●Dear Valued TRINAMIC Customer, this is to inform you that a new CANopen firmware version has been released for the modules listed in table below.
●New batches of the modules will be delivered together with this new release V3.22. Modules already shipped can be updated to this new release using the provided firmware update feature of the TMCL-IDE. Prior releases are still available on the corresponding product pages on www.trinamic.com.
●Changes:
■TMCM-1270-CANopen, PD42-x-1270-CANopen (V3.21 -> V3.22)
▲Adjusted object 2102h (motor driver error flags removed that were too sensitive) to avoid unwanted fault state
▲Encoder support fixed
▲Removed object 2709h (input mode switching no longer necessary)
▲Objects for stallGuard™ and coolStep™ fixed
●This change is classified as a minor change.
●Timing
■Effective date for firmware release: September 10, 2018

Brand of Product：	TRINAMIC
Part#：	TMCM-1270-CANopen 、 PD42-x-1270-CANopen 、 PD42-1-1270-CANopen 、 PD42-2-1270-CANopen 、 PD42-3-1270-CANopen 、 10-0304 、 30-0300 、 30-0301 、 30-0302 More Part#
Product Category：	single axis stepper motor controller module 、 single axis stepper motor driver module More
Application：	More
Data Type：	PCN/EOL More
Safety & Environment Standards：	More
Operating Temperature：	Please see the document for details
Qualification Grade：	More
Qualification Approval：	More
Package：
Language：	English Chinese Chinese and English Japanese
Date of Creation：	September 10, 2018
Version Number：
Data Encoding：	PCN-2018-09-04
Data Size：	623 KB