MODULE ModuleforStepper TMCM-1276CANopen FirmwareManual FirmwareVersionV3.22 DocumentRevisionV1.002018-JUN-28 TheTMCM-1276isasingleaxiscontroller/drivermodulefor2-phasebipolarsteppermotorswith withcoilcurrentsofupto3ARMS.TheTMCM-1276CANopen rmwareallowstocontrolthemod- uleusingtheCANopen protocol,makinguseoftheTrinamicTMC5160motioncontrollerand motordriver. Dynamiccurrentcontrol,andquiet,smoothandecientoperationarecombined withstealthChop,dcStep,stallGuardandcoolStepfeatures. Features SingleAxisSteppermotorcontrol Supplyvoltage24VDC CANopen CiA-402DriveProle EncoderSupport dcStep IntegratedsixPointrampmotion controller stealthChopsilentPWMmode spreadCyclesmartmixeddecay stallGuard2loaddetection coolStepautomaticcurrentscal- ing Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling CNC LiquidHandling SimpliedBlockDiagram 4 Input REFL/REFR TMCL ENCA/ENCB Memory ENABLE I2C Stepper Stepper Energy Efficient Motor ARM SPI Driver Cortex M0+ Controller Microcontroller TMC262 & CAN Driver Motor 10...30V DC TMCM-1276 2018TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation. 2/114 TMCM-1276CANopen FirmwareManualFirmwareVersionV3.22 DocumentRevisionV1.002018-JUN-28 Contents 1 Preface 6 1.1 GeneralFeaturesofthisCANopenImplementation . 6 1.2 AbbreviationsusedinthisManual . 7 1.3 FirmwareUpdate . 7 1.4 TrinamicsuniqueFeatureseasytousewithCANopen . 8 1.4.1 stallGuard2 8 1.4.2 coolStep 8 2 Communication 10 2.1 ReferenceModel . 10 2.2 NMTStateMachine 12 2.3 DeviceModel . 13 2.4 ObjectDictionary . 14 3 CommunicationArea 16 3.1 DetailedObjectSpecications 16 3.1.1 Object1000 :DeviceType . 16 h 3.1.2 Object1001 :ErrorRegister 16 h 3.1.3 Object1005 :COB-IDSYNCMessage . 17 h 3.1.4 Object1008 :ManufacturerDeviceName 18 h 3.1.5 Object1009 :ManufacturerHardwareVersion . 18 h 3.1.6 Object100A :ManufacturerSoftwareVersion 18 h 3.1.7 Object100C :GuardTime . 19 h 3.1.8 Object100D :LifeTimeFactor . 19 h 3.1.9 Object1010 :StoreParameters 19 h 3.1.10Object1011 :RestoreParameters . 21 h 3.1.11Object1014 :COB-IDEmergencyObject . 22 h 3.1.12Object1015 : InhibitTimeEMCY 22 h 3.1.13Object1016 :ConsumerHeartbeatTime . 23 h 3.1.14Object1017 :ProducerHeartbeatTime . 23 h 3.1.15Object1018 : IdentityObject 24 h 3.1.16Object1029 :ErrorBehaviour . 24 h 3.1.17Objects1400 1403 :ReceivePDOCommunicationParameter . 25 h h 3.1.18Objects1600 1603 :ReceivePDOMappingParameter . 26 h h 3.1.19Objects1800 1803 :TransmitPDOCommunicationParameter 27 h h 3.1.20Objects1A00 1A03 :TransmitPDOMappingParameter 28 h h 4 ManufacturerspecicArea 30 4.1 ObjectsrelatedtocoolStep . 30 4.2 DetailedObjectSpecications 32 4.2.1 Object2000 :MicrostepResolution 32 h 4.2.2 Object2001 :FullstepResolution . 32 h 4.2.3 Object2002 :BrakeDelayTimes 32 h 4.2.4 Object2003 :MaximumCurrent 33 h 4.2.5 Object2004 :StandbyCurrent . 34 h 4.2.6 Object2005 :LimitSwitches 34 h 4.2.7 Object200A :EnableDriveDelayTime 35 h 4.2.8 Object200B :EncoderParameters 35 h 4.2.9 Object200C :BrakeCurrentFeed . 36 h 4.2.10Object2010 :ProleStartVelocity . 36 h 4.2.11Object2011 :ProleA1 . 37 h 4.2.12Object2012 :ProleV1 . 37 h 2018TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com