User Manual

TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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1 Preface
This document specifies objects and modes of operation of the Triamic TMCM-3313 stepper motor control
module with CANopen-over-EtherCAT (CoE) firmware. The CoE firmware is designed to fulfill the EtherCAT
version of the CANopen DS402 standards. The EtherCAT conformance has also been tested. This manual
assumes that the reader is already familiar with the basics of EtherCAT and the CoE protocol (especially
DS402).
If necessary it is always possible to turn the module into a TMCL module by loading the TMCM-3313 TMCL
fimware again through the USB interface, with the help of the firmware update function of the TMCL-IDE
3.0.
1.1 General Features of this CoE Implementation
Main Characteristics
• Communication according to EtherCAT standards
• Protocols: CoE, FoE
SDO Communication
• 1 server
• Expedited transfer
• Segmented transfer
• No block transfer
PDO Communication
• Producer
• Consumer
• RPDOs
– Dynamic mapping with max. 9 mapping entries.
– Default mappings: manufacturer specific.
• TPDOs
– Dynamic mapping with max. 9 mapping entries.
– Default mappings: manufacturer specific.
Sync managers
• Sync manager 0: receive mailbox used for SDO communication
• Sync manager 1: send mailbox used for SDO communication
• Sync manager 2: process data output (used for TPDO)
• Sync manager 3: process data input (used for RPDO)
Further Characteristics
• Emergency: producer
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