taken to be the home position. This method does not require the drive device to be in operation enabled state. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 8.2 8.2.1 91 / 114 Detailed Object Speciﬁcations Object 6040h : Control Word This object indicates the received command controlling the power drive system ﬁnite state automaton (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to ﬁgure 8 for detailed information.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 92 / 114 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 276: Object Description (6040h in hm Mode) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See command coding above. Table 277: Entry Description (6040h in hm Mode) 8.2.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 93 / 114 Operation Mode speciﬁc Bits in hm Mode Bit Name Deﬁnition 10 Target reached Set when the zero position has been found or homing has been stopped by setting controlword bit 4 to zero. 12 Home attained Set when zero position has been found. 13 Homing error Not supported.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 94 / 114 Object Description Index Name Object Type Data Type 606Ch Velocity Actual Value Variable SIGNED32 Table 284: Object Description (606Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 285: Entry Description (606Ch ) 8.2.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 8.2.5 95 / 114 Object 6098h : Homing Method The homing method to be used can be selected by writing to this object. Please see table 271 for a list of homing methods supported by the current version of the TMCM-1276 CANopen ﬁrmware.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 96 / 114 Object Description Index Name Object Type Data Type 609Ah Homing acceleration Variable UNSIGNED32 Table 292: Object Description (609Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 0 Table 293: Entry Description (609Ah ) 8.2.8 Object 2100h : Home Offset Display This object shows the home offset. The value is given in microsteps.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 • Write 31 to object 6040h to start the homing process. • Press and release the home switch. • When homing has ﬁnished, write 15 to object 6040h again. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 9 98 / 114 Cyclic synchonous Position Mode The cyclic synchronous position mode is used to directly control the position of the motor. It contains limit functions, but not a trajectory generator. The trajectory generator is located in the control device (the master), not in the drive device.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 Trinamic Speciﬁc Bits Bit Name Deﬁnition 14 Motor activity 0: Motor stands still. 1: Motor rotates. 15 Direction of rotation This bit shows the direction of rotation. Table 301: Trinamic Speciﬁc Bits Operation Mode speciﬁc Bits in csp Mode Bit Name Deﬁnition 10 Reserved Not used. 12 Target position ignored 0: Target position ignored. 1: Target position used as input to position controller.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 101 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 305: Entry Description (6041h in csp Mode) 9.1.3 Object 6062h : Position Demand Value This object provides the demanded position value. The value is given in microsteps. Object 6062h indicates the actual position that the motor should have.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 102 / 114 Object Description Index Name Object Type Data Type 6064h Position Actual Value Variable SIGNED32 Table 310: Object Description (6064h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 311: Entry Description (6064h ) 9.1.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 103 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw Refer to CiA402-3 SIGNED32 0 Table 315: Entry Description (607Ah in csp Mode) 9.1.8 Object 607Dh : Software Position Limit This object indicates the conﬁgured maximal and minimal software position limits.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 104 / 114 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw yes -2147483648. . . 2147483647 0 Table 319: Entry Description (60B0h ) 9.1.10 Object 60C2h : Interpolation Time Period This object indicates the interpolation cycle time. The interpolation time period (sub-index 01h ) is given in 10interpolation_time_index s.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 10 105 / 114 Emergency Messages (EMCY) 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 1001h (error register) is part of every emergency object.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 Error code Additional byte 106 / 114 Description 1 2 3 4 5 8110h 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. 8110h 2 255 0 0 0 CAN Tx buffer overﬂow The software CAN transmit buffer is full and thus some CAN messages are lost.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 11 1 2 3 4 5 6 7 107 / 114 Figures Index stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . Energy Eﬃciency Example with coolStep NMT State Machine . . . . . . . . . . . Communication Architecture . . . . . Device Model . . . . . . . . . . . . . . coolStep Adjustment Points and Thresholds . . . . . . . . . . . . . . . . Brake Output Timing . . . . . . . . . .
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 12 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 108 / 114 Tables Index Abbreviations used in this Manual Service Primitives . . . . . . . . . . Service Types . . . . . . . . . . . . Object Dictionary . . . . . . . . . . Object Description (1000h ) . . . . . Entry Description (1000h ) . . . . .
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 Entry Description (209Bh ) . Object Description (209Ch ) Entry Description (209Ch ) . Object Description (209Dh ) Entry Description (209Dh ) . Object Description (209Eh ) .
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 Object Description (6062h ) . . . . . . . Entry Description (6062h ) . . . . . . . Object Description (6063h ) . . . . . . . Entry Description (6063h ) . . . . . . . Object Description (6064h ) . .
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 313 314 315 316 317 318 Entry Description (606Ch ) . . . . . . . 102 Object Description (607Ah in csp Mode) 102 Entry Description (607Ah in csp Mode) 103 Object Description (607Dh ) . . . . . . 103 Entry Description (607Dh ) . . . . . . . 103 Object Description (60B0h ) . . . . . . 103 ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 13 112 / 114 Supplemental Directives 13.1 Producer Information 13.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2018 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 113 / 114 or of any other nature are made hereunder with respect to information/speciﬁcation or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product.
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TMCM-1276 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28 14 Revision History 14.1 Firmware Revision Version Date Author Description V3.22 2018-JUN-28 OK First release. Table 323: Firmware Revision 14.2 Document Revision Version Date Author Description V1.00 2018-JUN-28 OK First release. Table 324: Document Revision ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.