Rapid Stepper Motor Application Development With CAN Bus And CANopen

Trinamic TMCM-1240 single axis motor controller driver board for 2-phase bipolar stepper motorsTrinamic Motion Control, supplier of semiconductors, electronics, and mechatronic solutions in the fields of motor and motion control, announced the extension of the motor mountable modules by the TMCM-1240.

The module incorporates Trinamic´s latest stepper motor drive technologies including the silent control mode Stealthchop in its second generation and the sensorless load-dependent current scaling Coolstep. The magnetic Sensostep encoder provides safe step-loss detection even in stand still.

The TMCM-1240 embeds advanced motor control functions, motion control, and PLC features like all other TMCM modules. Host communication is possible via the Classical CAN interface using TMCL, the optional CANopen protocol, or EIA-S485. Together with the free to use TMCL-IDE, the module allows for implementation of a standalone program flow and remote-controlled operation.

Designed for an operating voltage of +12 VDC to +24 VDC nominal at up to 2-A RMS phase current resulting in 0,22 Nm to 0,7 Nm pullout-torque, the module offers current control technologies based on Trinamic’s latest stepper motor driver generation. With Trinamic’s Stealthchop current control for silent positioning at low speed and Spreadcycle for performance at high speed, the module provides performance wherever small stepper motors are used.

An integrated Sixpoint ramp generator per axis allows for rapid positioning – even in environments where parameters and target positions must be changed during motion. The module has L+R reference switch inputs for every axis and comes with Stallguard2 for sensorless homing.

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Embedded Networking with CAN and CANopenCAN (Controller Area Network) is a serial communication protocol that was originally developed for the automobile industry. CAN is far superior to conventional serial technologies such as RS232 in regards to functionality and reliability and yet CAN implementations are more cost effective. CANopen, a higher layer protocol based on CAN, provides the means to apply the ingenious CAN features to a variety of industrial-strength applications.

Many users, for example in the field of medical engineering, opted for CANopen because they have to meet particularly stringent safety requirements. Similar requirements had to be considered by manufacturers of other equipment with very high safety or reliability requirements (e.g. robots, lifts and transportation systems). Providing a detailed look at both CAN and CANopen, this book examines those technologies in the context of embedded networks.

There is an overview of general embedded networking and an introduction to the primary functionality provided by CANopen. Everything one needs to know to configure and operate a CANopen network using off-the-shelf components is described, along with details for those designers who want to build their own CANopen nodes. The wide variety of applications for CAN and CANopen is discussed, and instructions in developing embedded networks based on the protocol are included. In addition, references and examples using MicroCANopen, PCANopen Magic, and Vector’s high-end development tools are provided.

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