User Manual

TMCM-1276 CANopen
®
Firmware Manual Firmware Version V3.22 | Document Revision V1.00 2018-JUN-28
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1 Preface
This document species objects and modes of operation of the Trinamic TMCM-1276 stepper motor
control module with CANopen rmware. The CANopen rmware is designed to fulll the CANopen DS402
and DS301 standards. This manual assumes that the reader is already familiar with the basics of the
CANopen protocol, dened by the DS301 and DS402 standards of the CAN-CiA.
If necessary, it is always possible to turn the TMCM-1276 into a TMCL module by loading the TMCM-1276
TMCL rmware again with the help of the rmware update function of the TMCL-IDE 3.0. First switch to
the bootloader as described in Section 1.3 and then load the desired le.
1.1 General Features of this 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 specic objects for changing the node ID)
NMT services: NMT slave
SDO Communication
1 server
Expedited transfer
Segmented transfer
No block transfer
PDO Communication
Producer
Consumer
RPDOs
Axis 0: 1, 2, 3, 4
Transmission modes: asynchronous.
Dynamic mapping with max. 3 mapping entries.
Default mappings: according to CiA-402 for rst three PDOs of each axis, manufacturer specic
for other PDOs of each axis.
TPDOs
Axis 0: 1, 2, 3, 4
Transmission modes: asynchronous, asynchronous with event timer, synchronous.
Dynamic mapping with max. 3 mapping entries.
Default mappings: according to CiA-402 for rst three PDOs of each axis, manufacturer specic
for other PDOs of each axis.
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