Trinamic TMCM-351 User manual

CANopen MODULES FOR STEPPER MOTORS MODULES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
CANopen Firmware Version V3.20
CANopen MANUAL
TMCM 351
3-axis stepper
controller/driver board
2.8A RMS / 24V DC
Encoder inter ace
TMCM 341
3-axis
controller board
or SPI drivers
V
logic
5V DC
TMCM 342
3-axis
controller board
or step/dir drivers
V
logic
5V DC
TMCM 343
3-axis stepper
controller/driver board
V
nom
8…34 V DC / V
logic
5V DC
1.1A RMS

TMCM-341 342 343 351 CANopen V3.20 Manual (V2.01 2017-JUL-26) 2
Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG
Table of Contents
1 Preface .......................................................................................................................................................................... 6
1.1 General Features of the CANopen Implementation ............................................................................... 6
1.2 Abbreviations ..................................................................................................................................................... 7
1.3 Firmware Update .............................................................................................................................................. 7
2 Communication .......................................................................................................................................................... 8
2.1 Reference Model ............................................................................................................................................... 8
2.2 NMT State Machine ........................................................................................................................................... 9
2.3 Device Model.................................................................................................................................................... 11
2.4 Object Dictionary ............................................................................................................................................ 12
3 Communication Objects ........................................................................................................................................ 13
3.1 Detailed Object Specifications .................................................................................................................... 13
3.1.1 Object 1000
h
: Device Type ...................................................................................................................... 13
3.1.2 Object 1001
h
: Error Register................................................................................................................... 13
3.1.3 Object 1005
h
: COB-ID SYNC Message .................................................................................................. 14
3.1.4 Object 1008
h
: Manufacturer Device Name ......................................................................................... 14
3.1.5 Object 1009
h
: Manufacturer Hardware Version ................................................................................ 14
3.1.6 Object 100A
h
: Manufacturer Software Version ................................................................................. 14
3.1.7 Object 100C
h
: Guard Time ...................................................................................................................... 15
3.1.8 Object 100D
h
: Life Time Factor ............................................................................................................. 15
3.1.9 Object 1010
h
: Store Parameters ............................................................................................................ 15
3.1.10 Object 1011
h
: Restore Default Parameters ........................................................................................ 16
3.1.11 Object 1014
h
: COB-ID Emergency Object ........................................................................................... 18
3.1.12 Object 1015
h
: Inhibit Time EMCY ......................................................................................................... 18
3.1.13 Object 1016
h
: Consumer Heartbeat Time ........................................................................................... 18
3.1.14 Object 1017
h
: Producer Heartbeat Time ............................................................................................. 18
3.1.15 Object 1018
h
: Identity Object ................................................................................................................ 19
3.1.16 Object 1023
h
: OS Command .................................................................................................................. 19
3.1.17 Object 1029
h
: Error Behavior ................................................................................................................. 19
3.1.18 Objects 1400
h
-1405
h
: Receive PDO Communication Parameter ................................................... 20
3.1.19 Objects 1440
h
-1445
h
: Receive PDO Communication Parameter ................................................... 20
3.1.20 Objects 1480
h
-1485
h
: Receive PDO Communication Parameter ................................................... 21
3.1.21 Objects 1600
h
-1605
h
: Receive PDO Mapping ..................................................................................... 22
3.1.22 Objects 1640
h
-1645
h
: Receive PDO Mapping ..................................................................................... 23
3.1.23 Objects 1680
h
-1685
h
: Receive PDO Mapping ..................................................................................... 24
3.1.24 Objects 1800
h
-1805
h
: Transmit PDO Communication Parameter ................................................. 25
3.1.25 Objects 1840
h
-1845
h
: Transmit PDO Communication Parameter ................................................. 26
3.1.26 Objects 1880
h
-1885
h
: Transmit PDO Communication Parameter ................................................. 27
3.1.27 Objects 1A00
h
-1A05
h
: Transmit PDO Mapping Parameter ............................................................. 28
3.1.28 Objects 1A40
h
-1A45
h
: Transmit PDO Mapping Parameter ............................................................. 29
3.1.29 Objects 1A80
h
-1A85
h
: Transmit PDO Mapping Parameter ............................................................. 30
4 Device Profile Objects (CiA402) and Modes of Operation ........................................................................... 31
4.1 Detailed Object Specifications .................................................................................................................... 31
4.1.1 Object 605A
h
, 685A
h
, and 705A
h
: Quick Stop Option Code ........................................................... 31
4.1.2 Object 605B
h
, 685B
h
, and 705B
h
: Shutdown Option Code ............................................................ 32
4.1.3 Object 605C
h
, 685C
h
, and 705C
h
: Disable Operation Option Code .............................................. 32
4.1.4 Object 605D
h
, 685D
h
, and 705D
h
: Halt Option Code ........................................................................ 32
4.1.5 Object 605E
h
, 685E
h
, and 705E
h
: Fault Reaction Option Code ...................................................... 33
4.1.6 Object 6060
h
, 6860
h
, and 7060
h
: Modes of Operation .................................................................... 33
4.1.7 Object 6061
h
, 6861
h
, and 7061
h
: Modes of Operation Display ..................................................... 34
4.1.8 Object 606A
h
, 686A
h
, and 706A
h
: Sensor Selection Code .............................................................. 34
4.1.9 Object 6085
h
, 6885
h
, and 7085
h
: Quick Stop Deceleration............................................................. 35
4.1.10 Object 608F
h
, 688F
h
, and 708F
h
: Position Encoder Resolution..................................................... 35
4.1.11 Object 60C5
h
, 68C5
h
, and 70C5
h
: Max Acceleration .......................................................................... 35
4.1.12 Object 60C6
h
, 68C6
h
, and 70C6
h
: Max Deceleration ......................................................................... 36
4.1.13 Object 60FD
h
, 68FD
h
, and 70FD
h
: Digital Inputs .............................................................................. 36
4.1.14 Object 6502
h
, 6D02
h
, and 7502
h
: Supported Drive Modes ............................................................. 37

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Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG
4.2
Profile Position Mode .................................................................................................................................... 38
4.2.1 Detailed object specifications ............................................................................................................... 38
4.2.1.1 Object 6040
h
, 6840
h
, and 7040
h
: Controlword ........................................................................ 39
4.2.1.2 Object 6041
h
, 6841
h
, and 7041
h
: Statusword ........................................................................... 40
4.2.1.3 Object 6062
h
, 6862
h
, and 7062
h
: Position Demand Value ................................................... 41
4.2.1.4 Object 6063
h
, 6863
h
, and 7063
h
: Position Actual Internal Value ....................................... 41
4.2.1.5 Object 6064
h
, 6864
h
, and 7064
h
: Position Actual Value ....................................................... 41
4.2.1.6 Object 6065
h
, 6865
h
, and 7065
h
: Following Error Window ................................................. 42
4.2.1.7 Object 6067
h
, 6867
h
, and 7067
h
: Position Window ............................................................... 42
4.2.1.8 Object 6068
h
, 6868
h
, and 7068
h
: Position Window Time .................................................... 43
4.2.1.9 Object 606C
h
, 686C
h
, and 706C
h
: Velocity Actual Value ........................................................ 43
4.2.1.10 Object 607A
h
, 687A
h
, and 707A
h
: Target Position .................................................................. 43
4.2.1.11 Object 607D
h
, 687D
h
, and 707D
h
: Software Position Limit ................................................. 44
4.2.1.12 Object 607F
h
, 687F
h
, and 707F
h
: Maximum Profile Velocity ................................................ 44
4.2.1.13 Object 6081
h
, 6881
h
, and 7081
h
: Profile Velocity.................................................................... 44
4.2.1.14 Object 6083
h
, 6883
h
, and 7083
h
: Profile Acceleration ........................................................... 45
4.2.1.15 Object 6084
h
, 6884
h
, and 7084
h
: Profile Deceleration ........................................................... 45
4.2.1.16 Object 6086
h
, 6886
h
, and 7086
h
: Motion Profile Type ........................................................... 45
4.2.2 How to move a motor in pp mode .................................................................................................... 46
4.3 Homing Mode .................................................................................................................................................. 47
4.3.1 Connecting home switch, left switch, and right switch............................................................... 48
4.3.1.1 TMCM-341 342 343 .......................................................................................................................... 48
4.3.1.2 TMCM-351 .......................................................................................................................................... 49
4.3.2 Connecting a brake .................................................................................................................................. 50
4.3.2.1 TMCM-341 342 343 .......................................................................................................................... 50
4.3.2.2 TMCM-351 .......................................................................................................................................... 50
4.3.3 Homing Methods ...................................................................................................................................... 51
4.3.4 Detailed Object Definitions ................................................................................................................... 54
4.3.4.1 Object 6040
h
, 6840
h
, and 7040
h
: Controlword ........................................................................ 54
4.3.4.2 Object 6041
h
, 6841
h
, and 7041
h
: Statusword ........................................................................... 55
4.3.4.3 Object 606C
h
, 686C
h
, and 706C
h
: Velocity Actual Value ........................................................ 55
4.3.4.4 Object 607C
h
, 687C
h
, and 707C
h
: Home Offset ........................................................................ 56
4.3.4.5 Object 6098
h
, 6898
h
, and 7098
h
: Homing Method ................................................................. 56
4.3.4.6 Object 6099
h
, 6899
h
, and 7099
h
: Homing Speeds .................................................................. 57
4.3.4.7 Object 609A
h
, 689A
h
, and 709A
h
: Homing Acceleration ....................................................... 57
4.3.4.8 Object 2100
h
: Home Offset Display ........................................................................................... 57
4.3.5 How to start a homing in hm mode ................................................................................................. 58
4.4 Velocity Mode .................................................................................................................................................. 59
4.4.1 Detailed object definitions .................................................................................................................... 59
4.4.1.1 Object 6040
h
, 6840
h
, and 7040
h
: Controlword ........................................................................ 59
4.4.1.2 Object 6041
h
, 6841
h
, and 7041
h
: Statusword ........................................................................... 60
4.4.1.3 Object 6042
h
, 6842
h
, and 7042
h
: vl Target Velocity ............................................................... 60
4.4.1.4 Object 6043
h
, 6843
h
, and 7043
h
: vl Velocity Demand ........................................................... 61
4.4.1.5 Object 6044
h
, 6844
h
, and 7044
h
: vl Velocity Actual Value ................................................... 61
4.4.1.6 Object 6046
h
, 6846
h
, and 7046
h
: vl Velocity Min Max Amount........................................... 61
4.4.1.7 Object 6048
h
, 6848
h
, and 7048
h
: vl Velocity Acceleration .................................................... 62
4.4.1.8 Object 6049
h
, 6849
h
, and 7049
h
: vl Velocity Deceleration ................................................... 62
4.4.2 How to Move a Motor in vl Mode ....................................................................................................... 63
4.5 Profile Velocity Mode .................................................................................................................................... 64
4.5.1.1 Object 6040
h
, 6840
h
, and 7040
h
: Controlword ........................................................................ 64
4.5.1.2 Object 6041
h
, 6841
h
, and 7041
h
: Statusword ........................................................................... 65
4.5.1.3 Object 6062
h
, 6862
h
, and 7062
h
: Position Demand Value ................................................... 65
4.5.1.4 Object 6063
h
, 6863
h
, and 7063
h
: Position Actual Internal Value ....................................... 66
4.5.1.5 Object 6064
h
, 6864
h
, and 7064
h
: Position Actual Value ....................................................... 66
4.5.1.6 Object 6065
h
, 6865
h
, and 7065
h
: Following Error Window ................................................. 66
4.5.1.7 Object 606C
h
, 686C
h
, and 706C
h
: Velocity Actual Value ........................................................ 67
4.5.1.8 Object 607D
h
, 687D
h
, and 707D
h
: Software Position Limit ................................................. 67
4.5.1.9 Object 6083
h
, 6883
h
, and 7083
h
: Profile Acceleration ........................................................... 67

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4.5.1.10
Object 6084
h
, 6884
h
, and 7084
h
: Profile Deceleration ........................................................... 68
4.5.1.11 Object 60FF
h
, 62FF
h
, and 64FF
h
: Target Velocity .................................................................... 68
4.5.2 How to Move a Motor in pv Mode...................................................................................................... 68
5 Manufacturer Specific Area ................................................................................................................................... 69
5.1 Detailed Object Specifications .................................................................................................................... 69
5.1.1 Object 2000
h
, 2200
h
, and 2400
h
: Microstep Resolution .................................................................. 69
5.1.2 Object 2001
h
, 2201
h
, and 2401
h
: Fullstep Resolution ...................................................................... 69
5.1.3 Object 2002
h
, 2202
h
, and 2402
h
: Brake Delay Times ....................................................................... 70
5.1.4 Object 2003
h
, 2203
h
, and 2403
h
: Maximum Current ......................................................................... 70
5.1.5 Object 2004
h
, 2204
h
, and 2404
h
: Standby Current............................................................................ 71
5.1.6 Object 2005
h
, 2205
h
, and 2405
h
: Limit Switches .............................................................................. 71
5.1.7 Object 2006
h
, 2206
h
, and 2406
h
: Mixed Decay Threshold .............................................................. 72
5.1.8 Object 2007
h
, 2207
h
, and 2407
h
: Stall Detection Threshold .......................................................... 72
5.1.9 Object 2009
h
, 2209
h
, and 2409
h
: Fullstep Threshold ....................................................................... 72
5.1.10 Object 200A
h
, 220A
h
, and 240A
h
: Enable Drive Delay Time .......................................................... 73
5.1.11 Object 200B
h
, 220B
h
, and 240B
h
: Encoder parameters ................................................................... 73
5.1.12 Object 200C
h
, 220C
h
, and 240C
h
: Brake Current Feed ..................................................................... 74
5.1.13 Object 204Eh, 224Eh, and 244Eh: Boost Current ............................................................................. 74
5.1.14 Object 2085
h
, 2285
h
, and 2485
h
: Ramp Divisor ................................................................................. 74
5.1.15 Object 2086
h
, 2286
h
, and 2486
h
: Pulse Divisor ................................................................................. 75
5.1.16 Object 2087
h
, 2287
h
, and 2487
h
: Maximum Velocity ........................................................................ 75
5.1.17 Object 2088
h
, 2288
h
, and 2488
h
: Maximum Acceleration ............................................................... 76
5.1.18 Object 208C
h
, 228C
h
, and 248C
h
: Velocity Dimension Index ......................................................... 76
5.1.19 Object 208E
h
, 228E
h
, and 248E
h
: Acceleration Dimension Index ................................................. 77
5.1.20 Object 2100
h
, 2300
h
, and 2500
h
: Home Offset Display ................................................................... 77
5.1.21 Object 2101
h
, 2301
h
, and 2501
h
: Actual stallGuard™ Load Value ............................................... 77
5.1.22 Object 2102
h
, 2302
h
, and 2502
h
: Driver Error Flags ......................................................................... 78
5.1.23 Object 2103
h
, 2303
h
, and 2503
h
: Pulse Divisor Display .................................................................. 78
5.1.24 Object 2104
h
, 2304
h
, and 2504
h
: Maximum Velocity Display ........................................................ 78
5.1.25 Object 2105
h
, 2305
h
, and 2505
h
: Ramp Divisor Display .................................................................. 79
5.1.26 Object 2106
h
, 2306
h
, and 2506
h
: Maximum Acceleration Display ................................................ 79
5.1.27 Object 2107
h
, 2307
h
, and 2507
h
: Microstep Resolution Display ................................................... 79
5.1.28 Object 2700
h
: TMCL™ Direct Communication ................................................................................... 79
5.1.29 Object 2701
h
: Manufacturer Specific Mode ........................................................................................ 80
5.1.30 Object 2702
h
: Digital Inputs .................................................................................................................. 80
5.1.31 Object 2703
h
: Digital Outputs ................................................................................................................ 80
5.1.32 Object 2704
h
: CAN Bit Rate .................................................................................................................... 81
5.1.33 Object 2705
h
: Node ID ............................................................................................................................. 81
5.1.34 Object 2706
h
: Store................................................................................................................................... 82
5.1.35 Object 2707
h
: CAN bit Rate Load .......................................................................................................... 82
5.1.36 Object 2708
h
: Node ID load ................................................................................................................... 82
5.1.37 Object 2709
h
: Encoder Interface ........................................................................................................... 82
5.1.38 Object 270A
h
: Encoder Interface Display ........................................................................................... 83
5.1.39 Object 270E
h
: Device Analog Inputs ................................................................................................... 83
5.1.40 Object 2710
h
: Pull-up Resistors (TMCM-351 only) ............................................................................ 83
6 Emergency Messages ............................................................................................................................................. 84
7 Life Support Policy .................................................................................................................................................. 86
8 Revision History ....................................................................................................................................................... 87
8.1 Firmware revision .......................................................................................................................................... 87
8.2 Document Revision ........................................................................................................................................ 88
9 References ................................................................................................................................................................. 89

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Table of Figures
Figure 2.1 Overview CANopen NMT state machine .................................................................................................. 9
Figure 2.2 Communication architecture .................................................................................................................... 10
Figure 2.3 Device model ................................................................................................................................................ 11
Figure 3.1 Restore procedure ....................................................................................................................................... 17
Figure 4.1 Finite state machine ................................................................................................................................... 38
Figure 4.2 Homing mode function (motor 0) .......................................................................................................... 47
Figure 4.3: 68-pin connector of the TMCM-34x ........................................................................................................ 48
Figure 4.4: Pin order of the connector ...................................................................................................................... 48
Figure 4.5: Connectors of TMCM-351 .......................................................................................................................... 49
Figure 4.6 Homing on negative switch and index pulse ..................................................................................... 51
Figure 4.7 Homing on positive limit switch and index pulse ............................................................................ 51
Figure 4.8 Homing on positive home switch and index pulse .......................................................................... 52
Figure 4.9 Homing on negative home switch and index pulse......................................................................... 52
Figure 4.10 Homing without index pulse ................................................................................................................. 53
Figure 4.11 Homing on index pulse ........................................................................................................................... 53
Figure 4.12 Home offset definition ............................................................................................................................. 56
Figure 4.13 Transfer characteristic of the velocity acceleration ......................................................................... 62
Figure 5.1 Brake output timing .................................................................................................................................... 70

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Copyright © 2017, TRINAMIC Motion Control GmbH & Co. KG
1Preface
This document specifies objects and modes of operation of the TRINAMIC modules TMCM-341, TMCM-342,
TMCM-343, and TMCM-351 with CANopen firmware. As these products are stepper motor controller and
driver modules the use of the CiA DSP402 protocol (described in the CiA CANopen drives and motion
control device profile, Part 2) is fundamental. The CANopen firmware is designed to fulfill the DS301
version 4.02 and DS402 version 3.o standards. The CiA conformance has also been tested. This CANopen
firmware has been developed to turn the ARM-based TRINAMIC motion control modules into CANopen
compatible ones. There are versions for each module. This manual assumes that the reader is already
familiar with the basics of the CANopen protocol (especially DS301 and DS402). On the following pages
you will find a short overview and afterwards the information will be more in detail.
If necessary, you can always turn the board back into a TMCL module by loading the TMCL firmware into
the drive again.
1.1 General Features of the CANopen Implementation
M AIN C HARACTERISTICS
Communication according to standard CiA-301 V4.1
CAN bit rate: 20… 1000kBit s
CAN ID: 11 bit
Node ID: 1… 127 (use vendor specific objects)
NMT services: NMT slave
SDO communication
-1 server
-Expedited transfer
-Segmented transfer
-No block transfer
PDO communication
-Producer
-Consumer
-RPDOs
Axis 0: 1, 2, 3, 4, 6
Axis 1: 65, 66, 67, 68, 70
Axis 2: 129, 130, 131, 132, 134
Transmission modes: asynchronous
Dynamic mapping with max. 3 mapping entries
Default mappings: according to CiA-402 for PDO 1, 2, 3 and 6, manufacturer specific for
PDO4
-TPDOs
Axis 0: 1, 2, 3, 4, 6
Axis 1: 65, 66, 67, 68, 70
Axis 2: 129, 130, 131, 132, 134
Transmission modes: asynchronous, asynchronous with event timer, synchronous
Dynamic mapping with max. 3 mapping entries
Default mappings: according to CiA-402 for PDO 1, 2, 3 and 6, manufacturer specific for
PDO
Further Characteristics
SYNC: consumer (TPDO3, TPDO6, TPDO67, TPDO70, TPDO131, and TPDO134 are synchronous
PDOs)
Emergency: producer
RTR: supported only for node guarding life guarding
Heartbeat: consumer and producer

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1.2 Abbreviations
A BBREVIATIONS
CAN Controller area network
CHGND chassis ground earth ground
COB Communication object
FSA
FSM
Finite state automaton
Finite state machine
NMT Network management
ID Identifier
LSB Least significant bit
MSB Most significant bit
PDO Process data object
PDS Power drive system
RPDO Receive process data object
SDO Service data object
TPDO Transmit process data object
EMCY Emergency object
rw Read and write
ro Read only
hm Homing mode
pp Profile position mode
pv Profile velocity mode
vm Velocity mode
Table 1.1 Abbreviations
1.3 Firmware Update
The software running on the microprocessor consists of two parts, a boot loader and the CANopen
firmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC and
remains untouched throughout the whole lifetime, the CANopen firmware can easily be updated by
the user. New versions can be downloaded free of charge from the TRINAMIC website
(http: www.trinamic.com). The CANopen firmware can be loaded into the modules easily just by using
the firmware update function of the TMCL-IDE.

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2Communication
2.1 Reference Model
The application layer comprises a concept to configure and communicate real-time-data which
synchronizes devices. The functionality the application layer offers to an application is logically divided
over different service data objects (SDO) in the application layer. A service object offers a specific
functionality and all the related services.
Applications interact by invoking services of a service object in the application layer. To realize these
services this object exchanges data via the CAN Network with peer service object(s) using a protocol.
The application and the application layer interact with service primitives.
SERVICE PRIMITIVES
Request Issued by the application to the application layer to request a service.
Indication Issued by the application layer to the application to report an internal event
detected by the application layer or indicate that a service is requested.
Response Issued by the application to the application layer to respond to a previous
received indication.
Confirmation Issued by the application layer to the application to report the result of a
previously issued request.
Table 2.1 Service primitives
A service type defines the primitives that are exchanged between the application layer and the
cooperating applications for a particular service of a service object. Unconfirmed and confirmed
services are collectively called remote services.
SERVICE TYPES
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. This request is transferred to the peer service object(s)
that each passes it to their application as an indication. The result is not
confirmed back.
Confirmed
service
Can involve only one peer service object. The application issues a request to its
local service object. This request is transferred to the peer service object that
passes it to the other application as an indication. The other application issues
a response that is transferred to the originating service object that passes it as
a confirmation to the requesting application.
Provider
initiated service
Involves only the local service object. The service object (being the service
provider) detects an event not solicited by a requested service. This event is then
indicated to the application.
Table 2.2 Service types

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2.2 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 contains
the following states:
Figure 2.1 Overview CANopen NMT state machine
After power-on or reset the device enters the Initialization state.
After the device initialization is finished, the device automatically transits to the Pre-operational
state and indicates this state transition by sending the boot-up message. This way the device
indicates that it is ready to work. A device that stays in Pre-operational state may start to transmit
SYNC-, time stamp- or heartbeat message. In contrast to the PDO communication which is disabled
in this state, the device can communicate via SDO.
The PDO communication is only possible within the Operational state. During Operational state the
device can use all supported communication objects.
A device that was switched to the Stopped state only reacts on received NMT commands. In
addition the device indicates the current NMT state by supporting the error control protocol during
Stopped state.
The transitions between states are made by issuing a network management (NMT) communication
object to the device. The NMT protocols are used to generate state machine change commands (e.g.
to start and to stop the device), detect remote device boot-ups and error conditions.
The Heartbeat message of a CANopen device contains the device status of the NMT state machine and
is sent cyclically by the CANopen device.

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The Figure 2.2 shows the situation of the state machine in this device profile.
Figure 2.2 Communication architecture

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2.3 Device Model
Following the device model, the device consists of three parts: communication, object dictionary, and
application.
Communication This function unit provides the communication objects and the appropriate
functionality to transport data items via the underlying network structure.
Object dictionary The object dictionary is a collection of all the data items which have an
influence on the behavior of the application objects, the communication
objects and the state machine used on this device.
Application The application comprises the functionality of the device with respect to the
interaction with the process environment.
Figure 2.3 Device model

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2.4 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.
T HE OVERALL LAYOUT OF THE STANDARD O BJECT D ICTIONARY IS AS FOLLOWS :
Index (hex) Object
0000 Not used
0001 - 001F Static data types
0020 - 003F Complex data types
0040 - 005F Manufacturer specific complex data types
0060 - 007F Device profile specific static data types
0080 - 009F Device profile specific complex data types
00A0 - 0FFF Reserved for further use
1000 - 1FFF Communication profile area*
1
2000 - 5FFF Manufacturer specific profile area*
2
6000 - 9FFF Standardized device profile area*
3
A000 - BFFF Standardized interface profile area
C000 - FFFF Reserved for further use
Table 2.3 Object Dictionary
*
1
The communication profile area at indices 1000
h
through 1FFF
h
contains the communication
specific parameters for the CAN network. These entries are common to all devices.
*
2
The manufacturer segment at indices 2000
h
through 5FFF
h
contains manufacturer specific
objects. These objects control special features of the TRINAMIC TMCM-34x resp. TMCM-351 modules.
*
3
The standardized device profile area at indices 6000
h
through 9FFF
h
contains all data objects
common to a class of devices that can be read or written via the network. The device profiles use
entries from 6000
h
to 9FFF
h
to describe the device parameters and the device functionality.

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3Communication Objects
3.1 Detailed Object Specifications
3.1.1 Object 1000
h
: Device Type
This object contains information about the device type. The object 1000
h
describes the type of device and
its functionality. It is composed of a 16-bit field which describes the device profile that is used and a
second 16-bit field which gives additional information about optional functionality of the device.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1000
h
Device type Variable UNSIGNED32
E NTRY DESCRIPTION
Sub
-
Index
Access
PDO Mapping
Value Range
Default Value
00
h
r0 no UNSIGNED32 40192
h
3.1.2 Object 1001
h
: Error Register
This object is an error register. The module can map internal errors and object 1001
h
is part of an
emergency object.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1001
h
Error register Variable UNSIGNED8
E NTRY DESCRIPTION
Sub
-
Index
Access
PDO Mapping
Value Range
Default Value
00
h
r0 yes UNSIGNED8 no
S TRUCTURE OF THE ERROR REGISTER
Bit
M O
Description
0
M
Generic error
1
O
Current
2
O
Voltage
3
O
Temperature
4
O
Communication error
5
O
Device profile specific
6
O
Reserved (always 0)
7
O
Manufacturer specific
If a bit is set to 1, the specific error has occurred.

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3.1.3 Object 1005
h
: COB ID SYNC Message
This object defines the COB-ID of the synchronization Object (SYNC). Further, it defines whether the
module generates the SYNC.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1005
h
COB-ID SYNC Message
Variable UNSIGNED32
E NTRY DESCRIPTION
Sub
-
Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw no UNSIGNED32 80
h
3.1.4 Object 1008
h
: Manufacturer Device Name
This object contains the manufacturer device name.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1008
h
Manufacturer device name
Variable visible string
E NTRY DESCRIPTION
Sub
-
Index
Access
PDO Mapping
Value Range
Default Value
00
h
Const. no no
m
odule specific
TMCM-341
TMCM-342
TMCM-343
TMCM-351
3.1.5 Object 1009
h
: Manufacturer Hardware Version
This object contains the hardware version description.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1009
h
Manufacturer hardware version Variable visible string
E NTRY DESCRIPTION
Sub
-
Index
Access
PDO Mapping
Value Range
Default Value
00
h
Const. no no
depends on
hardware
version
3.1.6 Object 100A
h
: Manufacturer Software Version
This object contains the software version description.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
100A
h
Manufacturer software version Variable visible string
E NTRY DESCRIPTION
Sub
-
Index
Access
PDO Mapping
Value Range
Default Value
00
h
Const. no no according to software version

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3.1.7 Object 100C
h
: Guard Time
The objects at index 100C
h
and 100D
h
shall indicate the configured guard time respectively the life time
factor. The life time factor multiplied with the guard time gives the life time for the life guarding
protocol.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
100C
h
Guard time Variable UNSIGNED16
E NTRY DESCRIPTION
Sub
-
Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
ro, if life guarding is
not supported
no UNSIGNED16 0000
h
3.1.8 Object 100D
h
: Life Time Factor
The life time factor multiplied with the guard time gives the life time for the life guarding protocol.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
100D
h
Life time factor Variable UNSIGNED8
E NTRY DESCRIPTION
Sub
-
Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
ro, if life guarding is
not supported
no UNSIGNED8 00
h
3.1.9 Object 1010
h
: Store Parameters
This object supports the saving of parameters in non volatile memory. By read access the device
provides information about its saving capabilities.
This command can only be carried out if the module is in ready to switch on mode.
S EVERAL PARAMETER GROUPS ARE DISTINGUISHED :
-Sub-index 0
h
contains the largest sub-index that is supported.
-Sub-index 1
h
saves all parameters.
-Sub-index 2
h
: saves communication parameters 100C
h
, 100D
h
, 1015
h
, 1017
h
, and 1029
h
.
-Sub-index 4
h
stores parameters for the motor axis 0.
-Sub-index 5
h
stores parameters for the motor axis 1.
-Sub-index 6
h
stores parameters for the motor axis 2.
-Sub-index 7
h
: saves device parameters TRINAMIC specific parameters (2000
h
… 270E
h
).
In order to avoid storage of parameters by mistake, storage is only executed when a specific
signature is written to the appropriate Sub-Index. This signature is safe.
Storage write access structure
Signature MSB LSB
ISO 8859 ASCII e v a s
hex 65
h
76
h
61
h
73
h
On reception of the correct signature in the appropriate sub-index the device stores the parameter
and then confirms the SDO transmission (initiate download response). If the storing failed, the
device responds with an Abort SDO transfer (abort code: 0606 0000
h
).

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If a wrong signature is written, the device refuses to store and responds with Abort SDO transfer (abort
code: 0800 002x
h
).
On read access to the appropriate sub-index the device provides information about its storage
functionality with the following format.
Storage read access structure
UNSIGNED 32
MSB LSB
bits
its
31-2 1 0
reserved 1 0 1 0
Bit
-
number
Value
Meaning
31
-
2
0
reserved
1
0
1
Device does not save parameters autonomously
Device saves parameters autonomously
0
0
1
Device does not save parameters on command
Device saves parameters on command
Autonomous saving means that a device stores the storable parameters in a non-volatile manner
without user request.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1010
h
Store parameters ARRAY UNSIGNED 32
E NTRY DESCRIPTION
Sub
-
Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Largest sub-index supported ro no 1
h
-7F
h
no
01
h
Save all parameters rw no UNSIGNED32 no
02
h
Save special communication
parameters rw no UNSIGNED32 no
04
h
Save motor axis 1 parameters
rw no UNSIGNED32 no
05
h
Save motor axis 2 parameters
rw
no
UNSIGNED32
no
06
h
Save motor axis 3 parameters rw no UNSIGNED32 no
07
h
Save device parameters
(TRINAMIC specific parameters) rw no UNSIGNED32 no
Please mind the figures above which explain the value ranges of the write access and the read access
for the sub-indices.
3.1.10 Object 1011
h
: Restore Default Parameters
With this object the default values of parameters according to the communication or device profile are
restored. By read access the device provides information about its capabilities to restore these values.
This command can only be carried out if the module is in ready to switch on mode.
S EVERAL PARAMETER GROUPS ARE DISTINGUISHED :
-Sub-index 0
h
: contains the largest sub-index that is supported.
-Sub-index 1
h
: restores all parameters.
-Sub-index 2
h
: restores communication parameters 100C
h
, 100D
h
, 1015
h
, 1017
h
, and 1029
h
.
-Sub-index 4
h
: restores motor axis 0 parameters
-Sub-index 5
h
: restores motor axis 1 parameters
-Sub-index 6
h
: restores motor axis 2 parameters
-Sub-index 7
h
: restores device parameters TRINAMIC specific parameters (2000
h
… 270E
h
).

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In order to avoid the restoring of default parameters by mistake, restoring is only executed when a
specific signature is written to the appropriate sub-index. The signature is load.
Signature MSB LSB
ASCII d a o l
hex 64
h
61
h
6F
h
6C
h
On reception of the correct signature in the appropriate sub-index the device restores the default
parameters and then confirms the SDO transmission (initiate download response). If the restoring
failed, the device responds with an Abort SDO Transfer (abort code: 0606 0000
h
). If a wrong signature
is written, the device refuses to restore the defaults and responds with an Abort SDO Transfer (abort
code: 0800 002x
h
).
The default values are set valid after the device is reset (reset node for sub-index 1h – 7Fh, reset
communication for sub-index 2
h
) or power cycled.
Figure 3.1 Restore procedure
On read access to the appropriate sub-index the device provides information about its default
parameter restoring capability with the following format.
Structure of restore read access
UNSIGNED 32
MSB LSB
bits 31-1 0
reserved (0) 0 1
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1011
h
Restore default parameters ARRAY UNSIGNED 32
E NTRY DESCRIPTION
Sub
-
Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Largest sub-index supported ro no 1
h
-7F
h
no
01
h
Restore all default parameters rw no UNSIGNED32 no
02
h
Restore special communication
parameters rw no UNSIGNED32 no
04
h
Restore motor axis 0 parameters rw no UNSIGNED32 no
05
h
Restore motor axis 1 parameters rw no UNSIGNED32 no
06
h
Restore motor axis 2 parameters rw no UNSIGNED32 no
07
h
Restore device parameters
(TRINAMIC specific parameters) rw no UNSIGNED32 no
Please mind the figures above which explain the value ranges of the write access and the read
access for the sub-indices.

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3.1.11 Object 1014
h
: COB ID Emergency Object
This object defines the COB-ID of the emergency object (EMCY).
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1014
h
COB-ID emergency object Variable UNSIGNED32
E NTRY DESCRIPTION
Sub
-
Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw no UNSIGNED32 80
h
+ NODE ID
3.1.12 Object 1015
h
: Inhibit Time EMCY
The inhibit time for the EMCY message can be adjusted via this entry. The time has to be a multiple
of 100µs.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1015
h
Inhibit time EMCY Variable UNSIGNED16
E NTRY DESCRIPTION
Sub
-
Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw no UNSIGNED16 0
3.1.13 Object 1016
h
: Consumer Heartbeat Time
The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher
than the corresponding producer heartbeat time configured on the module producing this heartbeat.
The monitoring starts after the reception of the first heartbeat. If the consumer heartbeat time is 0
the corresponding entry is not used. The time has to be a multiple of 1ms.
MSB LSB
bits 31-24 23-16 15-0
value Reserved Node-ID Heartbeat time
encoded as - UNSIGNED8 UNSIGNED16
Table 3.1 Structure of consumer heartbeat time entry
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1016
h
Consumer heartbeat time ARRAY UNSIGNED32
E NTRY DESCRIPTION
Sub
-
Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Number of entries ro no 0… 127 no
01
h
Consumer heartbeat time rw no UNSIGNED32 no
3.1.14 Object 1017
h
: 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.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1017
h
Producer heartbeat time Variable UNSIGNED16
E
NTRY DESCRIPTION
Sub
-
Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw no UNSIGNED16 0

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3.1.15 Object 1018
h
: Identity Object
The object 1018
h
contains general information about the device.
-The Vendor ID (sub-index 01
h
) contains a unique value allocated to each manufacturer. The
vendor ID of TRINAMIC is 0286
h
.
-The manufacturer-specific Product code (sub-index 2
h
) identifies a specific device version.
-The Manufacturer-specific Revision number (sub-index 3
h
) consists of a major revision
number and a minor revision number.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
Category
1018
h
Identity object RECORD Identity Optional
E NTRY DESCRIPTION
Sub
-
Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Number of entries ro no 0… 3 number of entries:3
01
h
Vendor ID (TRINAMIC) ro no UNSIGNED32 reads 0286
h
02
h
Product code ro no UNSIGNED32 depends on device e.g. 341, 342, 343, 351
03
h
Revision number ro no UNSIGNED32
firmware revision number;
reads e.g. 2003
h
for version 2.3
04
h
Serial number ro no UNSIGNED32 serial number
3.1.16 Object 1023
h
: OS Command
The OS Command object is used as a command driven interface to programmable devices. The host
system puts the command into the object OS Command, which is of the type Command Par.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
Category
1023
h
OS command RECORD Command Par Optional
E NTRY DESCRIPTION
Sub
-
Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Number of
supported entries ro no 3
number of entries:
3 (for direct TMCL
communication)
01
h
Command (TMCL
command) rw no Octet string no
02
h
Status (error code
of a TMCL
command)
ro no UNSIGNED8 no
03
h
Reply (reply of a
TMCL command) ro no Octet string no
3.1.17 Object 1029
h
: Error Behavior
If a device failure is detected in operational state, the device can be configured to enter alternatively
the stopped state or remain in the current state in case of a device failure. Device failures include the
following errors:
-Communication error
-Application error
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1029
h
Error behavior ARRAY UNSIGNED8
E NTRY DESCRIPTION
Sub
-
Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Number of error classes ro no 2
h
2
01
h
Communication error rw no UNSIGNED8 0 (enter stopped state)
02
h
Application error rw no UNSIGNED8 1 (remain in current state)

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3.1.18 Objects 1400
h
1405
h
: Receive PDO Communication Parameter
These objects contain the communication parameters for the PDOs of motor 0 the device is able to
receive. The sub-index 0
h
contains the number of valid entries within the communication record. Its
value is at least 2.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1400
h
-1405
h
Receive PDO parameter RECORD PDO CommPar
1400
h
RPDO 1 RECORD PDO CommPar
1401
h
RPDO 2 RECORD PDO CommPar
1402
h
RPDO 3 RECORD PDO CommPar
1403
h
RPDO 4 RECORD PDO CommPar
1405
h
RPDO 6 RECORD PDO CommPar
E NTRY DESCRIPTION
Sub
-
Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Largest sub
-
index
supported ro no
Number of
entries: 2 2
01
h
COB-ID used by
PDO rw no UNSIGNED32
Index 1400
h
: 200
h
+ Node
-
ID
Index 1401
h
: 300
h
+ Node-ID
Index 1402
h
: 400
h
+ Node-ID
Index 1403
h
: 500
h
+ Node-ID
Index 1405
h
: 0
02
h
Transmission type rw no UNSIGNED8
Index 1400
h
: Ff
h
Index 1401
h
: Ff
h
Index 1402
h
: Ff
h
Index 1403
h
: Ff
h
Index 1405
h
: Ff
h
3.1.19 Objects 1440
h
1445
h
: Receive PDO Communication Parameter
This object contains the communication parameters for the PDOs of motor 1 the device is able to
receive. The sub-index 0
h
contains the number of valid entries within the communication record. Its
value is at least 2.
O BJECT DESCRIPTION
Index
Name
Object Code
Data Type
1440
h
-1445
h
Receive PDO parameter RECORD PDO CommPar
1440
h
RPDO 1 RECORD PDO CommPar
1441
h
RPDO 2 RECORD PDO CommPar
1442
h
RPDO 3 RECORD PDO CommPar
1443
h
RPDO 4 RECORD PDO CommPar
1445
h
RPDO 6 RECORD PDO CommPar
E NTRY DESCRIPTION
Sub
-
Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Largest sub
-
index
supported ro no
Number of
entries: 2 2
01
h
COB-ID used by
PDO rw no UNSIGNED32
Index 1440
h
: 0
Index 1441
h
: 0
Index 1442
h
: 0
Index 1443
h
: 0
Index 1445
h
: 0
02
h
Transmission type rw no UNSIGNED8
Index 1440
h
:
Ff
h
Index 1441
h
: Ff
h
Index 1442
h
: Ff
h
Index 1443
h
: Ff
h
Index 1445
h
: Ff
h