Trinamic CANopen Bedienungsanleitung

GUIDE

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Trinamic CANopen quickstart guide

Document Revision V1.00 •2021-Sept-10

Contents

1 Introduction 1

2 Resources 1

3 Wiring 2

4 TMCM-CANopen 2

4.1 Connect with the TMCM-CANopen ................................... 2

4.2 Motor run current ............................................ 4

4.3 Position Mode ............................................... 5

4.4 Velocity Mode ............................................... 9

5 Additional Resources 10

6 Revision History 10

1 Introduction

This quickstart guide will show the bring up of a Trinamic CANopen module based on the TMCM-1240. To

get started with Trinamic CANopen modules a CANopen master is needed as well as CAN adapter which

is supported by the CANopen master. TMCM-CANopen (not TMCL-IDE) is an easy to use CANopen master

for the Trinamic CANopen modules. It supports reading and writing of CANopen objects as well as con-

trolling the CiA-402 modes of a CANopen drive.

CAN adapters supported by the TMCM-CANopen tool:

•Kvaser

•ESD

•Peak

•IXXAT

For a detailed list of supported CAN adapters refer to TMCM-CANopen tool manual V1.5.0.0 (chapter 3).

2 Resources

•TMCM-1240 Hardware manual

•TMCM-1240 CANopen Firmware manual

•EDS File

For other modules, the above mentioned ﬁles are provided on their respective product webpages.

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3 Wiring

For the setup following parts are needed:

•TMCM-1240-CANopen

•Stepper motor (e.g. QSH4218-35-10-027)

•CAN adapter (here: Kvaser Leaf Light HS v2)

•Supply Voltage (24V)

Figure 1

+VMAIN and Enable should be wired. +VLOGIC can be left open as in ﬁgure. CAN bus termination resistors

must also be added (ﬁgure 1).

4 TMCM-CANopen

In this section the TMCM-1240 will be controlled with TMCM-CANopen.

4.1 Connect with the TMCM-CANopen

1. Open the TMCM-CANopen software

2. Connect the CAN adapter to the PC. Make sure direct USB between TMCM-1240 and PC is discon-

nected. The CAN adapter will show up in the TMCL-IDE interface tree. Click on the CAN adapter to

open the connection interface (ﬁgure 2).

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Figure 2

3. Power the module (including +VMAIN and Enable)

Note: It is recommended to connect to CANopen adapter ﬁrst and power the TMCM-1240 after.

4. Connect to the TMCM module

By factory defaults the module is set to node ID 1 and to the bit rate of 1000kBit/s.

Figure 3

5. The module is now connected to the TMCM-CANopen. The red error led will be oﬀ, while the green

run led will blink (200ms on, 200ms oﬀ).

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Figure 4

Usually an .eds needs to be added to the CANopen Master. However, this is not necessary for

Trinamic modules in TMCM-CANopen. For adding other .eds ﬁles to TMCM-CANopen refer to

the TMCM-CANopen tool manual V1.5.0.0 chapter 4.3.

4.2 Motor run current

In this section the motor run current will be adjusted. It should be made sure that the motor run current

is within the rated current of the stepper motor. The current setting (and other module settings) can be

changed by using CANopen service data objects (SDO) as following:

1. Open the Object Browser toolbox

2. Scroll to object 0x2003 (Absolute Max Current 1).

3. Click on Read button to read out the motor run current setting. In the example (ﬁgure 5) the motor

run current is 128 (equals 1A rms). A value of 255 means 100% of the maximum current of the drive.

4. Enter a new current value and Write to update the setting. In the example the new motor run current

is 64 (equals 0.5A rms).

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Figure 5

5. The new motor current setting can be conﬁrmed using the Read button.

Figure 6

4.3 Position Mode

In this section the motor will be controlled in position mode. For this the limit switches must be disabled (if

they are not being used). The limit switches conﬁguration can only be changed in state switch on disabled.

Then the state machine is switched to the state Operation enable to run the motor.

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CANopen DS402 state machine

In CANopen the DS402 (or CiA-402) state machine deﬁnes the states of the CANopen drive (e.g.

which objects can be written, motor status). The state of the state machine can be changed by

the object 0x6040 (Controlword). The state of the state machine can be read by the object 0x6041

(Statusword). The following ﬁgure shows the DS402 state machine and transitions:

Figure 7

The below table gives an overview on common states and the possible operation.

Switch on

disabled

Ready to

switch on

Switched

Operation

enabled

Fault

High-level

power applied

No No Yes Yes No

Drive function

enabled

No No Yes Yes No

Conﬁguration

enabled

Yes Yes Yes No* No*

* depending on the conﬁguration object

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1. Open the toolbox CiA-402 State Machine and read out the status word of the DS402 state machine

Figure 8

2. Change the status of the DS402 state machine to switch on disabled.

Figure 9

3. Open the Object Browser and select object 0x2005 (Switch Parameters 1).

4. Read out object 0x2005. It should be set to 0 by default. Write 3 to disable the limit switches

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Figure 10

5. Open the CiA-402 State Machine.

6. Switch from Switch on disabled to Ready to switch on.

7. Switch to Switched on

Figure 11

8. Switch to Operation enabled

The motor is powered with hold current.

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Figure 12

9. Open CiA-402 Proﬁle Position Mode

Figure 13

10. Set target position to 51200 and use Move relative or Move absolute to move the motor one motor

revolution.

4.4 Velocity Mode

In this section the motor will be controlled in velocity mode.

1. Conﬁgure the limit switches as described in section 4.3 step 1to 8

2. In the Interface tree select the toolbox CiA-402 Proﬁle Velocity Mode

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Figure 14

3. Input the motor target velocity (0x60FF) of 51200 (equals 1rps) and click on the play button. The

motor runs in velocity mode with the target velocity.

Figure 15

4. Activate the checkbox Cyclic Polling to continuously update the actual velocity (0x606C).

5 Additional Resources

•TMCM-CANopen tool manual V1.5.0.0

6 Revision History

Version Date Author Description

V1.00 10.09.2021 JPX initial version

Table 1: Document Revision

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