●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 V3.21. 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-3212 / 3214 / 3312 / 6210 / 6212 / 3230 (V3.20 -> V3.21)
▲CSP mode included
■TMCM-1270 (V3.20 -> V3.21)
▲Saving of parameter fixed
▲Homing mode fixed
▲Resetting of FAULT state fixed
▲CSP mode included
●This change is classified as a minor change
●Timing
■Effective date for firmware release: April 20, 2018

Brand of Product：	TRINAMIC
Part#：	TMCM-3212 、 TMCM-3214 、 TMCM-3312 、 TMCM-6210 、 TMCM-6212 、 TMCM-3230 、 TMCM-1270 、 TMCM-3212-CANopen 、 TMCM-3214-CANopen 、 TMCM-3312-CANopen 、 TMCM-6210-CANopen 、 TMCM-6212-CANopen 、 TMCM-3230-CANopen 、 TMCM-1270-CANopen 、 PD42-1-1270-CANopen 、 PD42-2-1270-CANopen 、 PD42-3-1270-CANopen 、 10-0284 、 10-0298 、 10-0286 、 10-0283 、 10-0289 、 10-0308 、 10-0304 、 30-0300 、 30-0301 、 30-0302 More Part#
Product Category：	compact and easy to use 3-axes stepper motor controller and driver 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：	April 20, 2018
Version Number：
Data Encoding：	PCN-2018-03-02
Data Size：	39 KB