Trinamic CANopen User manual

GUIDE
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Download newest version at: www.trinamic.com
Trinamic CANopen quickstart guide
Document Revision V1.00 •2021-Sept-10
Contents
1 Introduction 1
2 Resources 1
3 Wiring 2
4 TMCM-CANopen 2
4.1 Connect with the TMCM-CANopen ................................... 2
4.2 Motor run current ............................................ 4
4.3 Position Mode ............................................... 5
4.4 Velocity Mode ............................................... 9
5 Additional Resources 10
6 Revision History 10
1 Introduction
This quickstart guide will show the bring up of a Trinamic CANopen module based on the TMCM-1240. To
get started with Trinamic CANopen modules a CANopen master is needed as well as CAN adapter which
is supported by the CANopen master. TMCM-CANopen (not TMCL-IDE) is an easy to use CANopen master
for the Trinamic CANopen modules. It supports reading and writing of CANopen objects as well as con-
trolling the CiA-402 modes of a CANopen drive.
CAN adapters supported by the TMCM-CANopen tool:
•Kvaser
•ESD
•Peak
•IXXAT
For a detailed list of supported CAN adapters refer to TMCM-CANopen tool manual V1.5.0.0 (chapter 3).
2 Resources
•TMCM-1240 Hardware manual
•TMCM-1240 CANopen Firmware manual
•EDS File
For other modules, the above mentioned files are provided on their respective product webpages.

Trinamic CANopen quickstart guide •Guide •Document Revision V1.00 •2021-Sept-10 2 / 10
3 Wiring
For the setup following parts are needed:
•TMCM-1240-CANopen
•Stepper motor (e.g. QSH4218-35-10-027)
•CAN adapter (here: Kvaser Leaf Light HS v2)
•Supply Voltage (24V)
Figure 1
+VMAIN and Enable should be wired. +VLOGIC can be left open as in figure. CAN bus termination resistors
must also be added (figure 1).
4 TMCM-CANopen
In this section the TMCM-1240 will be controlled with TMCM-CANopen.
4.1 Connect with the TMCM-CANopen
1. Open the TMCM-CANopen software
2. Connect the CAN adapter to the PC. Make sure direct USB between TMCM-1240 and PC is discon-
nected. The CAN adapter will show up in the TMCL-IDE interface tree. Click on the CAN adapter to
open the connection interface (figure 2).
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

Trinamic CANopen quickstart guide •Guide •Document Revision V1.00 •2021-Sept-10 3 / 10
Figure 2
3. Power the module (including +VMAIN and Enable)
Note: It is recommended to connect to CANopen adapter first and power the TMCM-1240 after.
4. Connect to the TMCM module
By factory defaults the module is set to node ID 1 and to the bit rate of 1000kBit/s.
Figure 3
5. The module is now connected to the TMCM-CANopen. The red error led will be off, while the green
run led will blink (200ms on, 200ms off).
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

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Figure 4
Usually an .eds needs to be added to the CANopen Master. However, this is not necessary for
Trinamic modules in TMCM-CANopen. For adding other .eds files to TMCM-CANopen refer to
the TMCM-CANopen tool manual V1.5.0.0 chapter 4.3.
4.2 Motor run current
In this section the motor run current will be adjusted. It should be made sure that the motor run current
is within the rated current of the stepper motor. The current setting (and other module settings) can be
changed by using CANopen service data objects (SDO) as following:
1. Open the Object Browser toolbox
2. Scroll to object 0x2003 (Absolute Max Current 1).
3. Click on Read button to read out the motor run current setting. In the example (figure 5) the motor
run current is 128 (equals 1A rms). A value of 255 means 100% of the maximum current of the drive.
4. Enter a new current value and Write to update the setting. In the example the new motor run current
is 64 (equals 0.5A rms).
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Download newest version at www.trinamic.com

Trinamic CANopen quickstart guide •Guide •Document Revision V1.00 •2021-Sept-10 5 / 10
Figure 5
5. The new motor current setting can be confirmed using the Read button.
Figure 6
4.3 Position Mode
In this section the motor will be controlled in position mode. For this the limit switches must be disabled (if
they are not being used). The limit switches configuration can only be changed in state switch on disabled.
Then the state machine is switched to the state Operation enable to run the motor.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

Trinamic CANopen quickstart guide •Guide •Document Revision V1.00 •2021-Sept-10 6 / 10
CANopen DS402 state machine
In CANopen the DS402 (or CiA-402) state machine defines the states of the CANopen drive (e.g.
which objects can be written, motor status). The state of the state machine can be changed by
the object 0x6040 (Controlword). The state of the state machine can be read by the object 0x6041
(Statusword). The following figure shows the DS402 state machine and transitions:
Figure 7
The below table gives an overview on common states and the possible operation.
Switch on
disabled
Ready to
switch on
Switched
on
Operation
enabled
Fault
High-level
power applied
No No Yes Yes No
Drive function
enabled
No No Yes Yes No
Configuration
enabled
Yes Yes Yes No* No*
* depending on the configuration object
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

Trinamic CANopen quickstart guide •Guide •Document Revision V1.00 •2021-Sept-10 7 / 10
1. Open the toolbox CiA-402 State Machine and read out the status word of the DS402 state machine
Figure 8
2. Change the status of the DS402 state machine to switch on disabled.
Figure 9
3. Open the Object Browser and select object 0x2005 (Switch Parameters 1).
4. Read out object 0x2005. It should be set to 0 by default. Write 3 to disable the limit switches
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Download newest version at www.trinamic.com

Trinamic CANopen quickstart guide •Guide •Document Revision V1.00 •2021-Sept-10 8 / 10
Figure 10
5. Open the CiA-402 State Machine.
6. Switch from Switch on disabled to Ready to switch on.
7. Switch to Switched on
Figure 11
8. Switch to Operation enabled
The motor is powered with hold current.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

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Figure 12
9. Open CiA-402 Profile Position Mode
Figure 13
10. Set target position to 51200 and use Move relative or Move absolute to move the motor one motor
revolution.
4.4 Velocity Mode
In this section the motor will be controlled in velocity mode.
1. Configure the limit switches as described in section 4.3 step 1to 8
2. In the Interface tree select the toolbox CiA-402 Profile Velocity Mode
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

Trinamic CANopen quickstart guide •Guide •Document Revision V1.00 •2021-Sept-10 10 / 10
Figure 14
3. Input the motor target velocity (0x60FF) of 51200 (equals 1rps) and click on the play button. The
motor runs in velocity mode with the target velocity.
Figure 15
4. Activate the checkbox Cyclic Polling to continuously update the actual velocity (0x606C).
5 Additional Resources
•TMCM-CANopen tool manual V1.5.0.0
6 Revision History
Version Date Author Description
V1.00 10.09.2021 JPX initial version
Table 1: Document Revision
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com