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TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04

75 / 110

7

Velocity Mode

The velocity mode is used to control the velocity of the drive without a special regard of the position. It

contains limit functions.

The input parameters in velocity mode include:

• Velocity

• Acceleration

• Deceleration

• Quick stop deceleration

Note

Compared to the profile velocity (pv) mode, the vl mode offers only a very limited

functionality. Also the ranges of velocity and acceleration are limited, especially

when using user units.

Therefore we recommend using the pv mode for new applications. The vl mode

is only supported for compatibility reasons.

7.1

Detailed Object Specifications

7.1.1

Object 6040

h

: Control Word

This object indicates the received command controlling the power drive system finite state automaton

(PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to figure

8

for

detailed information.

In vl mode the control word does not contain any operation mode specific bits.

Structure of the Control Word

15

11

10

9

8

7

6

4

3

2

1

0

nu

r

r

h

fr

r

eo

qs

ev

so

MSB

LSB

Legend: nu=not used; r=reserved; h=halt; fr=fault reset; eo=enable operation; qs=quick stop; ev=enable

voltage; so=switch on.

Table 222: Structure of the Control Word in vl Mode

©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany

Terms of delivery and rights to technical change reserved.
Download newest version at

www.trinamic.com

Summary of Contents for TMCM-1160

Page 1: ...C CANopen CiA 402 Drive Pro le CoolStep StallGuard2 SensOstep encoder Additional inputs and outputs Applications Laboratory Automation Manufacturing Semiconductor Handling Robotics Factory Automation...

Page 2: ...2 3 1 12 Object 1015h Inhibit Time EMCY 22 3 1 13 Object 1016h Consumer Heartbeat Time 23 3 1 14 Object 1017h Producer Heartbeat Time 23 3 1 15 Object 1018h Identity Object 24 3 1 16 Object 1023h OS C...

Page 3: ...Object 2100h Home Offset Display 47 4 2 34 Object 2101h Actual Load Value 47 4 2 35 Object 2102h Driver Error Flags 48 4 2 36 Object 2107h Microstep Resolution Display 49 4 2 37 Object 210Bh Step Coun...

Page 4: ...tual Value 79 7 1 6 Object 6046h vl Velocity Min Max Amount 79 7 1 7 Object 6048h vl Velocity Acceleration 79 7 1 8 Object 6049h vl Velocity Deceleration 80 7 2 How to move a Motor in vl Mode 80 8 Pro...

Page 5: ...Object 607Ch Home Offset 99 9 2 5 Object 6098h Homing Method 100 9 2 6 Object 6099h Homing Speeds 100 9 2 7 Object 609Ah Homing Acceleration 100 9 3 How to start a Homing in hm Mode 101 10 Emergency M...

Page 6: ...eristics Communication according to standard CiA 301 V4 1 CAN bit rate 20 1000kBit s CAN ID 11 bit Node ID 1 127 use vendor speci c objects for changing the node ID NMT services NMT slave SDO Communic...

Page 7: ...ervice data object TPDO Transmit process data object EMCY Emergency object rw Read and write ro Read only hm Homing mode pp Pro le position mode pv Pro le velocity mode vm Velocity mode Table 1 Abbrev...

Page 8: ...hed Motor close to stall Motor stalls Figure 1 stallGuard2 Load Measurement as a Function of Load 1 4 2 CoolStep CoolStep is a load adaptive automatic current scaling based on the load measurement via...

Page 9: ...7 0 8 0 9 0 50 100 150 200 250 300 350 Efficiency Velocity RPM Efficiency with coolStep Efficiency with 50v torque reserve Figure 2 Energy E ciency Example with CoolStep 2019 TRINAMIC Motion Control G...

Page 10: ...er interact with service primitives Service Primitives Primitive De nition Request Issued by the application to the application layer to request a service Indication Issued by the application layer to...

Page 11: ...med back Con rmed 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...

Page 12: ...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...

Page 13: ...it provides the communication objects and the appropriate function ality to transport data items via the underlying network structure Object dictionary The object dictionary is a collection of all the...

Page 14: ...in the dictionary is addressed using a 16 bit index The overall layout of the standard object dictionary is shown in table 4 Object Dictionary Index Object 0000h Not used 0001h 001Fh Static data types...

Page 15: ...manufacturer speci c objects These objects control the special features of the Trinamic TMCM 1160 motion control device The standardized device pro le area at indices 6000h through 9FFFh contains all...

Page 16: ...Object Description Index Name Object Type Data Type 1000h Device type Variable UNSIGNED32 Table 5 Object Description 1000h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 ro...

Page 17: ...tion Bit Name De nition 30 Generate 0 Device does not generate SYNC message 1 Device generates SYNC message 29 Frame Not supported always set to 0 28 11 29 bit ID Not supported always set to 0 10 0 11...

Page 18: ...ect contains the hardware version description Object Description Index Name Object Type Data Type 1009h Manufacturer Hardware Version Variable Visible String Table 15 Object Description 1009h Entry De...

Page 19: ...x Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED16 0 Table 20 Entry Description 100Ch 3 1 8 Object 100Dh Life Time Factor The life time factor multiplied with the guard time gives the l...

Page 20: ...ssion initiate download response If the storing failed the device responds with an abort SDO transfer abort code 06060000h If a wrong signature is written the device refuses to store and responds with...

Page 21: ...load 64616F6Ch see also table 26 Load Signature d a o l 64h 61h 6Fh 6Ch Table 26 Load Signature On reception of the correct signature in the appropriate sub index the device restores the parameter an...

Page 22: ...COB ID emergency object Variable UNSIGNED32 Table 29 Object Description 1014h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 80h Node ID Table 30 Entry De...

Page 23: ...beat time Time in 1ms Table 33 Value De nition 1016h Object Description Index Name Object Type Data Type 1016h Consumer heartbeat time Variable UNSIGNED16 Table 34 Object Description 1016h Entry Descr...

Page 24: ...Identity Table 38 Object Description 1018h Entry Description Sub index Description Access PDO Mapping Value Range Default Value 00h Number of entries ro no 0 3 3 01h Vendor ID ro no UNSIGNED32 0286h 0...

Page 25: ...ro no 2 01h Communication error rw no UNSIGNED8 0 enter stopped state 02h Application error rw no UNSIGNED8 1 remain in current state Table 43 Entry Description 1029h 3 1 18 Objects 1400h 1403h Receiv...

Page 26: ...de ID Index 1402h 400h Node ID Index 1403h 500h Node ID 02h Transmission type rw UNSIGNED8 Index 1400h FFh Index 1401h FFh Index 1402h FFh Index 1403h FEh Table 45 Entry Description 1400h 3 1 19 Objec...

Page 27: ...etting bit 31 of its COB ID see section 3 1 18 Then set its number of mapped PDO entries to zero sub index 0 of the appropriate PDO mapping object Now the mapppings themself can be changed After that...

Page 28: ...scription Index Name Object Type Data Type 1800h 1803h Transmit PDO communication parameter RECORD TPDO CommPar 1800h TPDO 1 RECORD TPDO CommPar 1801h TPDO 2 RECORD TPDO CommPar 1802h TPDO 3 RECORD TP...

Page 29: ...cription 1A00h Entry Description Sub index Description Access Value Range Default Value 00h Number of mapped aapli cation objects in PDO rw 0 3 Index 1A00h 1 Index 1A01h 2 Index 1A02h 2 Index 1A03h 2...

Page 30: ...ure is sometimes also called SmartEnergy The following adjustments have to be made Thresholds for current and velocity have to be identi ed and set The StallGuard2 feature has to be adjusted and enabl...

Page 31: ...ed of current decrement when the Stall Guard2 reading is above the upper threshold 0 slow decrement 3 fast decrement 209Bh SmartEnergy current up step Sets the current increment step when the StallGua...

Page 32: ...tep resolution of the motor connected to the drive Its default value is 200 because most motors are 1 8 motors Object Description Index Name Object Type Data Type 2001h Motor full step resolution Vari...

Page 33: ...535 0 2 Time between releasing brake switching the state machine to operational rw no 0 65535 0 Table 58 Entry Description 2002h 4 2 4 Object 2003h Maximum Current This object de nes the current used...

Page 34: ...be set to the value 3 if limit switches are not connected The object can only be written when the drive is in the SWITCHED_ON_DISABLED state but is always readable The limit switches can also be inve...

Page 35: ...e also object 4 2 3 Object Description Index Name Object Type Data Type 200Ah Enable drive delay time Variable UNSIGNED16 Table 66 Object Description 200Ah Entry Description Sub index Access PDO Mappi...

Page 36: ...D_ON_DISABLED state Object Description Index Name Object Type Data Type 200Ch Brake current feed Array UNSIGNED8 Table 70 Object Description 200Ch Entry Description Sub index Description Access PDO Ma...

Page 37: ...ub index Access PDO Mapping Value Range Default Value 0 rw no 0 13 0 Table 75 Entry Description 2086h 4 2 12 Object 2087h Maximum Velocity The functionality of this object depends on the unit selectio...

Page 38: ...uracy of the unit conversion This value can only be changed when the drive is in SWITCHED_ON_DISABLED state Object Description Index Name Object Type Data Type 2088h Ramp Divisor Variable UNSIGNED32 T...

Page 39: ...ity Dimension Index Variable UNSIGNED8 Table 82 Object Description 208Ch Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no 0 164 181 0 Table 83 Entry Description 208Ch 4...

Page 40: ...n Index Name Object Type Data Type 2092h Chopper Blank Time Variable UNSIGNED8 Table 86 Object Description 2092h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no 0 3 2...

Page 41: ...e 91 Entry Description 2094h 4 2 20 Object 2095h Chopper Hysteresis End This object provides the setting of the hysteresis end value after a number of decrements The decrement interval time is control...

Page 42: ...s used Off time setting for constant tOFF chopper NCLK 12 32 tOF F Minimum is 64 clocks Setting this parameter to zero completely disables all driver transistors and so lets the motor free wheel Objec...

Page 43: ...1 8 measurements 2 2 measurements 3 1 measurements fastest decrement Object Description Index Name Object Type Data Type 2099h Smart Energy Current Down Step Variable UNSIGNED8 Table 100 Object Descri...

Page 44: ...is start object 209Ch section 4 2 27 Possible values are 0 1 step slowest increment 1 2 steps 2 4 steps 3 8 steps fastest increment Object Description Index Name Object Type Data Type 209Bh Smart Ener...

Page 45: ...tep Use the standard mode for step loss detection Possible values are 0 standard mode 1 ltered mode Object Description Index Name Object Type Data Type 209Dh Smart Energy Filter Enable Variable UNSIGN...

Page 46: ...D protection enabled 1 Short to GND protection disabled Object Description Index Name Object Type Data Type 20A1h Short Protection Disable Variable UNSIGNED8 Table 112 Object Description 20A1h Entry D...

Page 47: ...ntry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no 0 2147483647 0 Table 117 Entry Description 20A5h 4 2 33 Object 2100h Home Offset Display This object shows the home offs...

Page 48: ...ows the error ags of the motor driver IC Error Flags Bit Name Meaning 7 OT Overtemperature 6 OTPW Temperature pre warning 5 UV Undervoltage 4 OCHS Overcurrent high side 3 OLB Open load on bridge B 2 O...

Page 49: ...no 0 8 8 Table 126 Entry Description 2107h 4 2 37 Object 210Bh Step Counter This object shows the overall number of microsteps done by this motor so far The value can be read as a 64 bit value sub ind...

Page 50: ...Mode Writing the make signature to this object turns on the manufacturer speci c mode The manufacturer speci c mode can be turned off again by writing the kill signature to this object The manufacture...

Page 51: ...Value Range Default Value 0 ro yes 0 Table 135 Entry Description 2702 h 4 2 41 Object 2703h Device Digital Outputs With this object the digital outputs general purpose outputs can be set Bits 23 16 of...

Page 52: ...x Name Object Type Data Type 2704h CAN Bit Rate Variable UNSIGNED16 Table 139 Object Description 2704h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no 20 50 100 125 25...

Page 53: ...Reset the module 4 2 44 Object 2706h Store Writing the save signature to this object permanently saves changes made to objects 2704h and 2705h The save signature is 65766173h Object Description Index...

Page 54: ...cription Index Name Object Type Data Type 2708h Node ID Load Variable UNSIGNED8 Table 147 Object Description 2708h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 ro no 1 12...

Page 55: ...0 All pull up resistors off 1 Pull up resistor on for STOP_L only Pull up resistors off for STOP_R and HOME 2 Pull up resistor on for STOP_R only Pull up resistors off for STOP_L and HOME 3 Pull up r...

Page 56: ...04 56 110 Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no 0 7 0 Table 153 Entry Description 2710h 2019 TRINAMIC Motion Control GmbH Co KG Hamburg Germany Terms of del...

Page 57: ...vl Pro le velocity mode pv Homing mode hm 5 1 Detailed Object Speci cations 5 1 1 Object 605Ah Quick Stop Option Code This object indicates what action is performed when the quick stop function is ex...

Page 58: ...ex Access PDO Mapping Value Range Default Value 0 rw no 0 0 Table 159 Entry Description 605Bh 5 1 3 Object 605Ch Disable Operation Option Code This object indicates what action is performed if there i...

Page 59: ...5Dh Object Description Index Name Object Type Data Type 605Dh Halt option code Variable UNSIGNED16 Table 164 Object Description 605Dh Entry Description Sub index Access PDO Mapping Value Range Default...

Page 60: ...ion mode pp 2 Velocity mode vl 3 Pro le velocity mode pv 6 Homing mode hm Table 169 Value Description 6060h The motor will not run when the operating mode is set to 0 It will be stopped when the motor...

Page 61: ...l not run when the operating mode is set to 0 It will be stopped when the motor is running in one of the supported operating modes and the operating mode is then switched to 0 Object Description Index...

Page 62: ...it re ects the state of one digital input The number of valid bits depends on the number of digital inputs on the module used Object Description Index Name Object Type Data Type 60FDh Digital inputs V...

Page 63: ...velocity mode csv 9 Cyclic synchronous torque mode cst Table 180 Value De nition 6502h Object Description Index Name Object Type Data Type 6502h Supported drive modes Variable UNSIGNED32 Table 181 Obj...

Page 64: ...omatically 15 14 automatically automatically Start Not ready to switch on Switch on disable Ready to switch on Switched on Operation enable Quick stop active Fault reaction active Fault Figure 8 DS402...

Page 65: ...pp Mode Operation Mode speci c Bits in pp Mode Bit Name De nition 4 New set point 0 to 1 the next positioning will be started 5 Change immediately Not supported 6 Absolute relative 0 New position is...

Page 66: ...as de ned below For more information about the coding please refer to the CANopen Drives and motion control device pro le part 2 Structure of the Status Word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 dir...

Page 67: ...x x00x 0111h Quick stop active xxxx xxxx x0xx 1111h Fault reaction active xxxx xxxx x0xx 1000h Fault Table 191 State Coding Object Description Index Name Object Type Data Type 6041h Controlword Variab...

Page 68: ...Object Description Index Name Object Type Data Type 6063h Position Actual Internal Value Variable SIGNED32 Table 196 Object Description 6063h Entry Description Sub index Access PDO Mapping Value Range...

Page 69: ...ect Description Index Name Object Type Data Type 6065h Following Error Window Variable UNSIGNED32 Table 200 Object Description 6065h Entry Description Sub index Access PDO Mapping Value Range Default...

Page 70: ...t be signaled until the actual position 6064h is at least as many milliseconds within the position window as de ned by this object Object Description Index Name Object Type Data Type 6068h Position Wi...

Page 71: ...PDO Mapping Value Range Default Value 0 rw Refer to CiA402 3 SIGNED32 0 Table 209 Entry Description 607Ah in pp Mode 6 1 11 Object 607Dh Software Position Limit This object indicates the con gured ma...

Page 72: ...le Velocity Variable SIGNED32 Table 212 Object Description 6081h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no SIGNED32 0 Table 213 Entry Description 6081h 6 1 13 Ob...

Page 73: ...red deceleration On the TMCM 1160 module the deceleration ramp is always the same as the acceleration ramp For this reason this object is a read only object and always reads the same value as object 6...

Page 74: ...mands before Please note that the values are decimal If you do not have any limit switches connected rst disable the limit switch inputs by writing 3 to object 2005h Select pp mode by writing 1 to obj...

Page 75: ...only supported for compatibility reasons 7 1 Detailed Object Speci cations 7 1 1 Object 6040h Control Word This object indicates the received command controlling the power drive system nite state auto...

Page 76: ...3 See command coding above Table 225 Entry Description 6040h in vl Mode 7 1 2 Object 6041h Status Word This object provides the status of the PDS FSA It re ects the status of the CiA 402 state machin...

Page 77: ...ation Mode speci c Bits in vl Mode State Coding Status word FSA state xxxx xxxx x0xx 0000h Not ready to switch on xxxx xxxx x1xx 0000h Switch on disabled xxxx xxxx x01x 0001h Ready to switch on xxxx x...

Page 78: ...on Index Name Object Type Data Type 6042h vl Target Velocity Variable SIGNED16 Table 232 Object Description 6042h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw yes 2047...

Page 79: ...of objects 2085h 2086h 2087h and 2088h The units used by this object depend on object 208Ch Object Description Index Name Object Type Data Type 6046h vl Velocity Min Max Amount Array UNSIGNED32 Table...

Page 80: ...bject is a read only object and always reads the same values as object 6048h Object Description Index Name Object Type Data Type 6049h vl Velocity Deceleration Record vl acceleration deceleration Tabl...

Page 81: ...witch to OPERATION_ENABLED state Write the desired target speed e g 500 to object 6042h The motor now accelerates to that speed Stop the motor by writing 0 to object 6042h 2019 TRINAMIC Motion Control...

Page 82: ...e deceleration Emergency stop Motion pro le type 8 1 Detailed Object Speci cations 8 1 1 Object 6040h Control Word This object indicates the received command controlling the power drive system nite st...

Page 83: ...3 See command coding above Table 247 Entry Description 6040h in pv Mode 8 1 2 Object 6041h Status Word This object provides the status of the PDS FSA It re ects the status of the CiA 402 state machin...

Page 84: ...ation Mode speci c Bits in pv Mode State Coding Status word FSA state xxxx xxxx x0xx 0000h Not ready to switch on xxxx xxxx x1xx 0000h Switch on disabled xxxx xxxx x01x 0001h Ready to switch on xxxx x...

Page 85: ...DO Mapping Value Range Default Value 0 ro Refer to CiA402 3 SIGNED32 no Table 255 Entry Description 6062h 8 1 4 Object 6063h Position Actual Internal Value This object provides the demanded position v...

Page 86: ...steps When the difference between motor position object 6062h and encoder position object 6063h or 6064h is greater than the value set here the motor will be stopped and an emergency message will be s...

Page 87: ...position they are corrected internally by the home offset as follows Corrected_min_position_limit min_position_limit home_offset Corrected_max_position_limit max_position_limit home_offset Object Des...

Page 88: ...Object Description Index Name Object Type Data Type 6085h Quick stop deceleration Variable UNSIGNED32 Table 268 Object Description 6085h Entry Description Sub index Access PDO Mapping Value Range Def...

Page 89: ...l by NMT commands before If you do not have any limit switches connected rst disable the limit switch inputs by writing 3 to object 2005h Select pv mode by writing 3 to object 6060h Write 6 to object...

Page 90: ...e home offset object 607Ch allows displacing the zero in point the coordinate system for the home position Homing method Controlword 6040h Homing method 6098h Homing speeds 6099h Homing acceleration 6...

Page 91: ...he negative edge of the home switch 33 Search next index pulse in negative direction 34 Search next index pulse in positive direction 35 The actual position is used as home position All position value...

Page 92: ...int where the home switch changes state If the initial position is situated so that the direction of movement shall reverse during homing the point at which the reversal takes place is anywhere after...

Page 93: ...e negative limit switch becomes inactive 17 Negative limit switch 17 Figure 14 Homing Method 17 9 1 6 Homing Method 18 Homing on positive Limit Switch Using this method the initial direction of moveme...

Page 94: ...tive Home Switch Using this method the initial direction of movement shall be dependent on the state of the home switch The home position shall be at the point where the home switch changes state If t...

Page 95: ...oming Method 35 Current Position as Home Position In this method the current position shall be taken to be the home position This method does not require the drive device to be in operation enabled st...

Page 96: ...k stop ev enable voltage so switch on Table 273 Structure of the Control Word in hm Mode Operation Mode speci c Bits in hm Mode Bit Name De nition 4 Homing operation start 1 start homing 0 stop homing...

Page 97: ...as de ned below For more information about the coding please refer to the CANopen Drives and motion control device pro le part 2 Structure of the Status Word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 dir...

Page 98: ...0111h Operation enabled xxxx xxxx x00x 0111h Quick stop active xxxx xxxx x0xx 1111h Fault reaction active xxxx xxxx x0xx 1000h Fault Table 281 State Coding Object Description Index Name Object Type D...

Page 99: ...is found and once the homing is completed the zero position is offset from the home position by adding the home offset to the home position The effect of setting the home position to a non zero value...

Page 100: ...eed can be set In most homing modes the home switch is searched with the fast speed rst When the home switch has been found the motor will be decelerated to the slow speed using the homing acceleratio...

Page 101: ...commands before The home switch must be connected to the home switch input It can be operated manually Select hm mode by writing 6 to object 6060h Write 6 to object 6040h to switch to READY_TO_SWITCH_...

Page 102: ...This can be caused by a short circuit in the driver stage 2311h 0 0 0 0 0 Overcurrent bridge B The motor driver indicates that there is overcurrent on bridge B This can be caused by a short circuit in...

Page 103: ...f state The drive has been stopped and disabled This message is sent after the CAN controller has recovered from bus off state and is bus on again 8611h 0 0 0 0 0 Following error The deviation between...

Page 104: ...ustment Points and Thresholds 30 7 Brake Output Timing 33 8 DS402 Finite State Machine 64 9 Homing Mode Function 90 10 Homing Method 1 91 11 Homing Method 2 92 12 Homing Method 3 92 13 Homing Method 5...

Page 105: ...Description 1A00h 29 52 CoolStep related Objects 31 53 Object Description 2000h 32 54 Entry Description 2000h 32 55 Object Description 2001h 32 56 Entry Description 2001h 32 57 Object Description 200...

Page 106: ...5Bh 58 158 Object Description 605Bh 58 159 Entry Description 605Bh 58 160 Value Description 605Ch 58 161 Object Description 605Ch 58 162 Entry Description 605Ch 59 163 Value Description 605Dh 59 164 O...

Page 107: ...bject Description 6041h in pv Mode 84 253 Entry Description 6041h in pv Mode 85 254 Object Description 6062h 85 255 Entry Description 6062h 85 256 Object Description 6063h 85 257 Entry Description 606...

Page 108: ...rs for the rst time in the document All trademarks and brand names used are property of their respective owners 13 4 Target User The documentation provided here is for programmers and engineers only w...

Page 109: ...TRINAMIC s speci c written consent TRINAMIC products are not designed nor intended for use in military or aerospace applications or environ ments or in automotive applications unless speci cally desig...

Page 110: ...s Save restore parameters Sensor selection code pv mode Boost current Standby delay CoolStep V3 20 2017 SEP 06 OK Save restore parameters xed Table 295 Firmware Revision 14 2 Document Revision Version...

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