User Manual

ManualsBrandsTrinamic ManualsAutomationStepper Motor Controller 3A 24V

Module for Stepper

MODULE

TMCM-3351 CANopen® Firmware Manual

Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14

The TMCM-3351 is a three axes controller/driver modules for 2-phase bipolar stepper motors with

separate diﬀerential encoder and separate home and stop switch inputs for each axis. Dynamic

current control, and quiet, smooth and eﬃcient operation are combined with StealthChop™, Dc-

Step™, StallGuard™ and CoolStep™ features. The module also oﬀers eight digital inputs as well as

four analogue inputs and eight digital outputs.

Features

• 3-Axes stepper motor control

• CANopen® CiA-402 drive proﬁle

•

Linear ramps, SixPoint

™

ramps and

s-shaped ramps selectable

• Closed loop encoder support

• 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)

CAN

USB

RS485

Inputs

Outputs

11..28V

I2C

SPI

TMCM-3351

EEPROM

Motion

Controller

+5V

REFL, REFR

A/B/N Encoder

MOSFET

Driver

Stage

Pre-

Driver

RS232

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (145 pages)

PAGE 1
MODULE Module for Stepper TMCM-3351 CANopen® Firmware Manual Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 The TMCM-3351 is a three axes controller/driver modules for 2-phase bipolar stepper motors with separate differential encoder and 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.
PAGE 2
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 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™ . . . . . . . . . . . . . . . . . . . . . .
PAGE 3
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 4.2.5 4.2.6 4.2.7 4.2.8 4.2.9 4.2.10 4.2.11 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.
PAGE 4
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 4.2.59 4.2.60 4.2.61 4.2.62 4.2.63 4.2.64 4.2.65 4.2.66 4.2.67 4.2.68 4.2.69 4.2.70 4.2.71 Object 2107h : Microstep Resolution Display Object 210Bh : Step Counter . . . . . . . . . . Object 2120h : Closed Loop Initialization Flag Object 2700h : TMCL Direct Communication Object 2701h : Manufacturer Speciﬁc Mode . Object 2702h : Device Digital Inputs . . . . . Object 2703h : Device Digital Outputs .
PAGE 5
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 7 Proﬁle Velocity Mode 7.1 Detailed Object Speciﬁcations . . . . . . . . . . . . . 7.1.1 Object 6040h : Control Word . . . . . . . . . . 7.1.2 Object 6041h : Status Word . . . . . . . . . . 7.1.3 Object 6062h : Position Demand Value . . . . 7.1.4 Object 6063h : Position Actual Internal Value 7.1.5 Object 6064h : Position Actual Value . . . . . 7.1.6 Object 6065h : Following Error Window . . . 7.1.
PAGE 6
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 10 Cyclic synchonous Velocity Mode 10.1 Detailed Object Speciﬁcations . . . . . . . . . . . 10.1.1 Object 6040h : Control Word . . . . . . . . 10.1.2 Object 6041h : Status Word . . . . . . . . 10.1.3 Object 606Ch : Velocity Actual Value . . . 10.1.4 Object 60FFh : Target Velocity . . . . . . . 10.1.5 Object 607Dh : Software Position Limit . . 10.1.6 Object 60B1h : Velocity Offset . . . . . . . 10.1.
PAGE 7
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 1 7 / 145 Preface This document speciﬁes objects and modes of operation of the Trinamic TMCM-3351 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.
PAGE 8
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 8 / 145 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.
PAGE 9
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 1.4 1.4.1 9 / 145 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.
PAGE 10
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 0,9 10 / 145 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 1.5 Closed-Loop Operation Together with an external ABN encoder it is possible to operate each axis of the TMCM-3351 as a closedloop stepper system.
PAGE 11
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 11 / 145 Closed-Loop Example Settings Parameter Object Value Comment Maximum current 2003h 85 Set maximum motor current to 1 A. Standby current 2004h 10 Set standby current to 0.1 A. Sensor selection code 606Ah 0 Set to 0 in order to make encoder work. (default: -1 = no encoder) Encoder resolution 608Fh /1 10000 Set encoder resolution to 10000cpr.
PAGE 12
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 Control Parameters Ramp Parameters Flags / Status Torque Control Control Torque Ramp Generator Velocity Control Position Control 12 / 145 Load Angle Control Current Level Control Field Weakening Driver Stage velocity / position / electrical angle Motor ABN Encoder velocity / position Figure 3: Closed-Loop Control Scheme Load angle control and current level control will be executed in parallel.
PAGE 13
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 1.5.3 13 / 145 Current Level Control Parallel to the load angle control the TMCM-3351 controls the motor current level (current vector amplitude) depending on the load angle to save energy during no or light load. Figure 5 gives an overview of the current control parameters. Current Value [0..
PAGE 14
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 14 / 145 Normal Closed Loop Load Angle [µSteps] Field Weakening max. 180° 2036h 2027h kmax. 90°N Motor Velocity [pps] 2034h 2035h Figure 6: Field Weakening • Object 2027h : Closed-loop beta. • Object 2036h : Field weakening (closed-loop gamma). • Object 2034h : Field weakening minimum velocioty (gamma Vmin). • Object 2035h : Field weakening maximum velocioty (gamma Vmax). 1.5.
PAGE 15
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 2 2.1 15 / 145 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.
PAGE 16
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 16 / 145 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.
PAGE 17
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 2.2 17 / 145 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 8.
PAGE 18
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 18 / 145 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 9: Communication Architecture 2.
PAGE 19
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 19 / 145 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 10: Device Model 2.
PAGE 20
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 20 / 145 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-3351 motion control device.
PAGE 21
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 3 21 / 145 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 22
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 22 / 145 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 11: 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.
PAGE 23
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 3.1.4 Object 1008h : Manufacturer Device Name This object contains the name of the device as given by the manufacturer.
PAGE 24
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 24 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no — Depends on device, e.g. 1.0. Table 20: 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 25
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 25 / 145 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 2704h and 2705h . • Sub-index 3h : saves device proﬁle parameters. • Sub-index 4h : saves motor 0 parameters. • Sub-index 5h : saves motor 1 parameters. • Sub-index 6h : saves motor 2 parameters.
PAGE 26
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
PAGE 27
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 27 / 145 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-3351.
PAGE 28
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 28 / 145 Object Description Index Name Object Type Data Type 1015h COB-ID emergency object Variable UNSIGNED16 Table 33: Object Description (1015h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED16 0 Table 34: Entry Description (1015h ) 3.1.
PAGE 29
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 3.1.14 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.
PAGE 30
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 3.1.16 Object 1023h : OS Command After switching to TMCL command mode using object 2700h , this object can be used to send TMCL commands to the TMCM-3351 module. A TMCL command can be written to sub-index 1. After the command has been executed, the status code and the TMCL reply can be read from sub-index 2 and sub-index 3.
PAGE 31
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 3.1.18 31 / 145 Objects 1400h – 1403h : Receive PDO Communication Parameter This object contains the communication parameters for the RPDOs which the device is able to receive. The sub-index 00h contains the number of valid entries within the communication record. Its value normally is 2, as this object consists of two other entries. Sub-index 01h contains the COB-ID used by this PDO (in bits 10. . . 0).
PAGE 32
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 3.1.19 32 / 145 Objects 1600h – 1603h : Receive PDO Mapping Parameter These objects contain the mapping parameters for the RPDOs the device is able to receive. The sub-index 00h contains the number of valid entries within the mapping record. This number of entries is also the number of the application variables which shall be received with the corresponding RPDO.
PAGE 33
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 33 / 145 Before making changes to PDO deﬁnitions, ﬁrst mark the PDO as inactive by setting bit 31 of its COB-ID (see section 3.1.18). Then, set its number of mapped PDO entries to zero (sub-index 0 of the appropriate PDO mapping object). Now, the mapppings themself can be changed. After that, set the number of map objects to the desired value, and ﬁnally activate the PDO by clearing bit 31 of its COB-ID. 3.
PAGE 34
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
PAGE 35
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 35 / 145 Entry Description Sub-index Description Access Value Range Default Value 00h Number of mapped aaplication objects in PDO rw 0. . .
PAGE 36
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 4 36 / 145 Manufacturer speciﬁc Area The manufacturer segment contains manufacturer speciﬁc objects. These objects control the special features of the Trinamic Motion Control device TMCM-3351. 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.
PAGE 37
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 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 11: CoolStep Adjustment Points and Thresholds ©2019 TRINAMIC Motion Control GmbH & Co.
PAGE 38
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 38 / 145 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).
PAGE 39
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 4.2 Detailed Object Speciﬁcations 4.2.1 Object 2000h : Microstep Resolution 39 / 145 This object sets the microstep resolution of the drive. A value of 8 selects 256 (28 ) microsteps per full step.
PAGE 40
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
PAGE 41
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 4.2.5 41 / 145 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.
PAGE 42
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 42 / 145 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 68: Bit Deﬁnitions (2005h ) 4.2.
PAGE 43
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 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 72: 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.
PAGE 44
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Mode rw no 0/1 0 2 Latched internal position ro no SIGNED32 0 3 Latched encoder position ro no SIGNED32 0 Table 76: Entry Description (200Fh ) 4.2.11 Object 2010h : Proﬁle Start Velocity This object contains the velocity with which a positioning ramp will be started.
PAGE 45
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 4.2.13 45 / 145 Object 2012h : Proﬁle Break Velocity 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 81: Object Description (2012h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . .
PAGE 46
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 46 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 0 Table 86: Entry Description (2014h ) 4.2.16 Object 2015h : Bow Scaling Factor The bow or jerk values (object 60A4h ) will internally be multiplied by this value so that also bow values higher than 2147483647 can be reached.
PAGE 47
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 4.2.18 47 / 145 Object 2021h : Correction Position P Proportional controller P parameter for compensating a detected position deviation. Resulting P parameter is this parameter divided by 65536.
PAGE 48
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 48 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 511 255 Table 96: Entry Description (2027h ) 4.2.21 Object 2028h : Closed Loop Offset Offset for closed loop operation. Automatically measured during closed loop initialization. Normally no need to change this value.
PAGE 49
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 49 / 145 Object Description Index Name Object Type Data Type 202Ah Current scaler maximum Variable UNSIGNED8 Table 101: Object Description (202Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 255 — Table 102: Entry Description (202Ah ) 4.2.
PAGE 50
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 50 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 16777215 — Table 106: Entry Description (202Ch ) 4.2.26 Object 202Dh : Correction Velocity I Clipping This object deﬁnes the clipping of the error sum of the integral part of the PI regulator which controls the maximum velocity during closed loop regulation.
PAGE 51
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 4.2.28 51 / 145 Object 202Fh : Correction Velocity DV Clipping The maximum velocity used for position correction in closed-loop mode will be limited to the value set by this object.
PAGE 52
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 52 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 16777215 — Table 116: Entry Description (2031h ) 4.2.31 Object 2033h : Actual Scaling Factor The actual current scaling factor (output of the current scaler) can be read from this object.
PAGE 53
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 4.2.33 53 / 145 Object 2035h : Field Weakening Maximum Velocity Maximum speed for ﬁeld weakening operation. For higher velocities the inﬂuence of the back EMF may be compensated. At the ﬁeld weakening minimum velocity (section 4.2.32) plus this velocity the back EMF compensation will reach its maximum.
PAGE 54
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 54 / 145 Object Description Index Name Object Type Data Type 204Eh Field weakening Variable UNSIGNED8 Table 125: Object Description (204Eh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 255 — Table 126: Entry Description (204Eh ) 4.2.
PAGE 55
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 55 / 145 Object Description Index Name Object Type Data Type 208Ch Velocity Dimension Index Variable UNSIGNED8 Table 129: Object Description (208Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/181 181 Table 130: Entry Description (208Ch ) 4.2.
PAGE 56
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 56 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 3 2 Table 134: Entry Description (2092h ) 4.2.
PAGE 57
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 4.2.42 57 / 145 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 4.2.41). Possible values are: • -3. . . -1 – negative hysteresis end setting • 0 – zero hysteresis end setting • 1. . .
PAGE 58
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 58 / 145 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 143: Object Description (2097h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0 / 2. . .
PAGE 59
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 59 / 145 • 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 147: Object Description (2099h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 3 0 Table 148: Entry Description (2099h ) 4.2.
PAGE 60
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 60 / 145 • 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 151: Object Description (209Bh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 3 0 Table 152: Entry Description (209Bh ) 4.2.
PAGE 61
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 61 / 145 Object Description Index Name Object Type Data Type 209Dh Smart Energy Filter Enable Variable UNSIGNED8 Table 155: Object Description (209Dh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 156: Entry Description (209Dh ) 4.2.
PAGE 62
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 62 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 160: Entry Description (20A1h ) 4.2.53 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.
PAGE 63
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 4.2.55 63 / 145 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.
PAGE 64
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . . 1023 0 Table 170: Entry Description (2101h ) 4.2.58 Object 2102h : Driver Error Flags This object shows the error ﬂags of the motor driver IC.
PAGE 65
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 65 / 145 Object Description Index Name Object Type Data Type 2107h Microstep resolution display Variable UNSIGNED8 Table 174: Object Description (2107h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . . 8 8 Table 175: Entry Description (2107h ) 4.2.
PAGE 66
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 66 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0/1 — Table 179: Entry Description (2120h ) 4.2.62 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 .
PAGE 67
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 67 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no see above 0 Table 183: Entry Description (2701)h 4.2.64 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.
PAGE 68
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 68 / 145 number of available digital outputs depends on the module type.
PAGE 69
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 69 / 145 Object Description Index Name Object Type Data Type 2704h CAN Bit Rate Variable UNSIGNED16 Table 190: Object Description (2704h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 20,50,100,125,250,500,800,1000 1000 Table 191: Entry Description (2704)h How to change the bit rate of a module: • Write new bit rate in object 2704h .
PAGE 70
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 4.2.68 70 / 145 Object 2706h : Store Writing the save signature to this object permanently saves changes made to objects 2704h and 2705h . The save signature is 65766173h .
PAGE 71
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 1..127 Depends on node ID setting Table 199: Entry Description (2708h ) 4.2.71 Object 270Eh : Device Analog Inputs This object shows the values of the analog inputs of the device.
PAGE 72
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 5 72 / 145 Proﬁle speciﬁc Area The proﬁle segment contains CiA-402 standard motion control objects. These objects control the motion control functions of the TMCM-3351. 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.
PAGE 73
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
PAGE 74
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 74 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0 0 Table 208: 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.
PAGE 75
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 75 / 145 Object Description Index Name Object Type Data Type 605Dh Halt option code Variable UNSIGNED16 Table 213: Object Description (605Dh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 1 1 Table 214: Entry Description (605Dh ) 5.1.
PAGE 76
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 76 / 145 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) 9 Cyclic synchronous velocity mode (csv) 10 Cyclic synchronous torque mode (cst) Table 218: Value Description (6060h ) The motor will not run when the operating mode is set to 0.
PAGE 77
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 77 / 145 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) 9 Cyclic synchronous velocity mode (csv) 10 Cyclic synchronous torque mode (cst) Table 221: Value Description (6061h ) The motor will not run when the operating mode is set to 0.
PAGE 78
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 78 / 145 Object Description Index Name Object Type Data Type 606Ah Sensor selection code Variable SIGNED16 Table 225: Object Description (606Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/-1 -1 Table 226: Entry Description (606Ah ) 5.1.9 Object 608Fh : Position Encoder Resolution This object deﬁnes the resolution of the encoder.
PAGE 79
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 79 / 145 Object Description Index Name Object Type Data Type 60FDh Digital inputs Variable UNSIGNED32 Table 229: Object Description (60FDh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw mappable UNSIGNED32 0 Table 230: Entry Description (60FDh ) 5.1.11 Object 6502h : Supported Drive Modes This object provides information on the supported drive modes.
PAGE 80
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no UNSIGNED32 Depends on supported modes. Table 233: Entry Description (6502h ) ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 81
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 6 81 / 145 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.
PAGE 82
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 6.1.1 82 / 145 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 13 for detailed information.
PAGE 83
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 83 / 145 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 237: 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 238: Entry Description (6040h in pp Mode) 6.1.
PAGE 84
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 84 / 145 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.
PAGE 85
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 85 / 145 Object Description Index Name Object Type Data Type 6062h Position Demand Value Variable SIGNED32 Table 245: Object Description (6062h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 246: Entry Description (6062h ) 6.1.
PAGE 86
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 86 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 250: 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.
PAGE 87
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 87 / 145 Object Description Index Name Object Type Data Type 6067h Position Window Variable UNSIGNED32 Table 253: Object Description (6067h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 FFFFFFFFh Table 254: Entry Description (6067h ) 6.1.
PAGE 88
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 88 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 258: Entry Description (606Ch ) 6.1.
PAGE 89
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 89 / 145 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 262: Entry Description (607Dh ) 6.1.
PAGE 90
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 6.1.14 90 / 145 Object 6083h : Proﬁle Acceleration This object indicates the conﬁgured acceleration. Object 6083h sets the maximum acceleration to be used in proﬁle positioning and in proﬁle velocity mode. The units for object 6083h can be choosen with object 208Eh , described in section 4.2.38.
PAGE 91
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 91 / 145 Object Description Index Name Object Type Data Type 6085h Quick stop deceleration Variable UNSIGNED32 Table 271: Object Description (6085h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 51200 Table 272: Entry Description (6085h ) 6.1.
PAGE 92
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 Note 92 / 145 The TMC4361 motion controller used on the TMCM-3351 module also offers bow values higher than the 32 bit range. Under most circumstances, the normal 32 bit value range is suﬃcient. Use object 2015h if higher values are required.
PAGE 93
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 93 / 145 Object Description Index Name Object Type Data Type 60F2h Positioning option code Variable UNSIGNED16 Table 279: Object Description (60F2h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED16 0 Table 280: Entry Description (60F2h ) 6.
PAGE 94
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 7 94 / 145 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.
PAGE 95
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
PAGE 96
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 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 286: 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.
PAGE 97
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 97 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 290: 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.
PAGE 98
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 7.1.5 98 / 145 Object 6064h : Position Actual Value This object provides the actual value of the position measurement device. It always contains the same value as object 6063h .
PAGE 99
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 7.1.7 99 / 145 Object 606Ch : Velocity Actual Value This object shows the actual velocity value of the motor. The value is given in internal or user-deﬁned velocity units (depending on object 208Ch , described in section 4.2.37).
PAGE 100
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 7.1.9 100 / 145 Object 6083h : Proﬁle Acceleration This object indicates the conﬁgured acceleration. Object 6083h sets the maximum acceleration to be used in proﬁle positioning and in proﬁle velocity mode. The units for object 6083h can be choosen with object 208Eh , described in section 4.2.38.
PAGE 101
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 101 / 145 Object Description Index Name Object Type Data Type 6085h Quick stop deceleration Variable UNSIGNED32 Table 307: Object Description (6085h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 51200 Table 308: Entry Description (6085h ) 7.1.
PAGE 102
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 Note 102 / 145 The TMC4361 motion controller used on the TMCM-3351 module also offers bow values higher than the 32 bit range. Under most circumstances, the normal 32 bit value range is suﬃcient. Use object 2015h if higher values are required.
PAGE 103
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 7.2 103 / 145 How to move a Motor in pv Mode Here is a little example that shows how to get a motor running in pv 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. • If you do not have any limit switches connected, ﬁrst disable the limit switch inputs by writing 3 to object 2005h .
PAGE 104
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 8 104 / 145 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.
PAGE 105
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 8.1 105 / 145 Homing Methods The TMCM-3351 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.
PAGE 106
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 8.1.2 106 / 145 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 16: Homing Method 2 8.
PAGE 107
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 107 / 145 5 5 Index pulse Home switch Figure 18: Homing Method 5 8.1.5 Homing Method 17: Homing on negative Limit Switch Using this method, the initial direction of movement shall be leftward if the negative limit switch is inactive (here: low). The home position shall at the point where the negative limit switch becomes inactive. 17 17 Negative limit switch Figure 19: Homing Method 17 8.1.
PAGE 108
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 8.1.7 108 / 145 Homing Method 19: Homing on positive Home Switch Using this method, the initial direction of movement shall be dependent on the state of the home switch. The home position shall be at the point where the home switch changes state. If the initial direction of movement leads away from the home switch, the drive shall reverse on encountering the relevant limit switch.
PAGE 109
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 109 / 145 33 34 Index pulse Figure 23: Homing Methods 33 and 34 8.1.10 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. ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
PAGE 110
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 8.2 8.2.1 110 / 145 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 13 for detailed information.
PAGE 111
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 111 / 145 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 320: 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 321: Entry Description (6040h in hm Mode) 8.2.
PAGE 112
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 112 / 145 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.
PAGE 113
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 113 / 145 Object Description Index Name Object Type Data Type 606Ch Velocity Actual Value Variable SIGNED32 Table 328: Object Description (606Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 329: Entry Description (606Ch ) 8.2.
PAGE 114
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 8.2.5 Object 6098h : Homing Method The homing method to be used can be selected by writing to this object. Please see table 316 for a list of homing methods supported by the current version of the TMCM-3351 CANopen ﬁrmware.
PAGE 115
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 115 / 145 Object Description Index Name Object Type Data Type 609Ah Homing acceleration Variable UNSIGNED32 Table 336: Object Description (609Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 0 Table 337: Entry Description (609Ah ) 8.3 How to start a Homing in hm Mode Here is a little example that shows how to home the motor in hm mode.
PAGE 116
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 9 116 / 145 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.
PAGE 117
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
PAGE 118
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 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 343: 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.
PAGE 119
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 119 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 347: 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.
PAGE 120
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 9.1.5 120 / 145 Object 6064h : Position Actual Value This object provides the actual value of the position measurement device. It always contains the same value as object 6063h .
PAGE 121
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 121 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw Refer to CiA402-3 SIGNED32 0 Table 357: 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.
PAGE 122
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw yes -2147483648. . . 2147483647 0 Table 361: 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.
PAGE 123
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 10 123 / 145 Cyclic synchonous Velocity Mode The cyclic synchronous velocity mode is used to directly control the velocity 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.
PAGE 124
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
PAGE 125
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 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 369: Trinamic Speciﬁc Bits Operation Mode speciﬁc Bits in csv Mode Bit Name Deﬁnition 10 Reserved Not used. 12 Target position ignored 0: Target velocity ignored. 1: Target velocity used as input to velocity controller.
PAGE 126
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 126 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 373: Entry Description (6041h in csv Mode) 10.1.3 Object 606Ch : Velocity Actual Value This object shows the actual velocity value of the motor. The value is given in internal or user-deﬁned velocity units (depending on object 208Ch , described in section 4.2.37).
PAGE 127
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 127 / 145 target position is checked against these limits. The limit positions are always relative to the machine home position.
PAGE 128
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
PAGE 129
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 11 129 / 145 Cyclic synchonous Torque Mode The cyclic synchronous torque mode is used to directly control the torque of the motor, without the need for position or velocity control. It contains limit functions, but not a trajectory generator. The cyclic synchronous torque mode covers the following sub-functions: • Demand value input directly via an object. • Monitoring of the torque.
PAGE 130
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 130 / 145 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 386: Object Description (6040h in cst Mode) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See command coding above. Table 387: Entry Description (6040h in cst Mode) 11.1.
PAGE 131
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 131 / 145 Operation Mode speciﬁc Bits in cst Mode Bit Name Deﬁnition 10 Reserved Not used. 12 Target torque ignored 0: Target torque ignored. 1: Target torque used as input to control loop. 13 Reserved Not used.
PAGE 132
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 132 / 145 Object Description Index Name Object Type Data Type 6062h Position Demand Value Variable SIGNED32 Table 394: Object Description (6062h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 395: Entry Description (6062h ) 11.1.
PAGE 133
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 133 / 145 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 399: Entry Description (6064h ) 11.1.6 Object 6071h : Target Torque This object sets the desired torque value. The value is given in mA.
PAGE 134
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 134 / 145 target position is checked against these limits. The limit positions are always relative to the machine home position.
PAGE 135
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.
PAGE 136
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 12 136 / 145 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.
PAGE 137
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 Error code Additional byte 137 / 145 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.
PAGE 138
/ 145 TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 13 1 2 3 4 5 6 7 8 9 10 11 Figures Index stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . Energy Eﬃciency Example with CoolStep Closed-Loop Control Scheme . . . . . Load Angle Control Parameter . . . . Current Level Control . . . . . . . . . . Field Weakening . . . . . . . . . . . . . Position Catch up . . . . . . . . . . . . NMT State Machine . . . . . . . . . . .
PAGE 139
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 14 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 52 139 / 145 Tables Index Abbreviations used in this Manual Closed-Loop Example Settings . . Service Primitives . . . . . . . . . . Service Types . . . . . . . . . . . . Object Dictionary . . . . . . . . . . Multi-Axis Object Indices . . . . . .
PAGE 140
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 Entry Description (202Bh ) . Object Description (202Ch ) Entry Description (202Ch ) . Object Description (202Dh ) Entry Description (202Dh ) . Object Description (202Eh ) .
PAGE 141
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 Entry Description (605Ch ) . . . . . . . Value Description (605Dh ) . . . . . . . Object Description (605Dh ) . . . . . . Entry Description (605Dh ) . . . . . . . Value Description (605Eh ) . . . .
PAGE 142
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 317 Structure of the Control Word in hm Mode . . . . . . . . . . . . . . . . . . . 110 318 Operation Mode speciﬁc Bits in hm Mode . . . . . . . . . . . . . . . . . . . 110 319 Command Coding . . . . . . . . . . . . 110 320 Object Description (6040h in hm Mode) 111 321 Entry Description (6040h in hm Mode) 111 322 Structure of the Status Word in hm Mode111 323 Trinamic Speciﬁc Bits . . . . . . . . . .
PAGE 143
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 15 143 / 145 Supplemental Directives 15.1 Producer Information 15.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2019 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
PAGE 144
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 144 / 145 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.
PAGE 145
TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14 16 16.1 145 / 145 Revision History Firmware Revision Version Date Author Description 3.21 2017-DEC-14 OK First release. 3.22 2019-FEB-11 OK CSV mode added. Internal performance optimized. Automatic brake control switched off by default (default value of object 200Ch sub-index 2 now 0). Table 411: Firmware Revision 16.2 Document Revision Version Date Author Description 1.