User Manual

TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16

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1 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. This manual

assumes that the reader is already familiar with the basics of EtherCAT

and the CoE protocol (especially

DS402).

If necessary it is always possible to turn the module into a TMCL module by loading the TMCM-6213 TMCL

ﬁmware again through the USB interface, with the help of the ﬁrmware update function of the TMCL-IDE

3.0.

1.1 General Features of this CoE Implementation

Main Characteristics

• Communication according to EtherCAT® standards

• Protocols: CoE, FoE

SDO Communication

• 1 server

• Expedited transfer

• Segmented transfer

• No block transfer

PDO Communication

• Producer

• Consumer

• RPDOs

– Dynamic mapping with max. 9 mapping entries.

– Default mappings: manufacturer speciﬁc.

• TPDOs

– Dynamic mapping with max. 9 mapping entries.

– Default mappings: manufacturer speciﬁc.

Sync managers

• Sync manager 0: receive mailbox used for SDO communication

• Sync manager 1: send mailbox used for SDO communication

• Sync manager 2: process data output (used for TPDO)

• Sync manager 3: process data input (used for RPDO)

Further Characteristics

• Emergency: producer

Terms of delivery and rights to technical change reserved.

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