MODULE ModuleforStepper TMCM-3212CANopen FirmwareManual FirmwareVersionV3.22 DocumentRevisionV1.052019-FEB-13 TheTMCM-3212isathreeaxescontroller/drivermodulefor2-phasebipolarsteppermotorswith separatedierentialencoderandseparatehomeandstopswitchinputsforeachaxis. Dynamic currentcontrol,andquiet,smoothandecientoperationarecombinedwithStealthChop,Dc- Step,StallGuard2andCoolStepfeatures. Themoduleoersfouranalogordigitalinputsas wellasfourdigitaloutputsincombinationwithabreakchopperunit. Features 3-AxesStepperMotorControl CANopenCiA-402DriveProle EncoderSupport SixPointramps CoolStep DcStep StallGuard2 StealthChop Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram TMCM-3212 17..53V DC DC EEPROM I2C 3x RS485 MOSFET Driver TMC2130 E Stage CAN +5V SPI USB C +5V (ARM) +5V HOME, REFL, REFR Inputs Outputs A/B/N Encoder 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation. 2/129 TMCM-3212CANopen FirmwareManualFirmwareVersionV3.22 DocumentRevisionV1.052019-FEB-13 Contents 1 Preface 7 1.1 GeneralFeaturesofthisCANopenImplementation . 7 1.2 AbbreviationsusedinthisManual . 8 1.3 FirmwareUpdate . 8 1.4 TrinamicsuniqueFeatureseasytousewithCANopen 9 1.4.1 StallGuard2 . 9 1.4.2 CoolStep . 9 1.5 SixPointMotionController . 10 2 Communication 12 2.1 ReferenceModel . 12 2.2 NMTStateMachine 14 2.3 DeviceModel . 15 2.4 ObjectDictionary . 16 2.4.1 ObjectIndicesonMulti-AxisModules . 17 3 CommunicationArea 18 3.1 DetailedObjectSpecications 18 3.1.1 Object1000 :DeviceType . 18 h 3.1.2 Object1001 :ErrorRegister 18 h 3.1.3 Object1005 :COB-IDSYNCMessage . 19 h 3.1.4 Object1008 :ManufacturerDeviceName 20 h 3.1.5 Object1009 :ManufacturerHardwareVersion . 20 h 3.1.6 Object100A :ManufacturerSoftwareVersion 20 h 3.1.7 Object100C :GuardTime . 21 h 3.1.8 Object100D :LifeTimeFactor . 21 h 3.1.9 Object1010 :StoreParameters 21 h 3.1.10Object1011 :RestoreParameters . 23 h 3.1.11Object1014 :COB-IDEmergencyObject . 24 h 3.1.12Object1015 : InhibitTimeEMCY 24 h 3.1.13Object1016 :ConsumerHeartbeatTime . 25 h 3.1.14Object1017 :ProducerHeartbeatTime . 26 h 3.1.15Object1018 : IdentityObject 26 h 3.1.16Object1023 :OSCommand 27 h 3.1.17Object1029 :ErrorBehaviour . 27 h 3.1.18Objects1400 1403 :ReceivePDOCommunicationParameter . 28 h h 3.1.19Objects1600 1603 :ReceivePDOMappingParameter . 29 h h 3.1.20Objects1800 1803 :TransmitPDOCommunicationParameter 30 h h 3.1.21Objects1A00 1A03 :TransmitPDOMappingParameter 31 h h 4 ManufacturerspecicArea 33 4.1 ObjectsrelatedtoCoolStep 33 4.2 DetailedObjectSpecications 36 4.2.1 Object2000 :MicrostepResolution 36 h 4.2.2 Object2001 :FullstepResolution . 36 h 4.2.3 Object2002 :BrakeDelayTimes 36 h 4.2.4 Object2003 :MaximumCurrent 37 h 4.2.5 Object2004 :StandbyCurrent . 38 h 4.2.6 Object2005 :LimitSwitches 38 h 4.2.7 Object200A :EnableDriveDelayTime 39 h 4.2.8 Object200B :EncoderParameters 39 h 4.2.9 Object200C :BrakeCurrentFeed . 40 h 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com