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Module for Stepper Motors

MODULE

TMCM-3230 CANopen

Firmware Manual

Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10

The TMCM-3230 is a three axes controller/driver module for 2-phase bipolar stepper motors with

separate home and stop switch inputs for each axis. Dynamic current control, and quiet, smooth

and eﬃcient operation are combined with stealthChop™, dcStep™, stallGuard™ and coolStep™ fea-

tures. The module also oﬀers eight digital inputs as well as eight digital outputs.

Features

• 3-Axes Stepper Motor Control

• CANopen

CiA-402 Drive Proﬁle

• coolStep™

• dcStep™

• stallGuard2™

• stealthChop™

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

Simpliﬁed Block Diagram

µC

(ARM)

USB

Inputs

Outputs

12..24V

EEPROM

I2C

TMCM-3230

TMC5130

+5V

REF0L, REF0R

CAN

UART

SPI

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (118 pages)

PAGE 1
MODULE Module for Stepper Motors TMCM-3230 CANopen® Firmware Manual Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 The TMCM-3230 is a three axes controller/driver module for 2-phase bipolar stepper motors with separate home and stop switch inputs for each axis. Dynamic current control, and quiet, smooth and eﬃcient operation are combined with stealthChop™, dcStep™, stallGuard™ and coolStep™ features. The module also offers eight digital inputs as well as eight digital outputs.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 2 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 4.2.12 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 4 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 1 6 / 118 Preface This document speciﬁes objects and modes of operation of the Trinamic TMCM-3230 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 7 / 118 Further Characteristics • SYNC: consumer (TPDOs 3, 67, 131 are synchronous PDOs) • Emergency: producer • RTR: supported only for node guarding/life guarding • Heartbeat: consumer and producer 1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 1.4 1.4.1 8 / 118 Trinamic’s unique Features — easy to use with CANopen stallGuard2 stallGuard2 is a high-precision sensorless load measurement using the back EMF of the coils. It can be used for stall detection as well as other uses at loads below those which stall the motor. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 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.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 2 2.1 10 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 11 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 2.2 12 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 13 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 14 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 15 / 118 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-3230 motion control device.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 3 16 / 118 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.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 17 / 118 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 10: 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 19 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no — Depends on device, e.g. 1.0. Table 19: 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.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 20 / 118 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. • Sub-index 5h : saves motor 1 parameters.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 22 / 118 On read access, each sub-index provides information if it is possible to restore the parameter group. It reads 1 if yes and 0 if no. After the default values have been restored they will become active after the next rest or power cycle of the TMCM-3230.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 23 / 118 Object Description Index Name Object Type Data Type 1015h COB-ID emergency object Variable UNSIGNED16 Table 32: Object Description (1015h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED16 0 Table 33: Entry Description (1015h ) 3.1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 3.1.14 24 / 118 Object 1017h : Producer Heartbeat Time The producer heartbeat time deﬁnes the cycle time of the heartbeat. The producer heartbeat time is 0 if it is not used. The time has to be a multiple of 1ms.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 3.1.16 25 / 118 Object 1029h : Error Behaviour If a device failure is detected in operational state, the device can be conﬁgured to enter alternatively the stopped state or remain in the current state in case of a device failure.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 28 / 118 deﬁnition, set this bit to inactivate the PDO. Sub-index 02h contains the transmission type of the RPDO. This can be FFh or FEh for event-driven, or 00h or 01h for synchronous. Sub-index 03h contains the inhibit time, given in milliseconds. After a TPDO has been sent, it will not be sent again before the inhibit time has elapsed. Sub-index 04h is not used.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 30 / 118 Entry Description Sub-index Description Access Value Range Default Value 00h Number of mapped aaplication objects in PDO rw 0. . .
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 4 31 / 118 Manufacturer speciﬁc Area The manufacturer segment contains manufacturer speciﬁc objects. These objects control the special features of the Trinamic Motion Control device TMCM-3230. Info This section of the manual only shows the object indices for motor #0. Of course the same objects are also available for the other motors.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 32 / 118 coolStep™ adjustment points and thresholds Velocity Current 2003h 209Ah 20A4h 20A5h The current depends on the load of the motor. 20A6h 2003h 2003h 2004h 2004h 2004h Time 2089h coolStep area area without coolStep Current and objects Time object Velocity and objects stallGuard2 objects Figure 6: coolStep Adjustment Points and Thresholds ©2018 TRINAMIC Motion Control GmbH & Co.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 33 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 4.2 Detailed Object Speciﬁcations 4.2.1 Object 2000h : Microstep Resolution 34 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 4.2.5 36 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 37 / 118 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 65: Bit Deﬁnitions (2005h ) 4.2.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 38 / 118 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Apply current rw no 0. . . 255 0 2 Release current rw no 0. . . 255 0 Table 69: Entry Description (200Ch ) 4.2.9 Object 2010h : Proﬁle Start Velocity This object contains the velocity with which a positioning ramp will be started.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 4.2.11 39 / 118 Object 2012h : Proﬁle V1 This object contains the velocity used for the ﬁrst segment of a positioning ramp. Object Description Index Name Object Type Data Type 2012h Proﬁle V1 Variable UNSIGNED32 Table 74: Object Description (2012h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 06777215 0 Table 75: Entry Description (2012h ) 4.2.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 40 / 118 Object Description Index Name Object Type Data Type 2015h Ramp Wait Time Variable UNSIGNED16 Table 78: Object Description (2015h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 65535 [0.000032s] 0 Table 79: Entry Description (2015h ) 4.2.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 41 / 118 Object Description Index Name Object Type Data Type 208Ch Velocity Dimension Index Variable UNSIGNED8 Table 82: Object Description (208Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/181 181 Table 83: Entry Description (208Ch ) 4.2.16 Object 208Eh : Acceleration Dimension Index With this object, the unit for acceleration can be read out.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 42 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 3 2 Table 87: Entry Description (2092h ) 4.2.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 4.2.20 43 / 118 Object 2095h : Chopper Hysteresis End This object provides the setting of the hysteresis end value after a number of decrements. The decrement interval time is controlled by object 2094h (section 4.2.19). Possible values are: • -3. . . -1 – negative hysteresis end setting • 0 – zero hysteresis end setting • 1. . .
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 44 / 118 Minimum is 64 clocks. Setting this parameter to zero completely disables all driver transistors and so lets the motor free-wheel. Object Description Index Name Object Type Data Type 2097h Chopper Off Time Variable UNSIGNED8 Table 96: Object Description (2097h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0 / 2. . .
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 45 / 118 • 2 – 2 measurements • 3 – 1 measurements – fastest decrement Object Description Index Name Object Type Data Type 2099h Smart Energy Current Down Step Variable UNSIGNED8 Table 100: Object Description (2099h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 3 0 Table 101: Entry Description (2099h ) 4.2.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 46 / 118 • 1 – 2 steps • 2 – 4 steps • 3 – 8 steps – fastest increment Object Description Index Name Object Type Data Type 209Bh Smart Energy Current Up Step Variable UNSIGNED8 Table 104: Object Description (209Bh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 3 0 Table 105: Entry Description (209Bh ) 4.2.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 47 / 118 Object Description Index Name Object Type Data Type 209Dh Smart Energy Filter Enable Variable UNSIGNED8 Table 108: Object Description (209Dh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 109: Entry Description (209Dh ) 4.2.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 48 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 113: Entry Description (20A1h ) 4.2.31 Object 20A3h : Vsense This object is used for setting the sense resistor voltage based current scaling. Use the default value and change only when recommended by Trinamic.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 4.2.33 49 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 50 / 118 Object Description Index Name Object Type Data Type 20B1h PWM Gradient Variable UNSIGNED8 Table 122: Object Description (20B1h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 255 0 Table 123: Entry Description (20B1h ) 4.2.36 Object 20B2h : PWM Amplitude Maximum PWM amplitude when switching to stealthChop mode. Do not set too low.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 51 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 16777215 0 Table 127: Entry Description (20B3h ) 4.2.38 Object 20B4h : dcStep Time This setting controls the reference pulse width for dcStep load measurement. It must be optimized for robust operation with maximum motor torque.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 4.2.40 52 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 53 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 137: Entry Description (20B8h ) 4.2.43 Object 20B9h : Power Down Ramp The value set by this object controls the number of clock cycles for motor power down after a motion as soon as the motor has stopped and the setting time (set by object 2089h , please see section 4.2.14) has expired.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 4.2.45 Object 2101h : Actual Load Value This object shows the home offset. The value is given in microsteps. Object Description Index Name Object Type Data Type 2101h Home Offset Display Variable UNSIGNED16 Table 142: Object Description (2101h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . . 1023 0 Table 143: Entry Description (2101h ) 4.2.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 55 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . . 255 0 Table 146: Entry Description (2102h ) 4.2.47 Object 2107h : Microstep Resolution Display This object shows the microstep resolution, set by object 2000h (please see section 4.2.1).
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 4.2.49 56 / 118 Object 2121h : PWM Scale Value Actual PWM scale value used when the motor driver is operaing in stealthChop mode. Object Description Index Name Object Type Data Type 2121h PWM Scale Value Variable UNSIGNED8 Table 151: Object Description (2121h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . .
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 57 / 118 Object Description Index Name Object Type Data Type 2700h TMCL Direct Communication Variable UNSIGNED32 Table 155: Object Description (2700h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 656b616dh 0 Table 156: Entry Description (2700)h 4.2.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 60 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 20,50,100,125,250,500,800,1000 1000 Table 166: Entry Description (2704)h How to change the bit rate of a module: • Write new bit rate in object 2704h . • Write the save signature 65766173h to sub-index 1 of object 2706h . • Reset module. 4.2.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 Object Description Index Name Object Type Data Type 2706h Store Variable UNSIGNED32 Table 169: Object Description (2706h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no save signature: 65766173h 1 Table 170: Entry Description (2706)h 4.2.58 Object 2707h : CAN Bit Rate Load This object shows the selected CAN bit rate.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 1..127 Depends on node ID setting Table 174: Entry Description (2708h ) 4.2.60 Object 270Eh : Device Analog Inputs This object shows the values of the analog inputs of the device.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 5 63 / 118 Proﬁle speciﬁc Area The proﬁle segment contains CiA-402 standard motion control objects. These objects control the motion control functions of the TMCM-3230. 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 65 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0 0 Table 183: Entry Description (605Bh ) 5.1.3 Object 605Ch : Disable Operation Option Code This object indicates what action is performed if there is a transition from operation enabled state to switched on state. The disable operation option code always has the value 1 as only this is supported.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 66 / 118 Object Description Index Name Object Type Data Type 605Dh Halt option code Variable UNSIGNED16 Table 188: Object Description (605Dh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 1 1 Table 189: Entry Description (605Dh ) 5.1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 67 / 118 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 (6060h ) The motor will not run when the operating mode is set to 0. It will be stopped when the motor is running in one of the supported operating modes and the operating mode is then switched to 0.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 68 / 118 The motor will not run when the operating mode is set to 0. It will be stopped when the motor is running in one of the supported operating modes and the operating mode is then switched to 0.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 6 70 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 6.1.1 71 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 72 / 118 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 207: 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 208: Entry Description (6040h in pp Mode) 6.1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 73 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 74 / 118 Object Description Index Name Object Type Data Type 6062h Position Demand Value Variable SIGNED32 Table 215: Object Description (6062h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 216: Entry Description (6062h ) 6.1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 75 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 220: 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 76 / 118 Object Description Index Name Object Type Data Type 6067h Position Window Variable UNSIGNED32 Table 223: Object Description (6067h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 FFFFFFFFh Table 224: Entry Description (6067h ) 6.1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 77 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 228: Entry Description (606Ch ) 6.1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 78 / 118 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 232: Entry Description (607Dh ) 6.1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 6.1.14 79 / 118 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 4.2.16.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 80 / 118 Object Description Index Name Object Type Data Type 6085h Quick stop deceleration Variable UNSIGNED32 Table 241: Object Description (6085h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 51200 Table 242: Entry Description (6085h ) 6.1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 6.2 81 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 7 82 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 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 251: 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 85 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 255: 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 86 / 118 Object Description Index Name Object Type Data Type 6064h Position Actual Value Variable SIGNED32 Table 260: Object Description (6064h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 261: Entry Description (6064h ) 7.1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 87 / 118 Object Description Index Name Object Type Data Type 606Ch Velocity Actual Value Variable SIGNED32 Table 264: Object Description (606Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 265: Entry Description (606Ch ) 7.1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 88 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 89 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 SIGNED32 0 Table 273: 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 8 90 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 8.1 91 / 118 Homing Methods The TMCM-3230 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 8.1.2 92 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 93 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 94 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 8.2 8.2.1 95 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 96 / 118 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 279: 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 280: Entry Description (6040h in hm Mode) 8.2.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 97 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 98 / 118 Object Description Index Name Object Type Data Type 606Ch Velocity Actual Value Variable SIGNED32 Table 287: Object Description (606Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 288: Entry Description (606Ch ) 8.2.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 8.2.5 99 / 118 Object 6098h : Homing Method The homing method to be used can be selected by writing to this object. Please see table 274 for a list of homing methods supported by the current version of the TMCM-3230 CANopen ﬁrmware.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 100 / 118 Object Description Index Name Object Type Data Type 609Ah Homing acceleration Variable UNSIGNED32 Table 295: Object Description (609Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 0 Table 296: 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 • 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 9 102 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 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 304: 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 105 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 308: 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 106 / 118 Object Description Index Name Object Type Data Type 6064h Position Actual Value Variable SIGNED32 Table 313: Object Description (6064h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 314: Entry Description (6064h ) 9.1.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 107 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw Refer to CiA402-3 SIGNED32 0 Table 318: 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 108 / 118 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw yes -2147483648. . . 2147483647 0 Table 322: 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 10 109 / 118 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. Please note that the additional byte #2 shows which motor is affected.
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 Error code Additional byte 110 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 11 1 2 3 4 5 6 7 111 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 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 51 112 / 118 Tables Index Abbreviations used in this Manual . . Service Primitives . . . . . . . . . . . . Service Types . . . . . . . . . . . . . . Object Dictionary . . . . . . . . . . . . Multi-Axis Object Indices . . . . . . . . Object Description (1000h ) . .
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 Object Description (209Bh ) Entry Description (209Bh ) . Object Description (209Ch ) Entry Description (209Ch ) . Object Description (209Dh ) Entry Description (209Dh ) .
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 Trinamic Speciﬁc Bits . . . . . . . . . . Operation Mode speciﬁc Bits in pp Mode State Coding . . . . . . . . . . . . . . .
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 311 312 313 314 315 316 317 318 319 Object Description (6063h ) . . . . . . . 105 Entry Description (6063h ) . . . . . . . 105 Object Description (6064h ) . . . . . . . 106 Entry Description (6064h ) . . . . . . . 106 Object Description (606Ch ) . . . . . . 106 Entry Description (606Ch ) . . . . . . .
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TMCM-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 13 116 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 117 / 118 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-3230 CANopen® Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10 14 14.1 Revision History Firmware Revision Version Date Author Description 3.19 2016-JUL-13 OK First release. 3.20 2017-JUN-17 OK Save parameter function ﬁxed. 3.21 2018-JAN-18 OK CSP mode included. Table 326: Firmware Revision 14.2 Document Revision Version Date Author Description 1.01 2016-JUL-16 OK First release. 1.02 2016-NOV-29 OK Block diagrams included. 1.