MODULE ModuleforStepper TMCM-3312CANopen FirmwareManual FirmwareVersionV3.22 DocumentRevisionV1.052019-FEB-13 TheTMCM-3312isathreeaxescontroller/drivermodulefor2-phasebipolarsteppermotorswith separatedierentialencoderandseparatehomeandstopswitchinputsforeachaxis. Dynamic currentcontrol,andquiet,smoothandecientoperationarecombinedwithStealthChop,Stall- Guard2andCoolStepfeatures. Themoduleoersfouranalogordigitalinputsaswellasfour digitaloutputsincombinationwithabreakchopperunit. Features 3-AxesStepperMotorControl CANopenCiA-402DriveProle Linearramps,SixPointrampsand S-shapedrampsselectable ClosedLoopEncoderSupport CoolStep StallGuard2 StealthChop Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram TMCM-3312 17..53V DC DC EEPROM I2C 3x RS485 MOSFET TMC4361 TMC2130 Driver E CAN Stage SPI USB C +5V +5V (ARM) +5V HOME, REFL, REFR Inputs Outputs A/B/N Encoder 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation. 2/145 TMCM-3312CANopen 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 Closed-LoopOperation . 10 1.5.1 Closed-LoopParameters 11 1.5.2 LoadAngleControl 12 1.5.3 CurrentLevelControl 13 1.5.4 FieldWeakening . 13 1.5.5 PositionCatchup . 14 2 Communication 15 2.1 ReferenceModel . 15 2.2 NMTStateMachine 17 2.3 DeviceModel . 18 2.4 ObjectDictionary . 19 2.4.1 ObjectIndicesonMulti-AxisModules . 20 3 CommunicationArea 21 3.1 DetailedObjectSpecications 21 3.1.1 Object1000 :DeviceType . 21 h 3.1.2 Object1001 :ErrorRegister 21 h 3.1.3 Object1005 :COB-IDSYNCMessage . 22 h 3.1.4 Object1008 :ManufacturerDeviceName 23 h 3.1.5 Object1009 :ManufacturerHardwareVersion . 23 h 3.1.6 Object100A :ManufacturerSoftwareVersion 23 h 3.1.7 Object100C :GuardTime . 24 h 3.1.8 Object100D :LifeTimeFactor . 24 h 3.1.9 Object1010 :StoreParameters 24 h 3.1.10Object1011 :RestoreParameters . 26 h 3.1.11Object1014 :COB-IDEmergencyObject . 27 h 3.1.12Object1015 : InhibitTimeEMCY 27 h 3.1.13Object1016 :ConsumerHeartbeatTime . 28 h 3.1.14Object1017 :ProducerHeartbeatTime . 29 h 3.1.15Object1018 : IdentityObject 29 h 3.1.16Object1023 :OSCommand 30 h 3.1.17Object1029 :ErrorBehaviour . 30 h 3.1.18Objects1400 1403 :ReceivePDOCommunicationParameter . 31 h h 3.1.19Objects1600 1603 :ReceivePDOMappingParameter . 32 h h 3.1.20Objects1800 1803 :TransmitPDOCommunicationParameter 33 h h 3.1.21Objects1A00 1A03 :TransmitPDOMappingParameter 34 h h 4 ManufacturerspecicArea 36 4.1 ObjectsrelatedtoCoolStep 36 4.2 DetailedObjectSpecications 39 4.2.1 Object2000 :MicrostepResolution 39 h 4.2.2 Object2001 :FullstepResolution . 39 h 4.2.3 Object2002 :BrakeDelayTimes 39 h 4.2.4 Object2003 :MaximumCurrent 40 h 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com