Trinamic TMCM-351 User manual

MODULES FOR STEPPER MOTORS MODULES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
V 1.04
CANopen MANUAL
+ + TMCM-351
3-axis stepper
controller/driver board
2.8A RMS / 24V DC
Encoder interface
TMCM-341
3-axis
controller board
for SPI drivers
Vlogic 5V DC
TMCM-342
3-axis
controller board
for step/dir drivers
Vlogic 5V DC
TMCM-343
3-axis stepper
controller/driver board
Vnom 8… 34 V DC / Vlogic 5V DC
1.1A RMS
+ +

TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 2
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Table of contents
1Life support policy ....................................................................................................................................................... 6
2About this document .................................................................................................................................................. 7
3Features........................................................................................................................................................................... 8
3.1 Features of TMCM-341 ........................................................................................................................................ 8
3.2 Features of the TMCM-342................................................................................................................................. 9
3.3 Features of the TMCM-343...............................................................................................................................10
3.4 Features of the TMCM-351...............................................................................................................................11
3.5General features of this CANopen implementation ................................................................................12
4Order codes..................................................................................................................................................................13
5Communication ...........................................................................................................................................................14
5.1 Reference model ................................................................................................................................................14
5.2 NMT state machine............................................................................................................................................15
5.3 Device model ......................................................................................................................................................17
5.4 Object Dictionary ...............................................................................................................................................18
6Communication objects............................................................................................................................................19
6.1 Detailed object specifications ........................................................................................................................19
6.1.1 Object 1000h: Device type..........................................................................................................................19
6.1.2 Object 1001h: Error register.......................................................................................................................19
6.1.3 Object 1005h: COB-ID SYNC Message .....................................................................................................20
6.1.4 Object 1008h: Manufacturer device name .............................................................................................20
6.1.5 Object 1009h: Manufacturer hardware version ....................................................................................20
6.1.6 Object 1010h: Store parameters...............................................................................................................21
6.1.7 Object 1011h: Restore default parameters............................................................................................22
6.1.8 Object 100Ah: Manufacturer software version.....................................................................................23
6.1.9 Object 1014h: COB-ID emergency object...............................................................................................23
6.1.10 Object 1015h: Inhibit time EMCY .............................................................................................................24
6.1.11 Object 1016h: Consumer heartbeat time...............................................................................................24
6.1.12 Object 1017h: Producer heartbeat time .................................................................................................24
6.1.13 Object 1018h: Identity object....................................................................................................................25
6.1.14 Object 1023h: OS command ......................................................................................................................25
6.1.15 Object 1029h: Error behavior ....................................................................................................................26
6.1.16 Objects 1400h-1405h: Receive PDO communication parameter.......................................................26
6.1.17 Objects 1440h-1445h: Receive PDO communication parameter.......................................................27
6.1.18 Objects 1480h-1485h: Receive PDO communication parameter.......................................................27
6.1.19 Objects 1600h-1605h: Receive PDO mapping ........................................................................................28
6.1.20 Objects 1640h-1645h: Receive PDO mapping ........................................................................................29
6.1.21 Objects 1680h-1685h: Receive PDO mapping ........................................................................................30
6.1.22 Objects 1800h-1805h: Transmit PDO communication parameter ....................................................31
6.1.23 Objects 1840h-1845h: Transmit PDO communication parameter ....................................................32
6.1.24 Objects 1880h-1885h: Transmit PDO communication parameter ....................................................33
6.1.25 Objects 1A00h-1A05h: Transmit PDO mapping parameter ................................................................34
6.1.26 Objects 1A40h-1A45h: Transmit PDO mapping parameter ................................................................35
6.1.27 Objects 1A80h-1A85h: Transmit PDO mapping parameter ................................................................36
7Device profile objects (CiA402) and modes of operation ..............................................................................37
7.1 Detailed object specifications ........................................................................................................................37
7.1.1 Object 605Ah, 685Ah, and 705Ah: Quick stop option code ...............................................................37
7.1.2 Object 605Bh, 685Bh, and 705Bh: Shutdown option code ................................................................38
7.1.3 Object 605Ch, 685Ch, and 705Ch: Disable operation option code...................................................38
7.1.4 Object 605Dh, 685Dh, and 705Dh: Halt option code............................................................................39
7.1.5 Object 605Eh, 685Eh, and 705Eh: Fault reaction option code...........................................................39
7.1.6 Object 6060h, 6860h, and 7060h: Modes of operation........................................................................40
7.1.7 Object 6061h, 6861h, and 7061h: Modes of operation display.........................................................40
7.1.8 Object 606Ah, 686Ah, and 706Ah: Sensor selection code ..................................................................41
7.1.9 Object 60C5h, 68C5h, and 70C5h: Max acceleration .............................................................................41
7.1.10 Object 60C6h, 68C6h, and 70C6h: Max deceleration.............................................................................41

TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 3
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7.1.11 Object 60FDh, 68FDh, and 70FDh: Digital inputs ..................................................................................42
7.1.12 Object 6502h, 6D02h, and 7502h: Supported drive modes................................................................42
7.2 Profile position mode ......................................................................................................................................43
7.2.1 Detailed object specifications..................................................................................................................43
7.2.1.1 Object 6040h, 6840h, and 7040h: Controlword............................................................................44
7.2.1.2 Object 6041h, 6841h, and 7041h: Statusword..............................................................................45
7.2.1.3 Object 6062h, 6862h, and 7062h: Position demand value .......................................................46
7.2.1.4 Object 6063h, 6863h, and 7063h: Position actual internal value ...........................................46
7.2.1.5 Object 6064h, 6864h, and 7064h: Position actual value ...........................................................46
7.2.1.6 Object 6065h, 6865h, and 7065h: Following error window ....................................................47
7.2.1.7 Object 6067h, 6867h, and 7067h: Position window...................................................................47
7.2.1.8 Object 6068h, 6868h, and 7068h: Position window time.........................................................48
7.2.1.9 Object 607Ah, 687Ah, and 707Ah: Target position .....................................................................48
7.2.1.10 Object 607Dh, 687Dh, and 707Dh: Software position limit .....................................................49
7.2.1.11 Object 607Fh, 687Fh, and 707Fh: Maximum profile velocity ...................................................49
7.2.1.12 Object 6081h, 6881h, and 7081h: Profile velocity .......................................................................50
7.2.1.13 Object 6083h, 6883h, and 7083h: Profile acceleration...............................................................50
7.2.1.14 Object 6084h, 6884h, and 7084h: Profile deceleration ..............................................................50
7.2.1.15 Object 6085h, 6885h, and 7085h: Quick stop deceleration ......................................................51
7.2.1.16 Object 6086h, 6886h, and 7086h: Motion profile type ..............................................................51
7.2.1.17 Object 608Fh, 688Fh, and 708Fh: Position encoder resolution ..............................................52
7.2.2 How to move a motor in pp mode.......................................................................................................52
7.3 Homing mode.....................................................................................................................................................53
7.3.1 Connecting home switch, left switch, and right switch..................................................................54
7.3.1.1 TMCM-341/342/343 .............................................................................................................................54
7.3.1.2 TMCM-351 .............................................................................................................................................55
7.3.2 Connecting a brake .....................................................................................................................................56
7.3.2.1 TMCM-341/342/343 .............................................................................................................................56
7.3.2.2 TMCM-351 .............................................................................................................................................56
7.3.3 Homing methods: Homing on negative home switch and index pulse.....................................57
7.3.4 Detailed object definitions .......................................................................................................................58
7.3.4.1 Object 6040h, 6840h, and 7040h: Controlword............................................................................58
7.3.5 Object 6041h, 6841h, and 7041h: Statusword........................................................................................59
7.3.5.1 Object 607Ch, 687Ch, and 707Ch: Home offset ...........................................................................60
7.3.5.2 Object 6098h, 6898h, and 7098h: Homing method ....................................................................60
7.3.5.3 Object 6099h, 6899h, and 7099h: Homing speeds......................................................................61
7.3.5.4 Object 609Ah, 689Ah, and 709Ah: Homing acceleration...........................................................61
7.3.6 How to start a homing in hm mode.....................................................................................................61
7.4 Velocity mode.....................................................................................................................................................62
7.4.1 Detailed object definitions .......................................................................................................................62
7.4.1.1 Object 6040h, 6840h, and 7040h: Controlword............................................................................62
7.4.1.2 Object 6041h, 6841h, and 7041h: Statusword..............................................................................63
7.4.1.3 Object 6042h, 6842h, and 7042h: vl target velocity ...................................................................63
7.4.1.4 Object 6043h, 6843h, and 7043h: vl velocity demand...............................................................64
7.4.1.5 Object 6044h, 6844h, and 7044h: vl velocity actual value........................................................64
7.4.1.6 Object 6046h, 6846h, and 7046h: vl velocity min max amount..............................................64
7.4.1.7 Object 6048h, 6848h, and 7048h: vl velocity acceleration........................................................65
7.4.1.8 Object 6049h, 6849h, and 7049h: vl velocity deceleration .......................................................65
7.4.1.9 Object 6062h, 6862h, and 7062h: Position demand value .......................................................66
7.4.1.10 Object 6063h, 6863h, and 7063h: Position actual internal value ...........................................66
7.4.1.11 Object 6064h, 6864h, and 7064h: Position actual value ...........................................................66
7.4.1.12 Object 6065h, 6865h, and 7065h: Following error window ....................................................67
7.4.1.13 Object 607Dh, 687Dh, and 707Dh: Software position limit .....................................................67
7.4.1.14 Object 6083h, 6883h, and 7083h: Profile acceleration...............................................................68
7.4.1.15 Object 6084h, 6884h, and 7084h: Profile deceleration ..............................................................68
7.4.1.16 Object 6085h, 6885h, and 7085h: Quick stop deceleration ......................................................69
7.4.2 How to move a motor in vl mode ........................................................................................................69

TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 4
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
8Manufacturer specific area .......................................................................................................................................70
8.1 Detailed object specifications ........................................................................................................................70
8.1.1 Object 2000h, 2200h, and 2400h: Microstep resolution ......................................................................70
8.1.2 Object 2001h, 2201h, and 2401h: Fullstep resolution..........................................................................70
8.1.3 Object 2002h, 2202h, and 2402h: Brake delay times ...........................................................................71
8.1.4 Object 2003h, 2203h, and 2403h: Maximum current ............................................................................71
8.1.5 Object 2004h, 2204h, and 2404h: Standby current ...............................................................................72
8.1.6 Object 2005h, 2205h, and 2405h: Limit switches..................................................................................72
8.1.7 Object 2006h, 2206h, and 2406h: Mixed decay threshold...................................................................73
8.1.8 Object 2007h, 2207h, and 2407h: Stall detection threshold ..............................................................73
8.1.9 Object 2009h, 2209h, and 2409h: Fullstep threshold...........................................................................73
8.1.10 Object 200Ah, 220Ah, and 240Ah: Enable drive delay time...............................................................74
8.1.11 Object 200Bh, 220Bh, and 240Bh: Encoder parameters.......................................................................74
8.1.12 Object 200Ch, 220Ch, and 240Ch: Brake current feed..........................................................................75
8.1.13 Object 2085h, 2285h, and 2485h: Ramp divisor ....................................................................................75
8.1.14 Object 2086h, 2286h, and 2486h: Pulse divisor .....................................................................................76
8.1.15 Object 2087h, 2287h, and 2487h: Maximum velocity ...........................................................................76
8.1.16 Object 2088h, 2288h, and 2488h: Maximum acceleration...................................................................77
8.1.17 Object 208Ch, 228Ch, and 248Ch: Velocity dimension index.............................................................77
8.1.18 Object 208Eh, 228Eh, and 248Eh: Acceleration dimension index .....................................................77
8.1.19 Object 2100h, 2300h, and 2500h: Home offset display .......................................................................78
8.1.20 Object 2101h, 2301h, and 2501h: Actual stallGuard™ load value....................................................78
8.1.21 Object 2102h, 2302h, and 2502h: Driver error flags.............................................................................78
8.1.22 Object 2103h, 2303h, and 2503h: Pulse divisor display ......................................................................79
8.1.23 Object 2104h, 2304h, and 2504h: Maximum velocity display ............................................................79
8.1.24 Object 2105h, 2305h, and 2505h: Ramp divisor display .....................................................................79
8.1.25 Object 2106h, 2306h, and 2506h: Maximum acceleration display....................................................80
8.1.26 Object 2107h, 2307h, and 2507h: Microstep resolution display .......................................................80
8.1.27 Object 2700h: TMCL™ direct communication.......................................................................................80
8.1.28 Object 2701h: Manufacturer specific mode ...........................................................................................81
8.1.29 Object 2702h: Digital inputs......................................................................................................................81
8.1.30 Object 2703h: Digital outputs ...................................................................................................................81
8.1.31 Object 2704h: CAN bit rate ........................................................................................................................82
8.1.32 Object 2705h: Node ID................................................................................................................................82
8.1.33 Object 2706h: Store......................................................................................................................................82
8.1.34 Object 2707h: CAN bit rate load...............................................................................................................83
8.1.35 Object 2708h: Node ID load......................................................................................................................83
8.1.36 Object 2709h: Encoder interface...............................................................................................................83
8.1.37 Object 270Ah: Encoder interface display ...............................................................................................83
8.1.38 Object 270Eh: Analog inputs.....................................................................................................................83
9Emergency messages ................................................................................................................................................85
10 Revision history ..........................................................................................................................................................87
10.1 Firmware revision..............................................................................................................................................87
10.2 Document revision ............................................................................................................................................87
11 References.....................................................................................................................................................................88

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Table of figures
Figure 5.1: Overview CANopen NMT state machine..................................................................................................15
Figure 5.2: Communication architecture.......................................................................................................................16
Figure 5.3: Device model ..................................................................................................................................................17
Figure 6.1: Restore procedure..........................................................................................................................................22
Figure 7.1: Finite state machine .....................................................................................................................................43
Figure 7.2: Homing mode function................................................................................................................................53
Figure 7.3: 68-pin connector of the TMCM-34x ...........................................................................................................54
Figure 7.4: Pin order of the connector .........................................................................................................................54
Figure 7.5: Connectors of TMCM-351..............................................................................................................................55
Figure 7.6: Homing on negative home switch and index pulse...........................................................................57
Figure 7.7: Home offset definition .................................................................................................................................60
Figure 7.8: Transfer characteristic of the velocity acceleration .............................................................................65
Figure 8.1: Brake output timing......................................................................................................................................71

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
1Life support policy
TRINAMIC Motion Control GmbH & Co. KG does not
authorize or warrant any of its products for use in life
support systems, without the specific written consent
of TRINAMIC Motion Control GmbH & Co. KG.
Life support systems are equipment intended to
support or sustain life, and whose failure to perform,
when properly used in accordance with instructions
provided, can be reasonably expected to result in
personal injury or death.
© TRINAMIC Motion Control GmbH & Co. KG 2011
Information given in this data sheet is believed to be
accurate and reliable. However neither responsibility
is assumed for the consequences of its use nor for
any infringement of patents or other rights of third
parties, which may result from its use.
Specifications are subject to change without notice.

TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 7
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
2About this document
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 each module.
As with most TRINAMIC modules the software running on the microprocessor of the TMCM-341,
TMCM-342, TMCM-343, and TMCM-351 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 –
normally –untouched throughout the whole lifetime, the CANopen firmware can 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.
It is also still possible to control the drive using TMCL™ commands via a special vendor-specific
object. You can turn the drive back into a TMCL™ module by loading the TMCL™ firmware into the
drive again.
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 introduction or rather a
short overview and afterwards the information will be more in detail.
ABBREVIATIONS
CAN
Controller area network
COB
Communication object
FSA
Finite state automation
FSM
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
Table 2.1: Abbreviations

TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 8
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
3Features
The following text gives an overview of the four TRINAMIC products which are discussed in this
manual.
3.1 Features of TMCM-341
The TMCM-341 is a triple axis stepper motor controller module for external power drivers with SPI
interface (e.g. TRINAMIC TMCM-035). With its very small size it is dedicated to embedded applications,
where a compact solution is required.
The TMCM-341 can be controlled via the serial UART interface (e.g. using a RS232 or RS485 level
shifter) or via CAN. The firmware of the module can be updated via the serial interface as well as via
the CAN interface.
Applications
Controller board for control of up to 3 two-phase bipolar motors using SPI drivers (e.g. TMCM-035
or TMC249)
Versatile possibilities of applications in standalone (only with TMCL™ - refer to the TMCM-341
TMCL™ Firmware Manual) or host controlled mode (CANopen and TMCL™)
Electrical Data
5V DC logic power supply
Interface
RS232, RS485 (max. 115200bps) or CAN 2.0b (max. 1MBit/s) host interface
Inputs for reference and stop switches, general purpose analog and digital I/Os
Highlights
Up to 64 times microstepping
Automatic ramp generation in hardware
On the fly alteration of motion parameters (e.g. position, velocity, acceleration)
High dynamics: full step frequencies up to 90kHz, microstep frequency up to 460kHz
Supports stallGuard™option for sensorless motor stall detection
Can be adapted to any SPI driver type
Software
CANopen firmware (DS301 + DSP402 with homing mode, profile position mode, and velocity
mode)
Alternative: TMCL™ remote (direct mode) or stand-alone operation (memory for 2048 TMCL™
commands). TMCL™ is fully supported by TMCL-IDE (PC based integrated development
environment).
Other
68 pin connector carries all signals (2*34 pins, 2mm pitch)
RoHS compliant
Size: 80 x 50 mm²

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3.2 Features of the TMCM-342
The TMCM-342 is a triple axis stepper motor controller module for external power drivers with
step/direction interface. With its very small size it is dedicated to embedded applications, where
centralized or decentralized high power drivers are desired. The board can be connected to a
baseboard or customized electronics with a pin connector.
The TMCM-342 can be controlled via the serial UART interface (e.g. using a RS232 or RS485 level
shifter) or via CAN. Communication traffic is kept very low since all time critical operations, e.g. ramp
calculation, are performed on board. The firmware of the module can be updated via the serial
interface as well as via the CAN interface.
Applications
Controller board for control of up to 3 step/direction drivers e.g. TMCM-035, TMCM-023 (triple
driver), IDX or PD-013-42 mechatronic module or TMCM-078 step/direction driver
Versatile possibilities of applications in stand alone or host controlled mode
Electrical data
5V DC logic power supply
TTL/CMOS step/direction outputs
Interface
RS232, RS485 (max. 115200bps) or CAN 2.0b (max. 1MBit/s) host interface
Inputs for reference and stop switches, general purpose analog and digital I/Os
Step/direction outputs for three stepper motor drivers
Highlights
Three TMC428-I motion controllers for high step frequency
Automatic ramp generation in hardware
On the fly alteration of motion parameters (e.g. position, velocity, acceleration)
High dynamics: step frequencies up to 300kHz
1.8µs step pulse length and step to direction delay
Software
CANopen firmware (DS301 + DSP402 with homing mode, profile position mode, and velocity
mode)
Alternative: TMCL™ remote (direct mode) or stand-alone operation (memory for 2048 TMCL™
commands). TMCL™ is fully supported by TMCL-IDE (PC based integrated development
environment).
Other
68 pin connector carries all signals (2*34 pins, 2mm pitch)
RoHS compliant
Size: 80 x 50 mm²

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
3.3 Features of the TMCM-343
The TMCM-343 is a compact and versatile triple axis 2-phase stepper motor controller and driver
module. It provides a complete motion control solution at a very small size for embedded
applications. Using the integrated additional I/Os it even can do complete system control applications.
The board can be connected to a baseboard or customized electronics with a pin connector.
Host communication is possible via the serial UART interface (e.g. using a RS232 or RS485 level shifter)
or via CAN. All time critical operations, e.g. ramp calculation are performed onboard. The firmware of
the module can be updated via the serial interface.
With the optional stallGuard™feature it is possible to detect overload and stall of the motor.
Applications
Controller/driver board for control of up to three axes
Versatile possibilities of applications in stand alone or pc controlled mode
Electrical data
5V DC logic power supply
Nominal motor supply voltage 8V… 34V
Motor type
Coil current from 300mA to 1.1A RMS (1.5A peak)
8V… 34V nominal supply voltage
Highlights
Automatic ramp generation in hardware
stallGuard™option for sensorless motor stall detection
Full step frequencies up to 20kHz
On the fly alteration of motion parameters (e.g. position, velocity, acceleration)
Local reference move using sensorless stallGuard™feature or reference switch
Coil current adjustable by software
TMC428 motion controller for up to 64 times microstepping
TMC246 power driver: No heat sink required
Many adjustment possibilities make this module the solution for a great field of demands
Software
CANopen firmware (DS301 + DSP402 with homing mode, profile position mode, and velocity
mode)
Alternative: TMCL™ remote (direct mode) or stand-alone operation (memory for 2048 TMCL™
commands). TMCL™ is fully supported by TMCL-IDE (PC based integrated development
environment).
Other
68 pin connector carries all signals (2*34 pins, 2mm pitch)
RoHS compliant
Size: 80 x 50 mm²

TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 11
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3.4 Features of the TMCM-351
The TMCM-351 is a powerful three axes bipolar stepper motor controller/driver board with optional
encoder interface for all three axes and a large number of general purpose digital and analogue
input/outputs. Several different serial communication interfaces are available.
Electrical data
Supply voltage: +24V DC nominal (28.5V DC max.)
Motor current: up to 2.8A RMS per axis (programmable)
Stepper motor data
two phase bipolar stepper motors with up to 2.8A RMS coil current
optional incremental encoder interface (a/b/n), accepts differential or single ended input signals
Interfaces
2 reference switch inputs per motor axis (6 altogether, internal pull-up resistors, +24V compatible)
8 general purpose inputs (+24V compatible)
8 general purpose outputs incl. two power outputs (all open-collector)
1 shutdown input (enable/disable driver stage in hardware)
4 dedicated analogue inputs (programmable 3.3V/10V input range)
SPI connector with three chip select signals for I/O extension
RS232, RS485, CAN and USB serial communication interfaces
Features
High-efficient operation, low power-dissipation (TMC249 stepper driver with external MOSFETs)
Dynamic current control
Integrated Protection
On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
Motion profile calculation in real-time (TMC428 motion controller)
Each axis individually and independently programmable
Supports up to 64 microsteps per fullstep
Integrated stallGuardTM for motor stall detection (e.g. elimination of end switches)
Closed-loop operation with TMCL™ possible (when using the optional incremental encoder
interface)
Software
CANopen firmware (DS301 + DSP402 with homing mode, profile position mode, and velocity
mode)
Alternative: TMCL™ remote (direct mode) or stand-alone operation (memory for 2048 TMCL™
commands). TMCL™ is fully supported by TMCL-IDE (PC based integrated development
environment).

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3.5 General features of this CANopen implementation
The general features of this CANopen implementation are:
Communication according to standard CiA-301 V4.1
CAN bit rate: 1000kBit/s
CAN ID: 11 bit
Node ID: 1… 127, settable by 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
SYNC: consumer (TPDO3 and TPDO6 are synchronous PDOs)
Emergency: producer
RTR: not supported

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4Order codes
Order code
Description
Dimensions
TMCM-341-option 1-option 2
3-axis controller module with SPITM
80 x 55 x 5 mm3
TMCM-342-option 1-option 2
3-axis controller module with step/dir output
80 x 55 x 8 mm3
TMCM-343-option 1-option 2
3-axis controller/driver module 1.1A
80 x 55 x 8 mm3
TMCM-351-option
3-axis controller/driver module 2.8A
100 x 60 x 29 mm3
Option 1 for TMCM-341/-342/-343
-V
vertical pin connector (on request)
-H
horizontal pin connector (standard)
Option 2 for TMCM-341/-342/-343
-TMCL™
with TMCL™ (standard)
-CANopen
with CANopen
Options for TMCM-351
without option specification
no encoder interface, TMCM-351 comes with TMCL™
-E
with encoder interface
-CANopen
with CANopen
-E-CANopen
with encoder interface and CANopen
Products related to TMCM-341:
Description
Dimensions
BB-301 (-option)
Baseboard for TMCM-341 and 3 x TMCM-035
90 x 87 x 60 mm3
BB-301S (-option)
Baseboard for TMCM-341 and 3 x TMCM-035
133 x 100 x 60 mm3
TMCM-035
1-axis driver 3.5A, 50V with stallGuardTM
80 x 50 x 9 mm3
TMCM-323
3-axis encoder
80 x 53 x 8 mm3
TMCM-EVAL
Evaluation baseboard
160 x 100 x 24 mm3
Products related to TMCM-342
Description
Dimensions
BB-302 (-option)
Baseboard for TMCM-342
80 x 50 x 15 mm3
BB-323-02
Baseboard for TMCM-342
87 x 77 x 60 mm3
TMCM-023
3-axis step/direction driver module 2A, 28.5V
60 x 100 x 12 mm3
TMCM-323
3-axis encoder
80 x 53 x 8 mm3
TMCM-078
1-axis step/direction driver module 7A, 75V
145 x 96 x 33 mm3
TMCM-EVAL
Evaluation baseboard
160 x 100 x 24 mm3
PDx-013-42
PANdrive with step/dir
42.2 x 42.2 x 72/83/90
mm3
IDX-7505
1-axis step/direction driver module 5A, 75V
65 x 64 x 24 mm3
Products related to TMCM-343
Description
Dimensions
BB-303 (-option)
Baseboard for TMCM-343
80 x 50 x 15 mm3
BB-323-03
Baseboard for TMCM-343
96.5 x 79 x 60 mm3
TMCM-323
3-axis encoder
80 x 53 x 8 mm3
TMCM-EVAL
Evaluation baseboard
160 x 100 x 24 mm3
Motors related to TMCM-351
Description
Dimensions
QSH-5718
57mm/NEMA23, 1.8˚ step angle
57.2 x 57.2 x 41/55/
78.5 mm
QSH-6018
60mm/NEMA24, 1.8˚ step angle
60.5 x 60.5 x 45/56/
65/86 mm
Table 4.1: Order codes

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5Communication
5.1 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 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) via a protocol.
The application and the application layer interact with service primitives.
There are four different 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
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.
There are the following 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.
Unconfirmed and confirmed services are collectively called remote services.

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5.2 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 consists
of the following states:
Pre-operational
Operational
Stopped
Initialization
ID / Boot-up
Figure 5.1: 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 that has to be 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 support 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 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 below shows the situation of the state machine in this device profile:
Device control state machine
CANopen Communication Profile CiA DS301
Modes of operation:
[used in this manual / according
to CiA DSP 402]
Homing mode
Profile position mode
Velocity mode
CANopen device profile CiA DSP 402
CAN
Figure 5.2: Communication architecture

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5.3 Device model
A device is structured like the following:
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
Communication Application
Object
dictionary
State machine Application
object
Application
object
Application
object
Application
object
Communication
object
Communication
object
Communication
object
Communication
object
Entry 1
Entry 2
Entry n
Bus system Process
Figure 5.3: Device model

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5.4 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.
The overall layout of the standard Object Dictionary is shown below:
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 5.1: Object Dictionary
*1The communication profile area at indices 1000hthrough 1FFFhcontains the communication
specific parameters for the CAN network. These entries are common to all devices.
*2The manufacturer segment at indices 2000hthrough 5FFFhcontains manufacturer specific objects.
These objects control the special features of the TRINAMIC motion control devices TMCM-351 and
TMCM341/342/343.
*3The standardized device profile area at indices 6000hthrough 9FFFhcontains all data objects
common to a class of devices that can be read or written via the network. The device profiles
use entries from 6000hto 9FFFhto describe the device parameters and the device functionality.

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6Communication objects
6.1 Detailed object specifications
6.1.1 Object 1000h: Device type
This object contains information about the device type. The object 1000hdescribes 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.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1000h
Device type
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
r0
no
UNSIGNED32
40192h
6.1.2 Object 1001h: Error register
This object is an error register. The module can map internal errors and object 1001his part of an
emergency object.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1001h
Error register
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
r0
yes
UNSIGNED8
no
STRUCTURE 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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6.1.3 Object 1005h: COB-ID SYNC Message
This object defines the COB-ID of the synchronization Object (SYNC). Further, it defines whether the
module generates the SYNC.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1005h
COB-ID SYNC Message
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
rw
no
UNSIGNED32
80h
6.1.4 Object 1008h: Manufacturer device name
This object contains the manufacturer device name.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1008h
Manufacturer device name
Variable
Visible string
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
Const.
no
no
TMCM-341, TMCM-342,
TMCM-343 or TMCM-351
6.1.5 Object 1009h: Manufacturer hardware version
This object contains the hardware version description.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1009h
Manufacturer hardware version
Variable
Visible string
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00h
Const.
no
no
Depends on device, e.g. 1.0