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Module for Stepper

MODULE

TMCM-6213 CoE Firmware Manual

Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16

The TMCM-6213 is a six axes controller/driver module 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 oﬀers four analog or digital inputs as

well as four digital outputs in combination with a break chopper unit.

Features

• 6-Axes Stepper Motor Control

• CoE CiA-402 Drive Proﬁle

• Encoder Support

• SixPoint™ ramps

• CoolStep™

• StallGuard2™

• StealthChop™

• DcStep™

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

Simpliﬁed Block Diagram

µC

(ARM)

USB

Inputs

Outputs

10..35V

I2C

SPI

TMCM-6213

EEPROM

TMC5130

+5V

HOME, REFL, REFR

A/B/N Encoder

TMC8460

(EtherCAT

slave

controller)

SPI

PHY

EtherCAT

PHY

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

EtherCAT®

is a registered trademark, licensed by Beckhoﬀ Automation GmbH, Germany.

Read entire documentation.

Summary of content (116 pages)

PAGE 1
MODULE Module for Stepper TMCM-6213 CoE Firmware Manual Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 The TMCM-6213 is a six axes controller/driver module 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.
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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 Contents 1 2 3 4 Preface 1.1 General Features of this CoE Implementation . . . 1.2 Abbreviations used in this Manual . . . . . . . . . . 1.3 Firmware Update . . . . . . . . . . . . . . . . . . . . 1.4 Trinamic’s unique Features — easy to use with CoE 1.4.1 StallGuard2™ . . . . . . . . . . . . . . . . . . 1.4.2 CoolStep™ . . . . . . . . . . . . . . . . . . . . 1.5 SixPoint™ Motion Controller . . . . .
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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 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 5 Object 2092h : Chopper Blank Time . . . . . . . . Object 2093h : Chopper Mode . . . . . . . . . . . Object 2094h : Chopper Hysteresis Decrement .
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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 6 7 8 Proﬁle Position Mode 6.1 Detailed Object Speciﬁcations . . . . . . . . . . . . 6.1.1 Object 6040h : Control Word . . . . . . . . . 6.1.2 Object 6041h : Status Word . . . . . . . . . . 6.1.3 Object 6062h : Position Demand Value . . . 6.1.4 Object 6063h : Position Actual Internal Value 6.1.5 Object 6064h : Position Actual Value . . . . . 6.1.6 Object 6065h : Following Error Window . . . 6.1.
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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 8.2.6 Object 6099h : Homing Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 8.2.7 Object 609Ah : Homing Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 8.3 How to start a Homing in hm Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 9 Cyclic synchonous Position Mode 9.1 Detailed Object Speciﬁcations . . . . . . . . . . .
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 1 6 / 116 Preface This document speciﬁes objects and modes of operation of the Triamic TMCM-6213 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.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 1.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 1.4.1 8 / 116 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. At maximum motor load, the value reaches zero or is near zero.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 0,9 9 / 116 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.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 2 2.1 11 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 12 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 2.2 13 / 116 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 4.
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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 Safe-Operational state. The Bootstrap (BOOT) state is used for ﬁrmware updates via FoE. Before FoE can be used the device has to be switched to this state. 2.3 Device Model A CoE device mainly consists of the following parts: • Communication: This function unit provides the communication objects and the appropriate functionality to transport data items via the underlying network structure.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 2.4 15 / 116 Object Dictionary The most important part of a device proﬁle is the object dictionary description. The object dictionary is essentially a grouping of objects accessible via the network in an ordered pre-deﬁned fashion. Each object within the dictionary is addressed using a 16-bit index.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 16 / 116 For example, the control word for motor #1 would be 6840h (instead of 6040h for motor #0), and the microstep resolution of motor #1 would be 2200h for motor #1 (instead of 2000h for motor #0).
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 3 17 / 116 Communication Area The communication area contains all objects that deﬁne the communication parameters of the CoE device according to the EtherCAT 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 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 1008h : Manufacturer Device Name This object contains the name of the device as given by the manufacturer.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 19 / 116 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no — Depends on device, e.g. 1.0. Table 15: Entry Description (1009h ) 3.1.5 Object 100Ah : Manufacturer Software Version This object contains the software version description.
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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 00h Number of entries ro no 0. . . 3 3 01h Vendor ID ro no UNSIGNED32 0286h 02h Product code ro no UNSIGNED32 6213 03h Revision number ro no UNSIGNED32 e.g. 20003h for version 2.3 Table 19: Entry Description (1018h ) 3.1.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 21 / 116 Entry Description Sub-index Description Access Value Range Default Value 00h Number of mapped application objects in PDO rw 0. . .
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 22 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.
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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 Entry Description Sub-index Description Access Value Range 00h Number of assigned PDOs rw 0. . . 1 01h PDO mapping index of assigned RPDO rw UNSIGNED16 Default Value 1 1600h Table 28: Entry Description (1C12h ) 3.1.11 Objects 1C13h : Sync Manager 3 PDO Assignment This object contains the index of the PDO deﬁniton object that is assigned to sync manager 3.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 4 25 / 116 Manufacturer Speciﬁc Area The manufacturer segment contains manufacturer speciﬁc objects. These objects control the special features of the Trinamic Motion Control device TMCM-6213. 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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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 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 ©2019 TRINAMIC Motion Control GmbH & Co.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 27 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 4.2 Detailed Object Speciﬁcations 4.2.1 Object 2000h : Microstep Resolution 28 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 4.2.5 30 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 31 / 116 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 45: Bit Deﬁnitions (2005h ) 4.2.
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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 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 49: 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.
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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 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 53: Entry Description (200Fh ) 4.2.11 Object 2010h : Proﬁle Start Velocity This object contains the velocity with which a positioning ramp will be started.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 4.2.13 34 / 116 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 58: Object Description (2012h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 16777215 0 Table 59: Entry Description (2012h ) 4.2.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 35 / 116 Object Description Index Name Object Type Data Type 2015h Ramp Wait Time Variable UNSIGNED16 Table 62: Object Description (2015h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 65535 [0.000032s] 0 Table 63: Entry Description (2015h ) 4.2.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 36 / 116 Object Description Index Name Object Type Data Type 208Ch Velocity Dimension Index Variable UNSIGNED8 Table 66: Object Description (208Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/181 181 Table 67: Entry Description (208Ch ) 4.2.18 Object 208Eh : Acceleration Dimension Index With this object, the unit for acceleration can be read out.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 37 / 116 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 3 2 Table 71: Entry Description (2092h ) 4.2.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 4.2.22 38 / 116 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 4.2.21). Possible values are: • -3. . . -1 – negative hysteresis end setting • 0 – zero hysteresis end setting • 1. . .
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 39 / 116 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 80: Object Description (2097h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0 / 2. . .
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 40 / 116 • 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 84: Object Description (2099h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 3 0 Table 85: Entry Description (2099h ) 4.2.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 41 / 116 • 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 88: Object Description (209Bh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 3 0 Table 89: Entry Description (209Bh ) 4.2.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 42 / 116 Object Description Index Name Object Type Data Type 209Dh Smart Energy Filter Enable Variable UNSIGNED8 Table 92: Object Description (209Dh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 93: Entry Description (209Dh ) 4.2.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 43 / 116 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 97: Entry Description (20A1h ) 4.2.33 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 4.2.35 44 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 45 / 116 Object Description Index Name Object Type Data Type 20B1h PWM Gradient Variable UNSIGNED8 Table 106: Object Description (20B1h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 255 0 Table 107: Entry Description (20B1h ) 4.2.38 Object 20B2h : PWM Amplitude Maximum PWM amplitude when switching to StealthChop mode. Do not set too low.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 46 / 116 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0. . . 16777215 0 Table 111: Entry Description (20B3h ) 4.2.40 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 4.2.42 47 / 116 Object 20B6h : Fullstep Threshold Speed Depending on the settings of objects 20B7h and 20B8h (see sections 4.2.43 and 4.2.44) 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 48 / 116 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0/1 0 Table 121: Entry Description (20B8h ) 4.2.45 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 4.2.16) has expired.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 4.2.47 Object 2101h : Actual Load Value This object shows the actual load value used for stall detection (StallGuard2™). Object Description Index Name Object Type Data Type 2101h Actual Load Value Variable UNSIGNED16 Table 126: Object Description (2101h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . . 1023 0 Table 127: Entry Description (2101h ) 4.2.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 50 / 116 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . . 255 0 Table 130: Entry Description (2102h ) 4.2.49 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 4.2.51 51 / 116 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 135: Object Description (2121h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro no 0. . .
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 52 / 116 Bit Deﬁnitions Bit Description 16 IN0 17 IN1 18 IN2 19 IN3 Table 139: Bit Deﬁnitions (3002h ) Object Description Index Name Object Type Data Type 3002h Device Digital Inputs Variable UNSIGNED32 Table 140: Object Description (3002h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro yes – 0 Table 141: Entry Description (3002)h 4.2.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 Object Description Index Name Object Type Data Type 3003h Device Digital Outputs Variable ARRAY Table 143: Object Description (3003h ) Entry Description Sub-index Description Access PDO Mapping Value Range Default Value 1 Physical outputs rw yes UNSIGNED32 0 2 Output mask rw yes UNSIGNED32 0 Table 144: Entry Description (3003h ) 4.2.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 5 54 / 116 Proﬁle Speciﬁc Area The proﬁle segment contains CiA-402 standard motion control objects. These objects control the motion control functions of the TMCM-6213. 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. The control device writes to the modes of operation object in order to select the operation mode.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 56 / 116 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 0 0 Table 153: 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 57 / 116 Object Description Index Name Object Type Data Type 605Dh Halt option code Variable UNSIGNED16 Table 158: Object Description (605Dh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no 1 1 Table 159: Entry Description (605Dh ) 5.1.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 58 / 116 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) Table 163: Value Description (6060h ) The motor will not run when the operating mode is set to 0.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 59 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 5.1.9 60 / 116 Object 608Fh : Position Encoder Resolution This object deﬁnes the resolution of the encoder. The position encoder resolution is calculated by the following formula: position encoder resolution = encoder increments motor revolutions All values are dimensionless.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 6 62 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 6.1.1 63 / 116 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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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 182: 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 183: Entry Description (6040h in pp Mode) 6.1.2 Object 6041h : Status Word This object provides the status of the PDS FSA.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 65 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 66 / 116 Object Description Index Name Object Type Data Type 6062h Position Demand Value Variable SIGNED32 Table 190: Object Description (6062h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 191: Entry Description (6062h ) 6.1.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 67 / 116 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 195: 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 68 / 116 Object Description Index Name Object Type Data Type 6067h Position Window Variable UNSIGNED32 Table 198: Object Description (6067h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 FFFFFFFFh Table 199: Entry Description (6067h ) 6.1.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 69 / 116 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 203: Entry Description (606Ch ) 6.1.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 70 / 116 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 207: Entry Description (607Dh ) 6.1.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 6.1.14 71 / 116 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 4.2.18.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 72 / 116 Object Description Index Name Object Type Data Type 6085h Quick stop deceleration Variable UNSIGNED32 Table 216: Object Description (6085h ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 51200 Table 217: Entry Description (6085h ) 6.1.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 6.2 73 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 7 74 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 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 226: 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 77 / 116 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 230: 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 7.1.5 78 / 116 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 .
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 7.1.7 79 / 116 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 4.2.17).
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 7.1.9 80 / 116 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 4.2.18.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 81 / 116 Object Description Index Name Object Type Data Type 60FFh Target Velocity Variable SIGNED32 Table 247: Object Description (60FFh ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 SIGNED32 0 Table 248: 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 8 82 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 8.1 83 / 116 Homing Methods The TMCM-6213 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 8.1.2 84 / 116 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 8.1.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 85 / 116 5 5 Index pulse Home switch Figure 13: 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 14: Homing Method 17 8.1.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 8.1.7 86 / 116 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.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 87 / 116 33 34 Index pulse Figure 18: 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.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 8.2 8.2.1 88 / 116 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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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 Object Description Index Name Object Type Data Type 6040h Controlword Variable UNSIGNED16 Table 253: 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 254: Entry Description (6040h in hm Mode) 8.2.2 Object 6041h : Status Word This object provides the status of the PDS FSA.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 90 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 91 / 116 Object Description Index Name Object Type Data Type 606Ch Velocity Actual Value Variable SIGNED32 Table 261: Object Description (606Ch ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 ro Refer to CiA402-3 SIGNED32 no Table 262: Entry Description (606Ch ) 8.2.
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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 8.2.5 Object 6098h : Homing Method The homing method to be used can be selected by writing to this object. Please see table 249 for a list of homing methods supported by the current version of the TMCM-6213 CANopen ﬁrmware.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 93 / 116 Object Description Index Name Object Type Data Type 609Ah Homing acceleration Variable UNSIGNED32 Table 269: Object Description (609Ah ) Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 0 Table 270: 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.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 9 94 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 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 276: 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 97 / 116 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 280: 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 9.1.5 98 / 116 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 .
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 99 / 116 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw Refer to CiA402-3 SIGNED32 0 Table 290: 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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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw yes -2147483648. . . 2147483647 0 Table 294: 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 10 101 / 116 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.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 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 302: 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.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 104 / 116 Entry Description Sub-index Access PDO Mapping Value Range Default Value 0 rw see CiA402-3 See state coding above Table 306: 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 4.2.17).
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 105 / 116 target position is checked against these limits. The limit positions are always relative to the machine home position.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 11 107 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 Error code Additional byte 108 / 116 Description 1 2 3 4 5 8611h 0 0. . . 5 0 0 0 Following error The deviation between motor position counter and encoder position counter has exceeded the following error window. ff00h 0 0. . . 5 0 0 0 Undervoltage The supply voltage is too low to drive a motor. ff01h 1 0. . .
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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 12 1 2 3 4 5 6 7 8 Figures Index StallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . . Energy Eﬃciency Example with CoolStep Typical motion proﬁle with TRINAMIC’s SixPoint™ motion controller . . . . . . . NMT State Machine . . . . . . . . . . . . Device Model . . . . . . . . . . . . . . . CoolStep Adjustment Points and Thresholds . . . . . . . . . . . . . . . . .
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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 13 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 Tables Index Abbreviations used in this Manual . . SixPoint Ramp Parameters . . . . . . Service Primitives . . . . . . . . . . . . Service Types . . . . . . . . . . . . . . Object Dictionary . . . . . . . . . . . . Multi-Axis Object Indices . . . . . . . .
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 Object Description (20B0h ) . . . . Entry Description (20B0h ) . . . . Object Description (20B1h ) . . . . Entry Description (20B1h ) . . . . Object Description (20B2h ) . . . .
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 Object Description (6082h ) . . . . . . . Entry Description (6082h ) . . . . . . . Object Description (6083h ) . . . . . . . Entry Description (6083h ) . . . . . . . Object Description (6084h ) . . . . . . .
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/ 116 TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 307 308 309 310 311 312 313 Object Description (606Ch ) . Entry Description (606Ch ) . Object Description (60FFh ) . Entry Description (60FFh ) . . Object Description (607Dh ) Entry Description (607Dh ) . Object Description (60B1h ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 104 104 104 105 105 105 ©2019 TRINAMIC Motion Control GmbH & Co.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 14 114 / 116 Supplemental Directives 14.1 Producer Information 14.2 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.
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TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 115 / 116 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-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16 15 Revision History 15.1 Firmware Revision Version Date Author Description 1.01 2016-JUL-20 OK First release. OK Not deployed. 1.02. . . 1.06 1.07 2018-JAN-12 OK CSP mode included. 1.08 2019-JAN-11 OK CSV mode included. Distributed clocks ﬁxed. 1.09 2019-MAY-16 OK Some objects for axis 5 & 6 ﬁxed. Fully compliant with conformance test. Table 318: Firmware Revision 15.