MODULE ModuleforStepper TMCM-6210CANopen FirmwareManual FirmwareVersionV3.22 DocumentRevisionV1.052019-FEB-13 TheTMCM-6210isasixaxescontroller/drivermodulefor2-phasebipolarsteppermotorswith separatedierentialencoderandseparatehomeandstopswitchinputsforeachaxis. Dynamic currentcontrol,andquiet,smoothandecientoperationarecombinedwithStealthChop,Dc- Step,StallGuard2andCoolStepfeatures. Themoduleoersfouranalogordigitalinputsas wellasfourdigitaloutputsincombinationwithabreakchopperunit. Features 6-AxesStepperMotorControl CANopenCiA-402DriveProle EncoderSupport SixPointramps CoolStep DcStep StallGuard2 StealthChop Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram 10..27V TMCM-6210 DC DC EEPROM I2C 3x A/B/N Encoder RS485 CAN SPI +5V USB C +5V HOME, REFL, REFR (ARM) +5V Inputs E TMC5072 Outputs E +5V +5V +5V HOME, REFL, REFR A/B/N Encoder 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation. 2/131 TMCM-6210CANopen FirmwareManualFirmwareVersionV3.22 DocumentRevisionV1.052019-FEB-13 Contents 1 Preface 7 1.1 GeneralFeaturesofthisCANopenImplementation . 7 1.2 AbbreviationsusedinthisManual . 9 1.3 FirmwareUpdate . 9 1.4 TrinamicsuniqueFeatureseasytousewithCANopen 9 1.4.1 StallGuard2 . 9 1.4.2 CoolStep . 10 1.5 SixPointMotionController . 11 2 Communication 13 2.1 ReferenceModel . 13 2.2 NMTStateMachine 15 2.3 DeviceModel . 16 2.4 ObjectDictionary . 17 2.4.1 ObjectIndicesonMulti-AxisModules . 18 3 CommunicationArea 19 3.1 DetailedObjectSpecications 19 3.1.1 Object1000 :DeviceType . 19 h 3.1.2 Object1001 :ErrorRegister 19 h 3.1.3 Object1005 :COB-IDSYNCMessage . 20 h 3.1.4 Object1008 :ManufacturerDeviceName 21 h 3.1.5 Object1009 :ManufacturerHardwareVersion . 21 h 3.1.6 Object100A :ManufacturerSoftwareVersion 21 h 3.1.7 Object100C :GuardTime . 22 h 3.1.8 Object100D :LifeTimeFactor . 22 h 3.1.9 Object1010 :StoreParameters 22 h 3.1.10Object1011 :RestoreParameters . 24 h 3.1.11Object1014 :COB-IDEmergencyObject . 25 h 3.1.12Object1015 : InhibitTimeEMCY 26 h 3.1.13Object1016 :ConsumerHeartbeatTime . 26 h 3.1.14Object1017 :ProducerHeartbeatTime . 27 h 3.1.15Object1018 : IdentityObject 27 h 3.1.16Object1023 :OSCommand 28 h 3.1.17Object1029 :ErrorBehaviour . 28 h 3.1.18Objects1400 1403 :ReceivePDOCommunicationParameter . 29 h h 3.1.19Objects1600 1603 :ReceivePDOMappingParameter . 30 h h 3.1.20Objects1800 1803 :TransmitPDOCommunicationParameter 31 h h 3.1.21Objects1A00 1A03 :TransmitPDOMappingParameter 33 h h 4 ManufacturerspecicArea 35 4.1 ObjectsrelatedtoCoolStep 35 4.2 DetailedObjectSpecications 38 4.2.1 Object2000 :MicrostepResolution 38 h 4.2.2 Object2001 :FullstepResolution . 38 h 4.2.3 Object2002 :BrakeDelayTimes 38 h 4.2.4 Object2003 :MaximumCurrent 39 h 4.2.5 Object2004 :StandbyCurrent . 40 h 4.2.6 Object2005 :LimitSwitches 40 h 4.2.7 Object200A :EnableDriveDelayTime 41 h 4.2.8 Object200B :EncoderParameters 41 h 4.2.9 Object200C :BrakeCurrentFeed . 42 h 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com