Trinamic CANopen - User Manual

GUIDE
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Download newest version at: www.trinamic.com
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.

Trinamic CANopen Specifications