User Manual

TMCM-3212 CANopen
®
Firmware Manual • Firmware Version V3.20 | Document Revision V1.03 • 2017-JUN-09
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The communication profile area at indices 1000
h
through 1FFF
h
contains the communication specific
parameters for the CAN network. These entries are common to all devices.
The manufacturer segment at indices 2000
h
through 5FFF
h
contains manufacturer specific objects. These
objects control the special features of the Trinamic TMCM-3212 motion control device.
The standardized device profile area at indices 6000
h
through 9FFF
h
contains all data objects common to a
class of devices that can be read or written via the network. They describe the device parameters and the
device functionality of the device profile.
2.4.1 Object Indices on Multi-Axis Modules
On a multi-axis module like the TMCM-3212 each object in the manufacturer area and each object in the
profile specific area is available for each motor. In this manual, only the object indices for motor #0 are
shown. The objects for the other motors can be accessed by adding offsets to the object indices:
• Add an offset of motor_number· 200
h
to the index of a manufacturer specifc object to get its index for
other motors.
• Add an offset of motor_number· 800
h
to the index of a profile specific object to get its index for other
motors.
For example, the control word for motor #1 would be 6840
h
(instead of 6040
h
for motor #0), and the
microstep resolution of motor #1 would be 2200
h
for motor #1 (instead of 2000
h
for motor #0).
Multi-Axis Object Indices
Motor Manufacturer area Profile area
Motor #0 2000
h
– 21FF
h
6000
h
– 67FF
h
Motor #1 2200
h
– 23FF
h
6800
h
– 6FFF
h
Motor #2 2400
h
– 25FF
h
7000
h
– 77FF
h
Table 5: Multi-Axis Object Indices
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