TMCL™ FIRMWARE MANUAL Firmware Update V1.03

MODULE FOR STEPPER MOTORS MODULE

Firmware Update V1.03

+

+

TMCL™ FIRMWARE MANUAL

+

1-axis stepper controller / driver module

1A RMS / 2.8A RMS

24V DC

USB, RS485

+

U

NIQUE FEATURES

:

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

TMCM-1110 TMCL™ Firmware V1.03 Manual (Ref. 1.07 / 2012-APR-11)

Table of Contents

1 Features ........................................................................................................................................................................... 4

2 Overview ......................................................................................................................................................................... 5

3 Putting the Module into Operation ......................................................................................................................... 6

3.1

Basic Set-up ........................................................................................................................................................... 7

3.1.1

Connecting the Module ............................................................................................................................... 7

3.1.2

Start the TMCL-IDE Software Development Environment ................................................................. 9

3.1.3

Using TMCL™ Direct Mode ........................................................................................................................ 10

3.1.4

Important Motor Settings ......................................................................................................................... 11

4 TMCL™ and TMCL-IDE ................................................................................................................................................ 13

4.1

Binary Command Format ................................................................................................................................ 13

4.2

Reply Format ....................................................................................................................................................... 14

4.2.1

Status Codes ................................................................................................................................................. 14

4.3

Standalone Applications .................................................................................................................................. 14

4.3.1

Testing with a Simple TMCL™ Program ............................................................................................... 15

4.4

TMCL™ Command Overview .......................................................................................................................... 15

4.4.1

TMCL™ Commands ..................................................................................................................................... 15

4.4.2

Commands Listed According to Subject Area ..................................................................................... 16

4.5

Commands ........................................................................................................................................................... 20

4.5.1

ROR (rotate right)......................................................................................................................................... 20

4.5.2

ROL (rotate left) ............................................................................................................................................ 21

4.5.3

MST (motor stop) ......................................................................................................................................... 22

4.5.4

MVP (move to position) ............................................................................................................................. 23

4.5.5

SAP (set axis parameter) ........................................................................................................................... 25

4.5.6

GAP (get axis parameter) ........................................................................................................................... 26

4.5.7

STAP (store axis parameter) ..................................................................................................................... 27

4.5.8

RSAP (restore axis parameter) ................................................................................................................. 28

4.5.9

SGP (set global parameter) ....................................................................................................................... 29

4.5.10

GGP (get global parameter) ...................................................................................................................... 30

4.5.11

STGP (store global parameter) ................................................................................................................. 31

4.5.12

RSGP (restore global parameter) ............................................................................................................. 32

4.5.13

RFS (reference search) ................................................................................................................................ 33

4.5.14

SIO (set output) ........................................................................................................................................... 34

4.5.15

GIO (get input/output) ............................................................................................................................... 35

4.5.16

CALC (calculate) ............................................................................................................................................ 37

4.5.17

COMP (compare) ........................................................................................................................................... 38

4.5.18

JC (jump conditional).................................................................................................................................. 39

4.5.19

JA (jump always).......................................................................................................................................... 40

4.5.20

CSUB (call subroutine) ................................................................................................................................ 41

4.5.21

RSUB (return from subroutine) ................................................................................................................ 42

4.5.22

WAIT (wait for an event to occur) ......................................................................................................... 43

4.5.23

STOP (stop TMCL™ program execution) ............................................................................................... 44

4.5.24

SCO (set coordinate) ................................................................................................................................... 45

4.5.25

GCO (get coordinate) .................................................................................................................................. 46

4.5.26

CCO (capture coordinate) ........................................................................................................................... 47

4.5.27

ACO (accu to coordinate)........................................................................................................................... 48

4.5.28

CALCX (calculate using the X register) .................................................................................................. 49

4.5.29

AAP (accumulator to axis parameter) .................................................................................................... 50

4.5.30

AGP (accumulator to global parameter) ............................................................................................... 51

4.5.31

CLE (clear error flags) ................................................................................................................................. 52

4.5.32

VECT (set interrupt vector) ........................................................................................................................ 53

4.5.33

EI (enable interrupt) ................................................................................................................................... 54

4.5.34

DI (disable interrupt) .................................................................................................................................. 55

4.5.35

RETI (return from interrupt) ..................................................................................................................... 56

4.5.36

Customer Specific TMCL™ Command Extension (UF0… UF7 - User Function)............................ 56

4.5.37

Request Target Position Reached Event ............................................................................................... 57

4.5.38

TMCL™ Control Functions ......................................................................................................................... 58 www.trinamic.com

2


5 Axis Parameters........................................................................................................................................................... 59

5.1

stallGuard2™ Related Parameters ................................................................................................................. 65

5.2

coolStep™ Related Parameters ..................................................................................................................... 67

5.3

Reference Search ................................................................................................................................................ 69

5.3.1

Reference Search Modes (Axis Parameter 193) ................................................................................... 70

5.4

Encoder ................................................................................................................................................................. 72

5.4.1

Changing the Prescaler Value of an Encoder ...................................................................................... 72

5.5

Calculation: Velocity and Acceleration vs. Microstep- and Fullstep-Frequency ............................... 73

5.5.1

Microstep Frequency ................................................................................................................................... 74

5.5.2

Fullstep Frequency ...................................................................................................................................... 74

6 Global Parameters ...................................................................................................................................................... 76

6.1

Bank 0 ................................................................................................................................................................... 76

6.2

Bank 1 ................................................................................................................................................................... 78

6.3

Bank 2 ................................................................................................................................................................... 78

6.4

Bank 3 ................................................................................................................................................................... 79

7 TMCL™ Programming Techniques and Structure .............................................................................................. 80

7.1

Initialization ........................................................................................................................................................ 80

7.2

Main Loop ............................................................................................................................................................ 80

7.3

Using Symbolic Constants............................................................................................................................... 80

7.4

Using Variables ................................................................................................................................................... 81

7.5

Using Subroutines ............................................................................................................................................. 81

7.6

Mixing Direct Mode and Standalone Mode ................................................................................................ 82

8 Life Support Policy ..................................................................................................................................................... 83

9 Revision History .......................................................................................................................................................... 84

9.1

Firmware Revision ............................................................................................................................................. 84

9.2

Document Revision ........................................................................................................................................... 84

10 References..................................................................................................................................................................... 85

3 www.trinamic.com

TMCM-1110 TMCL™ Firmware V1.03 Manual (Ref. 1.07 / 2012-APR-11) 4

1 Features

The TMCM-1110 stepRocker is a single axis motor controller/driver board for 2-phase bipolar stepper motors.

It features the TRINAMIC controller/driver chain consisting of TMC429 and TMC262 in combination with a

Samsung S3FN41F processor. The Module is intended to be a fully functional development platform. A stepRocker can be extended to a full 3-axes system using two additional boards, because the TMCM-1110 stepRocker board can be both, master or slave.

Software wise two different approaches are possible: it is possible to use the stepRocker with the

TrinamicMotionControlLanguage TMCL™. The board comes with the preinstalled firmware. The integrated development environment TMCL-IDE for PC can be downloaded and used free of charge. It is possible to remote control the stepRocker or to write and download complete command sequences for standalone use.

The alternative is to write the firmware for the microcontroller using downloadable software tools and motion control libraries (refer to www.motioncontrol-community.org

).

Applications



Highly compact single axis stepper motor controller/driver board for 2-phase bipolar stepper motors



2- and 3-axis systems using additional boards as slaves

Electrical data



Supply voltage: +24V DC (+10… +30V DC)



Motor current: up to 1A RMS or 2.8A RMS (can be selected with jumpers)

Mechanical data



Board size: 85mm x 55mm, height 15mm max. without mating connectors



4 mounting holes for M3 screws

Interfaces



RS485 host interface



USB 2.0 host interface (mini-USB connector)



Step/Dir input (TTL level)



Step/Dir outputs (TTL level) for multi axis applications



3 multi-purpose inputs (can be used for ABN-encoder)



2 limit switch inputs per motor



6 multi-purpose I/Os



2 open-drain outputs



µC programming interface SWD (single wire debug / pads on PCB)



Retro-fit option: CAN 2.0B communication interface

Features



TMC429 stepper motor controller IC for on-the-fly alteration of many motion specific parameters



TMC262 advanced stepper motor driver IC with stallGuard2™ and coolStep™ features. Using the spreadCycle chopper the µstep current sine wave is well formed with smooth zero crossing.



Ready for dcStep™



Up to 256 microsteps per fullstep trough mircoPlyer technology



2 x end switch for all three axes.



EEPROM

Software



TMCL™ remote (direct mode) and standalone operation (memory for up to 2048 TMCL™ commands)



Fully supported by TMCL-IDE (PC based integrated development environment)

Please note that the TMCM-1110 stepRocker can be used with a special TMCL™ firmware version with its source codes in order to provide new developments, too. Here is your platform for individual TMCL™ extensions: www.motioncontrol-community.org

or www.steprocker.com

.

www.trinamic.com


2 Overview

The software running on the microprocessor of the TMCM-1110 consists of two parts, a boot loader and the firmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC and remains untouched throughout the whole lifetime, the firmware can be updated by the user. New versions can be downloaded free of charge from the TRINAMIC website ( http://www.trinamic.com

).

The firmware is related to the standard TMCL™ firmware with regard to protocol and commands.

Corresponding, this module is based on the TMC429 stepper motor controller and the TMC262 power driver and supports the standard TMCL™ with a special range of values.

The TMC262 is a new energy efficient high current high precision microstepping driver IC for bipolar stepper motors and offers TRINAMICs patented coolStep™ feature with its special commands. Please mind this technical innovation.

All commands and parameters available with this unit are explained on the following pages. www.trinamic.com


3 Putting the Module into Operation

In this chapter you will find basic information for putting your module into operation. This includes a simple example for a TMCL™ program and a short description of operating the module in direct mode.

The stepRocker is able to control up to three motors. In this chapter it is explained how to start with one motor (motor number 0), only. If you want to use the module for controlling more motors, refer to the

Hardware Manual, please. There you will find information about extensions.

THINGS YOU NEED

- TMCM-1110 with appropriate stepper motor (e.g. QSH4218)

- Interface (RS485 or USB) suitable to your TMCM-1110 module

- Nominal supply voltage +24V DC (+9… +28V DC) for your module

- TMCL-IDE program (can be downloaded free of charge from www.trinamic.com

. Please refer to the

TMCL-IDE User Manual, too)

- Appropriate cables – at least for power supply, communication and motor

PRECAUTIONS

Do not mix up connections or short-circuit pins.

Avoid bounding I/O wires with motor power wires.

Do not exceed the maximum power supply of +30V DC!

Do not connect or disconnect the motor while powered on!

START WITH POWER SUPPLY OFF!

Power

6

GPIO

14

1

1

Driver

In

1

USB

1

Motor

RS485

(CAN optional) 1

1

1

1

Reference switches

Controller

Out 1

Controller

Out 2

Figure 3.1: TMCM-1110 stepRocker connectors

www.trinamic.com


3.1 Basic Set-up

The following paragraph will guide you through the steps of connecting the unit and making first movements with the motor.

3.1.1 Connecting the Module

For first steps you will need a power supply and a communication between PC and one of the serial interfaces of the module (RS485 or USB). If you are interested in detailed pin assignments, please refer to the TMCM-1110 Hardware Manual.

Please note: later on it is perfectly possible to operate the unit as standalone device, using the available

inputs and outputs for control.

3.1.1.1 Communication

Choose your communication interface out of the interfaces: RS485 or USB.

3.1.1.1.1 RS485

Connect the RS485 interface with the appropriate connector (see Figure 3.1)

RS485 as field bus interface normally requires an adapter. From TRINAMIC the USB-2-485 converter between

USB and RS485 is available.

Label Connector type

Low profile box header without locking

RS485 bar, type 8380, 10 pol., DIN 41651,

2.54mm pitch

Mating connector type

Low profile IDC socket connector, 10pol.,

DIN41651, 2.54mm pitch

3.1.1.1.2 USB

Before using the USB interface the device driver has to be installed (available on www.trinamic.com

).

Label

Mini-USB connector

Connector type

Molex 500075-1517 Mini USB Type B vertical receptacle

Mating connector type

Any standard mini-USB plug

3.1.1.2 Motor

The TMCM-1110 controls one 2-phase stepper motor. Connect one coil of the motor to the terminal marked

A0 and A1 and the other coil to the connector marked B0 and B1.

Before connecting a motor please make sure which cable belongs to which coil. Wrong connections may lead to damage of the driver chips or the motor!

Label

Motor

Connector type

RIA 183-04, 4 pol., 3.5mm pitch, shrouded header


RIA 169-04, screw type terminal block, pluggable, centerline 3.5mm pitch

Motor 0… 5

M

Figure 3.2: Motor connection

www.trinamic.com


3.1.1.3 Power Supply

Connect the power supply with the power supply connector (see Figure 3.1), but start with power supply

OFF.

Take care of the polarity, wrong polarity can destroy the board!

Do not exceed the maximum power supply of +30V DC!

Label Connector type Mating connector type

Power

RIA 220-02, 2 pol., 5.08mm pitch, shrouded header

RIA 249-02, screw type terminal block, pluggable, centerline 5.08mm pitch

3.1.1.4 Reference / Home Switches

Connect the switches with the appropriate connectors if needed.

Please refer to the Hardware Manual for more information about the reference switch connectors.

Label

Ref. switches

Connector type Mating connector type

Multi-pin-connector, 7 pol., 2.54mm pitch Female connector with 2.54mm pitch

3.1.1.5 I/Os

Connect inputs and outputs with the appropriate connectors (see Figure 3.1), if you want to use them.

Please refer to the Hardware Manual for more information about the I/O connectors.

Label

GPIO

Connector type

Multi-pin-connector, 14 pol., 2.54mm pitch


Female connector with 2.54mm pitch www.trinamic.com


3.1.2 Start the TMCL-IDE Software Development Environment

The TMCL-IDE is available on www.trinamic.com

.

Installing the TMCL-IDE:

Make sure the COM port you intend to use is not blocked by another program.

Open TMCL-IDE by clicking TMCL.exe.

Choose Setup and Options and thereafter the Connection tab.

9

For RS485 choose COM port and Type with the parameters shown below (baud rate 9600). Click OK.

Please refer to the TMCL-IDE User Manual for more information about connecting the other interfaces

( www.TRINAMIC.com

).

www.trinamic.com


3.1.3 Using TMCL™ Direct Mode

Start TMCL™ Direct Mode.

10

Direct Mode

If the communication is established the TMCM-1110 is automatically detected.

If the module is not detected, please check cables, interface, power supply, COM port, and baud rate.

Issue a command by choosing Instruction, Type (if necessary), Motor, and Value and click Execute to send it to the module.

ATTENTION

As the TMCM-1110 stepRocker is able to control up to three motors the motor numbers for the three motors are 0, 1, and 2. If only one motor is connected the motor number is always 0.

Examples:

- ROR rotate right, motor 0, value 500 -> Click Execute. The first motor is rotating now.

- MST motor stop, motor 0 -> Click Execute. The first motor stops now.

Top right of the TMCL Direct Mode window is the button Copy to editor. Click here to copy the chosen command and create your own TMCL™ program. The command will be shown immediately on the editor. www.trinamic.com


3.1.4 Important Motor Settings

There are some axis parameters which have to be adjusted right in the beginning after installing your module. Please set the upper limiting values for the speed (axis parameter 4), the acceleration (axis parameter 5), and the current (axis parameter 6). Further set the standby current (axis parameter 7) and choose your microstep resolution with axis parameter 140.

Use the SAP (Set Axis Parameter) command for adjusting these values. The SAP command is described in

paragraph 4.5.5. You can use the TMCM-IDE direct mode for easily configuring your module.

ATTENTION

The most important motor setting is the absolute maximum motor current setting, since too high values might cause motor damage!

I

MPORTANT AXIS PARAMETERS FOR MOTOR SETTING

Range [Unit]

0… 2047

Number Axis Parameter Description

4 maximum positioning

Should not exceed the physically highest possible value. Adjust the pulse divisor (axis parameter 154), if speed the speed value is very low (<50) or above the upper limit. See TMC 429 datasheet for calculation of physical units or use the TMCL-IDE calculation tool.

5 maximum acceleration

The limit for acceleration and deceleration. Changing this parameter requires re-calculation of the acceleration factor and the acceleration divisor.

Therefore adjust the ramp divisor (axis parameter 153) carefully in steps of one.

See TMC 429 datasheet for calculation of physical units or use the TMCL-IDE calculation tool.

6 absolute max. current

(CS / Current

Scale)

The maximum value is 255. This value means 100% of the maximum current of the module. The current adjustment is within the range 0… 255 and can be adjusted in 32 steps.

0… 2047*

0… 255

1

Without jumpers:

7

0… 7

8… 15

16… 23

24… 31

32… 39

40… 47

48… 55

56… 63

64… 71

72… 79

79…87

88… 95

96… 103

104… 111

112… 119

120… 127

128… 135

136… 143

144… 151

152… 159

160… 167

168… 175

176… 183

184… 191

192… 199

200… 207

208… 215

216… 223

224… 231

232… 239

240… 247

248… 255

The unit of the current is adequate to the chosen motor current (with or without jumper).

The most important motor setting, since too high values might cause motor damage!

standby current The current limit two seconds after the motor has stopped.


Jumpers set:

0… 255

Without jumpers:

Jumpers set: www.trinamic.com



140 microstep 0 full step resolution 1 half step

2 4 microsteps

3 8 microsteps

4 16 microsteps

5 32 microsteps

6 64 microsteps

7 128 microsteps

8 256 microsteps

* 1 Unit of acceleration:

Range [Unit]

0… 8

12 www.trinamic.com


4 TMCL™ and TMCL-IDE

The TMCM-1110 supports TMCL™ direct mode (binary commands) and standalone TMCL™ program execution.

You can store up to 2048 TMCL™ instructions on it.

In direct mode and most cases the TMCL™ communication over RS485 or USB follows a strict master/slave relationship. That is, a host computer (e.g. PC/PLC) acting as the interface bus master will send a command to the TMCM-1110. The TMCL™ interpreter on the module will then interpret this command, do the initialization of the motion controller, read inputs and write outputs or whatever is necessary according to the specified command. As soon as this step has been done, the module will send a reply back over

RS485/USB to the bus master. Only then should the master transfer the next command. Normally, the module will just switch to transmission and occupy the bus for a reply, otherwise it will stay in receive mode. It will not send any data over the interface without receiving a command first. This way, any collision on the bus will be avoided when there are more than two nodes connected to a single bus.

The Trinamic Motion Control Language [TMCL™] provides a set of structured motion control commands.

Every motion control command can be given by a host computer or can be stored in an EEPROM on the

TMCM module to form programs that run standalone on the module. For this purpose there are not only motion control commands but also commands to control the program structure (like conditional jumps, compare and calculating).

Every command has a binary representation and a mnemonic. The binary format is used to send commands from the host to a module in direct mode, whereas the mnemonic format is used for easy usage of the commands when developing standalone TMCL™ applications using the TMCL-IDE (IDE means Integrated

Development Environment).

There is also a set of configuration variables for the axis and for global parameters which allow individual configuration of nearly every function of a module. This manual gives a detailed description of all TMCL™ commands and their usage.

4.1 Binary Command Format

When commands are sent from a host to a module, the binary format has to be used. Every command consists of a one-byte command field, a one-byte type field, a one-byte motor/bank field and a four-byte value field. So the binary representation of a command always has seven bytes. When a command is to be sent via RS485 or USB interface, it has to be enclosed by an address byte at the beginning and a checksum byte at the end. In this case it consists of nine bytes.

This is different when communicating is via the CAN bus. Address and checksum are included in the CAN standard and do not have to be supplied by the user.

The binary command format for RS485/USB is as follows:

1

1

1

1

4

1

Bytes Meaning

Module address

Command number

Type number

Motor or Bank number

Value (MSB first!)

Checksum

- The checksum is calculated by adding up all the other bytes using an 8-bit addition.

- When using CAN bus, just leave out the first byte (module address) and the last byte (checksum). www.trinamic.com


Checksum calculation

As mentioned above, the checksum is calculated by adding up all bytes (including the module address byte) using 8-bit addition. Here are two examples to show how to do this: in C: unsigned char i, Checksum; unsigned char Command[9];

//Set the “Command” array to the desired command

Checksum = Command[0]; for(i=1; i<8; i++)

Checksum+=Command[i];

Command[8]=Checksum; //insert checksum as last byte of the command

//Now, send it to the module

4.2 Reply Format

Every time a command has been sent to a module, the module sends a reply.

The reply format for RS485/USB is as follows:

1

1

4

1

Bytes Meaning

1

1

Reply address

Module address

Status (e.g. 100 means “no error”)

Command number

Value (MSB first!)

Checksum

- The checksum is also calculated by adding up all the other bytes using an 8-bit addition.

- When using CAN bus, the first byte (reply address) and the last byte (checksum) are left out.

- Do not send the next command before you have received the reply!

4.2.1 Status Codes

5

6

The reply contains a status code. The status code can have one of the following values:

Code Meaning

100 Successfully executed, no error

101

1

2

3

4

Command loaded into TMCL™ program EEPROM

Wrong checksum

Invalid command

Wrong type

Invalid value

Configuration EEPROM locked

Command not available

4.3 Standalone Applications

The module is equipped with an EEPROM for storing TMCL™ applications. You can use the TMCL-IDE for developing standalone TMCL™ applications. You can load them down into the EEPROM and then it will run on the module. The TMCL-IDE contains an editor and the TMCL™ assembler where the commands can be entered using their mnemonic format. They will be assembled automatically into their binary representations. Afterwards this code can be downloaded into the module to be executed there. www.trinamic.com


4.3.1 Testing with a Simple TMCL™ Program

Open the file test2.tmc of the TMCL-IDE. The test program is written for three motors. Change the motor numbers into 0, if only one motor is connected.

Now, the test program looks as follows:

//A simple example for using TMCL™ and TMCL-IDE

ROL

0

, 500 //Rotate motor 0 with speed 500

WAIT TICKS,

0

, 500

MST

0

ROR

0

, 250 //Rotate motor 0 with 250

WAIT TICKS,

0

, 500

MST

0

SAP 4,

0

, 500 //Set max. Velocity

SAP 5,

0

, 50 //Set max. Acceleration

Loop: MVP ABS,

0

, 10000 //Move to Position 10000

WAIT POS,

0

, 0 //Wait until position reached

MVP ABS,

0

, -10000 //Move to Position -10000

WAIT POS,

0

, 0 //Wait until position reached

JA Loop //Infinite Loop

Assemble Stop

Download Run

1.

2.

3.

4.

Click on Icon Assemble to convert the TMCL™ into machine code.

Then download the program to the TMCM-1110 module via the icon Download.

Press icon Run. The desired program will be executed.

Click Stop button to stop the program.

4.4 TMCL™ Command Overview

In this section a short overview of the TMCL™ commands is given.

4.4.1 TMCL™ Commands

Command Number Parameter

ROR

ROL

1

2

<motor number>, <velocity>

<motor number>, <velocity>

MST

MVP

SAP

3

4

5

<motor number>

ABS|REL|COORD, <motor number>,

<position|offset>

<parameter>, <motor number>, <value>

GAP

STAP

RSAP

SGP

6

7

8

9

<parameter>, <motor number>



<parameter>, <bank number>, value

Description

Rotate right with specified velocity

Rotate left with specified velocity

Stop motor movement

Move to position (absolute or relative)

Set axis parameter (motion control specific settings)

Get axis parameter (read out motion control specific settings)

Store axis parameter permanently (non volatile)

Restore axis parameter

Set global parameter (module specific settings e.g. communication settings or TMCL™ user variables) www.trinamic.com


GCO

CCO

CALCX

AAP

AGP

VECT

RETI

ACO

JC

JA

CSUB

RSUB

EI

DI

WAIT

STOP

SCO

Command

GGP

STGP

RSGP

RFS

SIO

GIO

CALC

COMP

Number Parameter

10

11

12

13

14

15

19

20

<parameter>, <bank number>



Description

Get global parameter (read out module specific settings e.g. communication settings or TMCL™ user variables)

Store global parameter (TMCL™ user variables only)

Restore global parameter (TMCL™ user variable only)

START|STOP|STATUS, <motor number> Reference search

<port number>, <bank number>, <value> Set digital output to specified value

<port number>, <bank number>

<operation>, <value>

<value>

Get value of analogue/digital input

Process accumulator & value

Compare accumulator <-> value

21

22

23

24

25

26

27

28

30

31

32

33

34

35

37

38

39

<condition>, <jump address>

<jump address>

<subroutine address>

<interrupt number>

<interrupt number>

<condition>, <motor number>, <ticks>

<coordinate number>, <motor number>,

<position>

<coordinate number>, <motor number>


<operation>



<interrupt number>, <label>


Jump conditional

Jump absolute

Call subroutine

Return from subroutine

Enable interrupt

Disable interrupt

Wait with further program execution

Stop program execution

Set coordinate

Get coordinate

Capture coordinate

Process accumulator & X-register

Accumulator to axis parameter

Accumulator to global parameter

Set interrupt vector

Return from interrupt

Accu to coordinate

4.4.2 Commands Listed According to Subject Area

4.4.2.1 Motion Commands

MST

RFS

SCO

CCO

GCO

These commands control the motion of the motor. They are the most important commands and can be used in direct mode or in standalone mode.

Mnemonic Command number Meaning

ROL 2 Rotate left

ROR

MVP

1

4

Rotate right

Move to position

3

13

30

32

31

Motor stop

Reference search

Store coordinate

Capture coordinate

Get coordinate www.trinamic.com


4.4.2.2 Parameter Commands

These commands are used to set, read and store axis parameters or global parameters. Axis parameters can be set independently for the axis, whereas global parameters control the behavior of the module itself.

These commands can also be used in direct mode and in standalone mode.


SAP 5 Set axis parameter

GAP

STAP

RSAP

SGP

6

7

8

9

Get axis parameter

Store axis parameter into EEPROM

Restore axis parameter from EEPROM

Set global parameter

GGP

STGP

RSGP

10

11

12

Get global parameter

Store global parameter into EEPROM

Restore global parameter from EEPROM

4.4.2.3 Control Commands

These commands are used to control the program flow (loops, conditions, jumps etc.). It does not make sense to use them in direct mode. They are intended for standalone mode only.


JA

JC

COMP

22

21

20

Jump always

Jump conditional

Compare accumulator with constant value

CSUB

RSUB

WAIT

STOP

23

24

27

28

Call subroutine

Return from subroutine

Wait for a specified event

End of a TMCL™ program

4.4.2.4 I/O Port Commands

These commands control the external I/O ports and can be used in direct mode and in standalone mode.


SIO 14 Set output

GIO 15 Get input

4.4.2.5 Calculation Commands

These commands are intended to be used for calculations within TMCL™ applications. Although they could also be used in direct mode it does not make much sense to do so.


CALC 19 Calculate using the accumulator and a constant value

CALCX

AAP

AGP

ACO

33

34

35

39

Calculate using the accumulator and the X register

Copy accumulator to an axis parameter

Copy accumulator to a global parameter

Copy accu to coordinate

For calculating purposes there is an accumulator (or accu or A register) and an X register. When executed in a TMCL™ program (in standalone mode), all TMCL™ commands that read a value store the result in the accumulator. The X register can be used as an additional memory when doing calculations. It can be loaded from the accumulator.

When a command that reads a value is executed in direct mode the accumulator will not be affected. This means that while a TMCL™ program is running on the module (standalone mode), a host can still send commands like GAP and GGP to the module (e.g. to query the actual position of the motor) without affecting the flow of the TMCL™ program running on the module. www.trinamic.com


4.4.2.6 Interrupt Commands

Due to some customer requests, interrupt processing has been introduced in the TMCL™ firmware for ARM based modules.


EI

DI

25

26

Enable interrupt

Disable interrupt

VECT

RETI

37

38

Set interrupt vector

Return from interrupt

4.4.2.6.1 Interrupt Types:

There are many different interrupts in TMCL™, like timer interrupts, stop switch interrupts, position reached interrupts, and input pin change interrupts. Each of these interrupts has its own interrupt vector. Each interrupt vector is identified by its interrupt number. Please use the TMCL™ included file Interrupts.inc for symbolic constants of the interrupt numbers.

4.4.2.6.2 Interrupt Processing:

When an interrupt occurs and this interrupt is enabled and a valid interrupt vector has been defined for that interrupt, the normal TMCL™ program flow will be interrupted and the interrupt handling routine will be called. Before an interrupt handling routine gets called, the context of the normal program will be saved automatically (i.e. accumulator register, X register, TMCL™ flags).

There is no interrupt nesting, i.e. all other interrupts are disabled while an interrupt handling routine is being executed.

On return from an interrupt handling routine, the context of the normal program will automatically be restored and the execution of the normal program will be continued.

4.4.2.6.3 Interrupt Vectors:

The following table shows all interrupt vectors that can be used.

Interrupt number Interrupt type

0

1

2

3

4

Timer 0

Timer 1

Timer 2

Target position reached 0


28

29

30

31

32

5

15

21

27

39

40

41

42

255

Target position reached 2 stallGuard™ axis 0

Deviation axis 0

Left stop switch 0

Right stop switch 0

Left stop switch 1

Right stop switch 1

Left stop switch 2

Right stop switch 2

Input change 0

Input change 1

Input change 2

Input change 3

Global interrupts www.trinamic.com


4.4.2.6.4 Further Configuration of Interrupts

Some interrupts need further configuration (e.g. the timer interval of a timer interrupt). This can be done using SGP commands with parameter bank 3 (SGP <type>, 3, <value>). Please refer to the SGP command

(paragraph 4.5.9) for further information about that.

4.4.2.6.5 Using Interrupts in TMCL™

To use an interrupt the following things have to be done:



Define an interrupt handling routine using the VECT command.



If necessary, configure the interrupt using an SGP <type>, 3, <value> command.



Enable the interrupt using an EI <interrupt> command.



Globally enable interrupts using an EI 255 command.



An interrupt handling routine must always end with a RETI command

The following example shows the use of a timer interrupt:

VECT 0, Timer0Irq //define the interrupt vector

SGP 0, 3, 1000 //configure the interrupt: set its period to 1000ms

EI 0 //enable this interrupt

EI 255 //globally switch on interrupt processing

//Main program: toggles output 3, using a WAIT command for the delay

Loop:

SIO 3, 2, 1

WAIT TICKS, 0, 50

SIO 3, 2, 0

WAIT TICKS, 0, 50

JA Loop

//Here is the interrupt handling routine

Timer0Irq:

GIO 0, 2 //check if OUT0 is high

JC NZ, Out0Off //jump if not

SIO 0, 2, 1 //switch OUT0 high

RETI //end of interrupt

Out0Off:

SIO 0, 2, 0 //switch OUT0 low

RETI //end of interrupt

In the example above, the interrupt numbers are used directly. To make the program better readable use the provided include file Interrupts.inc. This file defines symbolic constants for all interrupt numbers which can be used in all interrupt commands. The beginning of the program above then looks like the following:

#include Interrupts.inc

VECT TI_TIMER0, Timer0Irq

SGP TI_TIMER0, 3, 1000

EI TI_TIMER0

EI TI_GLOBAL

Please also take a look at the other example programs.

www.trinamic.com


4.5 Commands

The module specific commands are explained in more detail on the following pages. They are listed according to their command number.

4.5.1 ROR (rotate right)

The motor will be instructed to rotate with a specified velocity in right direction (increasing the position counter).

Internal function: first, velocity mode is selected. Then, the velocity value is transferred to axis parameter #2

(target velocity).

The module is based on the TMC429 stepper motor controller and the TMC262 power driver. This makes possible choosing a velocity between 0 and 2047.

Related commands: ROL, MST, SAP, GAP

Mnemonic: ROR <motor number>, <velocity>

Binary representation:

INSTRUCTION NO. TYPE MOT/BANK VALUE

1 don't care

<motor number>

0… 2

<velocity>

0… 2047

Reply in direct mode:

STATUS VALUE

100 – OK don't care

Example:

Rotate right motor 0, velocity = 350

Mnemonic: ROR 0, 350

Binary:

Byte Index 0 1 2

Function

Value (hex)

Target- address

$01

Instruction

Number

$01

Type

$00

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$01

7

Operand

Byte0

$5e www.trinamic.com


4.5.2 ROL (rotate left)

With this command the motor will be instructed to rotate with a specified velocity (opposite direction compared to ROR, decreasing the position counter).

Internal function: first, velocity mode is selected. Then, the velocity value is transferred to axis parameter #2

(target velocity).

The module is based on the TMC429 stepper motor controller and the TMC262 power driver. This makes possible choosing a velocity between 0 and 2047.

Related commands: ROR, MST, SAP, GAP

Mnemonic: ROL <motor number>, <velocity>



2 don't care

<motor number>

0… 2

<velocity>

0… 2047


STATUS VALUE

100 – OK don't care

Example:

Rotate left motor 0, velocity = 1200

Mnemonic: ROL 0, 1200

Binary:


Function

Value (hex)

Target- address

$01

Instruction

Number

$02

Type

$00

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$04

7

Operand

Byte0

$b0 www.trinamic.com


4.5.3 MST (motor stop)

The motor will be instructed to stop.

Internal function: the axis parameter target velocity is set to zero.

Related commands: ROL, ROR, SAP, GAP

Mnemonic: MST <motor number>


INSTRUCTION NO. TYPE MOT/BANK

3 don’t care

<motor number>

0… 2


STATUS VALUE

100 – OK don’t care

Example:

Stop motor 0

Mnemonic: MST 0

Binary:

Byte Index

Function

Value (hex)

0

Target- address

$01

1

Instruction

Number

$03

2

Type

$00

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

VALUE

don’t care

6

Operand

Byte1

$00

7

Operand

Byte0

$00

22 www.trinamic.com


4.5.4 MVP (move to position)

The motor will be instructed to move to a specified relative or absolute position or a pre-programmed coordinate. It will use the acceleration/deceleration ramp and the positioning speed programmed into the unit. This command is non-blocking – that is, a reply will be sent immediately after command interpretation and initialization of the motion controller. Further commands may follow without waiting for the motor reaching its end position. The maximum velocity and acceleration are defined by axis parameters #4 and #5.

The range of the MVP command is 32 bit signed (−2.147.483.648… +2.147.483.647). Positioning can be interrupted using MST, ROL or ROR commands.

Attention:

-

Please note, that the distance between the actual position and the new one should not be more

than 2.147.483.647 (2

31

-1) microsteps. Otherwise the motor will run in the opposite direction in order

to take the shorter distance.

Two operation types are available:

- Moving to an absolute position in the range from −2.147.483.648… +2.147.483.647 (-2 31 … 2 31 -1).

- Starting a relative movement by means of an offset to the actual position. In this case, the new resulting position value must not exceed the above mentioned limits, too.

Internal function: A new position value is transferred to the axis parameter #0 target position.

Related commands: SAP, GAP, SCO, CCO, GCO, MST

Mnemonic: MVP <ABS|REL|COORD>, <motor number>, <position|offset|coordinate number>



0 ABS – absolute <position>

4

1 REL – relative

2 COORD – coordinate

<motor number>

0… 2

<offset>

<coordinate number>

0… 20


STATUS

100 – OK

VALUE

don’t care

Value (hex)

Example:

Move motor 0 to (absolute) position 90000

Mnemonic: MVP ABS, 0, 9000

Binary:

Byte Index 0 1 2 3

Function

Target- address

$01

Instruction

Number

$04

Type

$00

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$01

6

Operand

Byte1

$5f

7

Operand

Byte0

$90 www.trinamic.com


Example:

Move motor 0 from current position 1000 steps backward (move relative -1000)

Mnemonic: MVP REL, 0, -1000

Binary:

Byte Index

Function

0

Target- address

$01

1

Instruction

Number

$04

2

Type

3

Motor/

Bank

$00

Value (hex)

$01

Example:

Move motor 0 to previously stored coordinate #8

Mnemonic: MVP COORD, 0, 8

Binary:

4

Operand

Byte3

$ff

5

Operand

Byte2

$ff

6

Operand

Byte1

$fc

7

Operand

Byte0

$18

Byte Index 0 1 2 3 4 5 6 7

Function

Target- address

$01

Instruction

Number

$04

Type Motor/

Bank

$00

Operand

Byte3

$00

Operand

Byte2

$00

Operand

Byte1

$00

Operand

Byte0

$08

Value (hex)

$02

When moving to a coordinate, the coordinate has to be set properly in advance with the help of the

SCO, CCO or ACO command.

www.trinamic.com


4.5.5 SAP (set axis parameter)

Most of the motion control parameters of the module can be specified with the SAP command. The settings will be stored in SRAM and therefore are volatile. That is, information will be lost after power off. Please

use command STAP (store axis parameter) in order to store any setting permanently.

Internal function: the parameter format is converted ignoring leading zeros (or ones for negative values).

The parameter is transferred to the correct position in the appropriate device.

Related commands: GAP, STAP, RSAP, AAP

Mnemonic: SAP <parameter number>, <motor number>, <value>



5 <parameter number>

<motor number>

0… 2

<value>


STATUS

100 – OK

VALUE

don’t care

For a table with parameters and values which can be used together with this command please refer to

chapter 5.

Example:

Set the absolute maximum current of motor to 200mA

Because of the current unit

* ) the 200mA setting has the <value> 51 (value range for current setting: 0… 255). The value for current setting has to be calculated before using this special SAP command.

Mnemonic: SAP 6, 0, 47

Binary:

Byte Index 0 1 2 3 4 5 6 7

Function

Value (hex)

Target- address

$01

Instruction

Number

$05

Type

$06

Motor/

Bank

$00

Operand

Byte3

$00

Operand

Byte2

$00

Operand

Byte1

$00

Operand

Byte0

$2f

* ) Other current units are possible because the motor current can be chosen by jumper. Please refer to

chapter 5 for further information about the current unit and to the Hardware Manual for information about

using jumpers. www.trinamic.com


4.5.6 GAP (get axis parameter)

Most parameters of the TMCM-1110 can be adjusted individually for the axis. With this parameter they can be read out. In standalone mode the requested value is also transferred to the accumulator register for further processing purposes (such as conditioned jumps). In direct mode the value read is only output in the value field of the reply (without affecting the accumulator).

Internal function: the parameter is read out of the correct position in the appropriate device. The parameter format is converted adding leading zeros (or ones for negative values).

Related commands: SAP, STAP, AAP, RSAP

Mnemonic: GAP <parameter number>, <motor number>



6 <parameter number>

<motor number>

0… 2 don’t care


STATUS

100 – OK

VALUE

don’t care


chapter 5.

Example:

Get the maximum current of motor

Mnemonic: GAP 6, 0

Binary:

Byte Index

Function

0

Target- address

$01

2

Type

$06

Value (hex)

Reply:

1

Instruction

Number

$06

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0

$00

Byte Index 0 1

Function

Host- address

Target- address

Value (hex)

$02 $01

 Status = no error, value = 128

2 3 4

Status Instruction Operand

Byte3

$64 $06 $00

5

Operand

Byte2

$00

6

Operand

Byte1

$02

7

Operand

Byte0



4.5.7 STAP (store axis parameter)

An axis parameter previously set with a Set Axis Parameter command (SAP) will be stored permanent. Most parameters are automatically restored after power up.

Internal function: an axis parameter value stored in SRAM will be transferred to EEPROM and loaded from

EEPORM after next power up.

Related commands: SAP, RSAP, GAP, AAP

Mnemonic: STAP <parameter number>, <motor number>



7 <parameter number> <motor number>

0… 2 don’t care*

*

the value operand of this function has no effect. Instead, the currently used value (e.g. selected by SAP) is saved


STATUS VALUE



chapter 5.

Example:

Store the maximum speed of motor

Mnemonic: STAP 4, 0

Binary:

Byte Index 0 1 2 3 4 5 6 7

Function

Target- address

Value (hex)

$01

Instruction

Number

$07

Type Motor/

Bank

$04 $00

Operand

Byte3

$00

Operand

Byte2

$00

Operand

Byte1

$00

Operand

Byte0

$00

Note: The STAP command will not have any effect when the configuration EEPROM is locked (refer to

6.1). In direct mode, the error code 5 (configuration EEPROM locked, see also section 0) will be returned

in this case.

www.trinamic.com


4.5.8 RSAP (restore axis parameter)

For all configuration-related axis parameters non-volatile memory locations are provided. By default, most parameters are automatically restored after power up. A single parameter that has been changed before can be reset by this instruction also.

Internal function: the specified parameter is copied from the configuration EEPROM memory to its RAM location.

Relate commands: SAP, STAP, GAP, and AAP

Mnemonic: RSAP <parameter number>, <motor number>



don’t care 8 <parameter number> <motor number>

0… 2

Reply structure in direct mode:

STATUS VALUE



chapter 5.

Example:

Restore the maximum current of motor

Mnemonic: RSAP 6, 0

Binary:

Byte Index 0

Function

Target- address

Value (hex)

$01

1

Instruction

Number

$08

2

$06

3

Type Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0



4.5.9 SGP (set global parameter)

Most of the module specific parameters not directly related to motion control can be specified and the

TMCL™ user variables can be changed. Global parameters are related to the host interface, peripherals or other application specific variables. The different groups of these parameters are organized in banks to allow a larger total number for future products. Currently, bank 0 and bank 1 are used for global parameters.

Bank 2 is used for user variables and bank 3 is used for interrupt configuration.

All module settings will automatically be stored non-volatile (internal EEPROM of the processor). The

TMCL™ user variables will not be stored in the EEPROM automatically, but this can be done by using

STGP commands.

Internal function: the parameter format is converted ignoring leading zeros (or ones for negative values).

The parameter is transferred to the correct position in the appropriate (on board) device.

Related commands: GGP, STGP, RSGP, AGP

Mnemonic: SGP <parameter number>, <bank number>, <value>



<parameter number> <bank number> <value> 9


STATUS

100 – OK

VALUE

don’t care

For a table with parameters and bank numbers which can be used together with this command please refer

to chapter 0.

Example:

Set the serial address of the target device to 3

Mnemonic: SGP 66, 0, 3

Binary:

Byte Index 0

Function

Target- address

Value (hex)

$01

1

Instruction

Number

$09

2

$42

3

Type Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0



4.5.10 GGP (get global parameter)

All global parameters can be read with this function. Global parameters are related to the host interface, peripherals or application specific variables. The different groups of these parameters are organized in banks to allow a larger total number for future products. Currently, bank 0 and bank 1 are used for global parameters. Bank 2 is used for user variables and bank 3 is used for interrupt configuration.

Internal function: the parameter is read out of the correct position in the appropriate device. The parameter format is converted adding leading zeros (or ones for negative values).

Related commands: SGP, STGP, RSGP, AGP

Mnemonic: GGP <parameter number>, <bank number>



<parameter number> <bank number> don’t care 10


STATUS

100 – OK

VALUE

don’t care


to chapter 0.

Example:

Get the serial address of the target device

Mnemonic: GGP 66, 0

Binary:

Byte Index

Function

0

Target- address

$01

1

Instruction

Number

$0a

2

Type

$42

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0

$00

Value (hex)

Reply:

Byte Index 0 1 2 3 4 5 6 7

Function

Host- address

Target- address

Value (hex)

$02 $01

 Status = no error, value = 1


Byte3

$64 $0a $00

Operand

Byte2

$00

Operand

Byte1

$00

Operand

Byte0



4.5.11 STGP (store global parameter)

This command is used to store TMCL™ user variables permanently in the EEPROM of the module. Some global parameters are located in RAM memory, so without storing modifications are lost at power down.

This instruction enables enduring storing. Most parameters are automatically restored after power up.

Internal function: the specified parameter is copied from its RAM location to the configuration EEPROM.

Related commands: SGP, GGP, RSGP, AGP

Mnemonic: STGP <parameter number>, <bank number>



<parameter number> <bank number> don’t care 11


STATUS

100 – OK

VALUE

don’t care


to chapter 0.

Example:

Store the user variable #42

Mnemonic: STGP 42, 2

Binary:

Byte Index

Function

0

Target- address

$01

2

Type

$2a

Value (hex)

1

Instruction

Number

$0b

3

Motor/

Bank

$02

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0



4.5.12 RSGP (restore global parameter)

With this command the contents of a TMCL™ user variable can be restored from the EEPROM. For all configuration-related axis parameters, non-volatile memory locations are provided. By default, most parameters are automatically restored after power up. A single parameter that has been changed before can be reset by this instruction.

Internal function: The specified parameter is copied from the configuration EEPROM memory to its RAM location.

Relate commands: SGP, STGP, GGP, and AGP

Mnemonic: RSGP <parameter number>, <bank number>



<bank number> don’t care 12

100 – OK

<parameter number>

Reply structure in direct mode:

STATUS VALUE

don’t care


to chapter 0.

Example:

Restore the user variable #42

Mnemonic: RSGP 42, 2

Binary:

Byte Index 0 1 2 3 4 5 6 7

Function

Value (hex)

Target- address

$01

Instruction

Number

$0c

Type

$2a

Motor/

Bank

$02

Operand

Byte3

$00

Operand

Byte2

$00

Operand

Byte1

$00

Operand

Byte0



4.5.13 RFS (reference search)

The TMCM-1110 has a built-in reference search algorithm which can be used. The reference search algorithm provides switching point calibration and three switch modes. The status of the reference search can also be queried to see if it has already finished. (In a TMCL™ program it is better to use the WAIT command to wait for the end of a reference search.) Please see the appropriate parameters in the axis parameter table to

configure the reference search algorithm to meet your needs (chapter 5). The reference search can be

started, stopped, and the actual status of the reference search can be checked.

Internal function: the reference search is implemented as a state machine, so interaction is possible during execution.

Related commands: WAIT

Mnemonic: RFS <START|STOP|STATUS>, <motor number>



13

0 START – start ref. search

1 STOP – abort ref. search

2 STATUS – get status


When using type 0 (START) or 1 (STOP):

STATUS VALUE

<motor number>

0… 2 see below

100 – OK

When using type 2 (STATUS):

STATUS

don’t care

VALUE

100 – OK 0 ref. search active other values no ref. search active

Example:

Start reference search of motor 0

Mnemonic: RFS START, 0

Binary:

Byte Index 0 1 2 3 4 5 6 7

Function

Target- address

$01

Instruction

Number

$0d

Type Motor/

Bank

$00

Operand

Byte3

$00

Operand

Byte2

$00

Operand

Byte1

$00

Operand

Byte0

$00

Value (hex)

$00

With this module it is possible to use stall detection instead of a reference search. Please refer to

section 0 for details.

www.trinamic.com


4.5.14 SIO (set output)

This command sets the status of the general digital output either to low (0) or to high (1).

Internal function: the passed value is transferred to the specified output line.

Related commands: GIO, WAIT

Mnemonic: SIO <port number>, <bank number>, <value>



14 <port number> <bank number>

2

<value>

0/1

Reply structure:

STATUS VALUE


Example:

Set OUT_1 to high (bank 2, output 1)

Mnemonic: SIO 1, 2, 1

Binary:

Byte Index

Function

Value (hex)

0

Target- address

$01

1

Instruction

Number

$0e

2

Type

$01

GPIO

3

Motor/

Bank

$02

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0

$01

34

1

Figure 4.1: connectors of TMCM-1110

Bank 2 is used for setting the status of the general digital output either to low (0) or to high (1).

I/O

PORTS USED FOR

SIO

AND COMMAND

Pin I/O port

11 OpenDrain_1

13 OpenDrain_2

4 PWMU0

6 PWMU1

8 PWMU2

Command

SIO 0, 2, <n>

SIO 1, 2, <n>

SIO 2, 2, <n>

SIO 3, 2, <n>

SIO 4, 2, <n>

Range

1/0

1/0

1/0

1/0

1/0 www.trinamic.com


4.5.15 GIO (get input/output)

With this command the status of the two available general purpose inputs of the module can be read out.

The function reads a digital or analogue input port. Digital lines will read 0 and 1, while the ADC channels deliver their 12 bit result in the range of 0… 4095.

In standalone mode the requested value is copied to the accumulator (accu) for further processing purposes such as conditioned jumps.

In direct mode the value is only output in the value field of the reply, without affecting the accumulator.

The actual status of a digital output line can also be read.

Internal function: the specified line is read.

Related commands: SIO, WAIT

Mnemonic: GIO <port number>, <bank number>



<port number> <bank number> don’t care 15


STATUS

100 – OK

VALUE

<status of the port>

Example:

Get the analogue value of ADC channel 0

Mnemonic: GIO 0, 1

Binary:


Function

Target- address

$01

Instruction

Number

$0f

Type

$00

3

Motor/

Bank

$01

Value (hex)

Reply:

Byte Index 0 1

Function

Host- address

Value (hex)

$02

Status = no error, value = 46

Target- address

$01

GPIO

4

Operand

Byte3

$00

2 3 4


Byte3

$64 $0f $00

5

Operand

Byte2

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

6

Operand

Byte1

$01

7

Operand

Byte0

$00

7

Operand

Byte0

$2e

1

Figure 4.2: connectors of TMCM-1110 www.trinamic.com


4.5.15.1 I/O bank 0 – digital inputs

The ADIN lines can be read as digital or analogue inputs at the same time. The analogue values can be accessed in bank 1.

Pin

9 AIN_0

I/O port Command

GIO 0, 0

Range

0/1

3 PWMD0

5 PWMD1

GIO 1, 0

GIO 2, 0

0/1

0/1

7 PWMD2 GIO 3, 0 0/1

4.5.15.2 I/O bank 1 – analogue inputs

The ADIN lines can be read back as digital or analogue inputs at the same time. The digital states can be accessed in bank 0.

Pin I/O port

9

-

-

AIN_0

ADC7 (connected to +VS)

ADC6 (connected to +5V)

Command

GIO 0, 1

GIO 1, 1

GIO 2, 1

Range

0… 4095

0… 4095

0… 4095

4.5.15.3 I/O bank 2 – the states of digital outputs

The states of the OUT lines (that have been set by SIO commands) can be read back using bank 2.

Pin I/O port

11 OpenDrain_1

Command

GIO 0, 2

Range

1/0

13 OpenDrain_2

4 PWMU0

6 PWMU1

8 PWMU2

GIO 1, 2

GIO 2, 2

GIO 3, 2

GIO 4, 2

1/0

1/0

1/0

1/0 www.trinamic.com


4.5.16 CALC (calculate)

A value in the accumulator variable, previously read by a function such as GAP (get axis parameter) can be modified with this instruction. Nine different arithmetic functions can be chosen and one constant operand value must be specified. The result is written back to the accumulator, for further processing like comparisons or data transfer.

Related commands: CALCX, COMP, JC, AAP, AGP, GAP, GGP, GIO

Mnemonic: CALC <operation>, <operand>


INSTRUCTION NO. TYPE <operation> MOT/BANK VALUE

<operand> 19 0 ADD – add to accu

1 SUB – subtract from accu

2 MUL – multiply accu by

3 DIV – divide accu by

4 MOD – modulo divide by

5 AND – logical and accu with

6 OR – logical or accu with

7 XOR – logical exor accu with

8 NOT – logical invert accu

9 LOAD – load operand to accu

Example:

Multiply accu by -5000

Mnemonic: CALC MUL, -5000

Binary:

2

Type

$02

3

Motor/

Bank

$00 don’t care

4

Operand

Byte3

$FF

5

Operand

Byte2

$FF

Byte Index

Function

0

Target- address

$01

1

Instruction

Number

$13

Value (hex)

Reply:

Byte Index 0 1

Function

Value (hex)

Host- address

$02

Target- address

$01

Status = no error, value = -5000

2

$64

3

$13

4


Byte3

$ff

5

Operand

Byte2

$ff

6

Operand

Byte1

$EC

6

Operand

Byte1

$ec

7

Operand

Byte0

$78

7

Operand

Byte0



4.5.17 COMP (compare)

The specified number is compared to the value in the accumulator register. The result of the comparison can for example be used by the conditional jump (JC) instruction. This command is intended for use in

standalone operation only.

The host address and the reply are used only to take the instruction to the TMCL™ program memory while the program downloads.

Internal function: the specified value is compared to the internal accumulator, which holds the value of a preceding get or calculate instruction (see GAP/GGP/GIO/CALC/CALCX). The internal arithmetic status flags are set according to the comparison result.

Related commands: JC (jump conditional), GAP, GGP, GIO, CALC, CALCX

Mnemonic: COMP <comparison value>



20 don’t care don’t care <comparison value>

Example:

Jump to the address given by the label when the position of motor is greater than or equal to 1000.

GAP 1, 2, 0 //get axis parameter, type: no. 1 (actual position), motor: 0, value: 0 don’t care

COMP 1000 //compare actual value to 1000

JC GE, Label //jump, type: 5 greater/equal, the label must be defined somewhere else in the program

Binary format of the COMP 1000 command:

Byte Index 0 1 2 3 4 5 6 7

Function

Target- address

$01

Instruction

Number

$14

Type

$00

Motor/

Bank

$00

Operand

Byte3

$00

Operand

Byte2

$00

Operand

Byte1

$03

Operand

Byte0

$e8

Value (hex)

www.trinamic.com


4.5.18 JC (jump conditional)

The JC instruction enables a conditional jump to a fixed address in the TMCL™ program memory, if the specified condition is met. The conditions refer to the result of a preceding comparison. Please refer to

COMP instruction for examples. This function is for standalone operation only.

The host address and the reply are only used to take the instruction to the TMCL™ program memory while the program downloads.

Internal function: the TMCL™ program counter is set to the passed value if the arithmetic status flags are in the appropriate state(s).

Related commands: JA, COMP, WAIT, CLE

Mnemonic: JC <condition>, <label> where <condition>=ZE|NZ|EQ|NE|GT|GE|LT|LE|ETO|EAL|EDV|EPO



Value (hex)

21 0 ZE - zero

1 NZ - not zero

2 EQ - equal

3 NE - not equal

4 GT - greater

5 GE - greater/equal

6 LT - lower don’t care <jump address>

7 LE - lower/equal

8 ETO - time out error

9 EAL - external alarm

10 EDV - deviation error

11 EPO - position error

Example:

Jump to address given by the label when the position of motor is greater than or equal to 1000.

GAP 1, 0, 0 //get axis parameter, type: no. 1 (actual position), motor: 0, value: 0 don’t care

COMP 1000 //compare actual value to 1000

JC GE, Label //jump, type: 5 greater/equal

...

...

Label: ROL 0, 1000

Binary format of JC GE, Label when Label is at address 10:

Byte Index 0 1 2 3 4 5 6 7

Function

Target- address

$01

Instruction

Number

$15

Type

$05

Motor/

Bank

$00

Operand

Byte3

$00

Operand

Byte2

$00

Operand

Byte1

$00

Operand

Byte0

$0a www.trinamic.com


4.5.19 JA (jump always)

Jump to a fixed address in the TMCL™ program memory. This command is intended for standalone

operation only.


Internal function: the TMCL™ program counter is set to the passed value.

Related commands: JC, WAIT, CSUB

Mnemonic: JA <Label>



<jump address> 22 don’t care don’t care

Example: An infinite loop in TMCL™

Loop: MVP ABS, 0, 10000

WAIT POS, 0, 0

MVP ABS, 0, 0

WAIT POS, 0, 0

JA Loop //Jump to the label Loop

Binary format of JA Loop assuming that the label Loop is at address 20:

Byte Index 0 1 2 3 4

Function

Value (hex)

Target- address

$01

Instruction

Number

$16

Type

$00

Motor/

Bank

$00

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0



4.5.20 CSUB (call subroutine)

This function calls a subroutine in the TMCL™ program memory. It is intended for standalone operation

only.


Internal function: the actual TMCL™ program counter value is saved to an internal stack, afterwards overwritten with the passed value. The number of entries in the internal stack is limited to 8. This also limits nesting of subroutine calls to 8. The command will be ignored if there is no more stack space left.

Related commands: RSUB, JA

Mnemonic: CSUB <Label>



23 don’t care don’t care <subroutine address>

Example: Call a subroutine

Loop: MVP ABS, 0, 10000

CSUB SubW //Save program counter and jump to label SubW

MVP ABS, 0, 0

JA Loop

SubW: WAIT POS, 0, 0

WAIT TICKS, 0, 50

RSUB //Continue with the command following the CSUB command

Binary format of the CSUB SubW command assuming that the label SubW is at address 100:

Byte Index 0 1 2 3 4 5 6

Function

Value (hex)

Target- address

$01

Instruction

Number

$17

Type

$00

Motor/

Bank

$00

Operand

Byte3

$00

Operand

Byte2

$00

Operand

Byte1

$00

7

Operand

Byte0



4.5.21 RSUB (return from subroutine)

Return from a subroutine to the command after the CSUB command. This command is intended for use in standalone mode only.

The host address and the reply are only used to take the instruction to the TMCL™ program memory while the program loads down. This command cannot be used in direct mode.

Internal function: the TMCL™ program counter is set to the last value of the stack. The command will be ignored if the stack is empty.

Related command: CSUB

Mnemonic: RSUB



24 don’t care don’t care don’t care

Example: please see the CSUB example (section 4.5.20).

Binary format of RSUB:

Byte Index

Function

Value (hex)

0

Target- address

$01

1

Instruction

Number

$18

2

Type

$00

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0



4.5.22 WAIT (wait for an event to occur)

This instruction interrupts the execution of the TMCL™ program until the specified condition is met. This command is intended for standalone operation only.

The host address and the reply are only used to take the instruction to the TMCL™ program memory while the program loads down. This command cannot be used in direct mode.

There are five different wait conditions that can be used:



TICKS: Wait until the number of timer ticks specified by the <ticks> parameter has been reached.



POS: Wait until the target position of the motor specified by the <motor> parameter has been reached. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.



REFSW: Wait until the reference switch of the motor specified by the <motor> parameter has been triggered. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.



LIMSW: Wait until a limit switch of the motor specified by the <motor> parameter has been triggered. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.



RFS: Wait until the reference search of the motor specified by the <motor> field has been reached. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.

The timeout flag (ETO) will be set after a timeout limit has been reached. You can then use a JC ETO command to check for such errors or clear the error using the CLE command.

Internal function: the TMCL™ program counter is held until the specified condition is met.

Related commands: JC, CLE

Mnemonic: WAIT <condition>, <motor number>, <ticks>


INSTRUCTION NO. TYPE <condition> MOT/BANK VALUE

0 TICKS - timer ticks*

1

1 POS - target position reached don’t care

<motor number>

0… 2

27

2 REFSW – reference switch

3 LIMSW – limit switch

<motor number>

0… 2

<motor number>

0… 2

4 RFS – reference search completed

*

1

one tick is 10 milliseconds

Example:

<motor number>

0… 2

Wait for motor 0 to reach its target position, without timeout

Mnemonic: WAIT POS, 0, 0

Binary:

Byte Index

Function

Value (hex)

0

Target- address

$01

1

Instruction

Number

$1b

2

Type

$01

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

<no. of ticks*>

<no. of ticks* for timeout>,

0 for no timeout


0 for no timeout


0 for no timeout


0 for no timeout

6

Operand

Byte1

$00

7

Operand

Byte0

$00

8

Checksum

$1d www.trinamic.com


4.5.23 STOP (stop TMCL™ program execution)

This function stops executing a TMCL™ program. The host address and the reply are only used to transfer the instruction to the TMCL™ program memory.

End standalone TMCL™ programs with the STOP command. It is not to be used in direct mode.

Internal function: TMCL™ instruction fetching is stopped.

Related commands: none

Mnemonic: STOP



don’t care don’t care 28

Example:

Mnemonic: STOP

Binary:

Byte Index 0

Function

Value (hex)

Target- address

$01 don’t care

1

Instruction

Number

$1c

2

Type

$00

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0



4.5.24 SCO (set coordinate)

Up to 20 position values (coordinates) can be stored for every axis for use with the MVP COORD command.

This command sets a coordinate to a specified value. Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only).

Please note that the coordinate number 0 is always stored in RAM only.

Internal function: the passed value is stored in the internal position array.

Related commands: GCO, CCO, MVP

Mnemonic: SCO <coordinate number>, <motor number>, <position>



30 <coordinate number>

0… 20

<motor number>

0… 2

<position>

-2

23

… +2

23


STATUS VALUE


Example:

Set coordinate #1 of motor to 1000

Mnemonic: SCO 1, 0, 1000

Binary:

Byte Index 0 1 2 3 4 5 6 7

Function

Value (hex)

Target- address

$01

Instruction

Number

$1e

Type

$01

Motor/

Bank

$00

Operand

Byte3

$00

Operand

Byte2

$00

Operand

Byte1

$03

Operand

Byte0

$e8

Two special functions of this command have been introduced that make it possible to copy all coordinates or one selected coordinate to the EEPROM.

These functions can be accessed using the following special forms of the SCO command:

SCO 0, 255, 0

SCO <coordinate number>, 255, 0 copies all coordinates (except coordinate number 0) from RAM to the

EEPROM. copies the coordinate selected by <coordinate number> to the

EEPROM. The coordinate number must be a value between 1 and 20. www.trinamic.com


4.5.25 GCO (get coordinate)

This command makes possible to read out a previously stored coordinate. In standalone mode the requested value is copied to the accumulator register for further processing purposes such as conditioned jumps. In direct mode, the value is only output in the value field of the reply, without affecting the accumulator. Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM, only).

Please note that the coordinate number 0 is always stored in RAM, only.

Internal function: the desired value is read out of the internal coordinate array, copied to the accumulator register and – in direct mode – returned in the value field of the reply.

Related commands: SCO, CCO, MVP

Mnemonic: GCO <coordinate number>, <motor number>




0… 20

<motor number>

0… 2 don’t care


STATUS VALUE


Example:

Get motor value of coordinate 1

Mnemonic: GCO 1, 0

Binary:


Function

Target- address

$01

Instruction

Number

$1f

Type

$01

Value (hex)

Reply:

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0

$00

Byte Index 0 1 2 3 4 5 6 7

Function

Target- address

Target- address


Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$02 $01 $64 $0a $00 $00 $00 $00

 Value: 0

Two special functions of this command have been introduced that make it possible to copy all coordinates or one selected coordinate from the EEPROM to the RAM.

These functions can be accessed using the following special forms of the GCO command:

GCO 0, 255, 0 copies all coordinates (except coordinate number 0) from the

GCO <coordinate number>, 255, 0

EEPROM to the RAM. copies the coordinate selected by <coordinate number> from the

EEPROM to the RAM. The coordinate number must be a value between 1 and 20. www.trinamic.com


4.5.26 CCO (capture coordinate)

The actual position of the axis is copied to the selected coordinate variable. Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only). Please see the SCO and GCO commands on how to copy coordinates between RAM and EEPROM.

Note, that the coordinate number 0 is always stored in RAM only.

Internal function: the selected (24 bit) position values are written to the 20 by 3 bytes wide coordinate array.

Related commands: SCO, GCO, MVP

Mnemonic: CCO <coordinate number>, <motor number>




0… 20

<motor number>

0… 2 don’t care


STATUS VALUE


Example:

Store current position of the axis 0 to coordinate 3

Mnemonic: CCO 3, 0

Binary:

Byte Index

Function

Value (hex)

0

Target- address

$01

1

Instruction

Number

$20

2

Type

$03

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0



4.5.27 ACO (accu to coordinate)

With the ACO command the actual value of the accumulator is copied to a selected coordinate of the motor.

Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only).

Please note also that the coordinate number 0 is always stored in RAM only. For Information about storing coordinates refer to the SCO command.

Internal function: the actual value of the accumulator is stored in the internal position array.

Related commands: GCO, CCO, MVP COORD, SCO

Mnemonic: ACO <coordinate number>, <motor number>




0… 20

<motor number>

0… 2 don’t care


STATUS VALUE


Example:

Copy the actual value of the accumulator to coordinate 1 of motor 0

Mnemonic: ACO 1, 0

Binary:

Byte Index

Function

Value (hex)

0

Target- address

$01

1

Instruction

Number

$27

2

Type

$01

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0



4.5.28 CALCX (calculate using the X register)

This instruction is very similar to CALC, but the second operand comes from the X register. The X register can be loaded with the LOAD or the SWAP type of this instruction. The result is written back to the accumulator for further processing like comparisons or data transfer.

Related commands: CALC, COMP, JC, AAP, AGP

Mnemonic: CALCX <operation>


INSTRUCTION NO. TYPE <operation> MOT/BANK VALUE

don’t care don’t care 33 0 ADD – add X register to accu

1 SUB – subtract X register from accu

2 MUL – multiply accu by X register

3 DIV – divide accu by X-register

4 MOD – modulo divide accu by x-register

5 AND – logical and accu with X-register

6 OR – logical or accu with X-register

7 XOR – logical exor accu with X-register

8 NOT – logical invert X-register

9 LOAD – load accu to X-register

10 SWAP – swap accu with X-register

Example:

Multiply accu by X-register

Mnemonic: CALCX MUL

Binary:

Byte Index

Function

0

Target- address

$01

2

Type

$02

Value (hex)

1

Instruction

Number

$21

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0



4.5.29 AAP (accumulator to axis parameter)

The content of the accumulator register is transferred to the specified axis parameter. For practical usage, the accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have been modified by the CALC or CALCX (calculate) instruction.

Related commands: AGP, SAP, GAP, SGP, GGP, GIO, GCO, CALC, CALCX

Mnemonic: AAP <parameter number>, <motor number>



34 <parameter number> <motor number>

0… 2

<don't care>


STATUS VALUE

Function

100 – OK


chapter 5.

Example:

Positioning motor by a potentiometer connected to the analogue input #0:

Start: GIO 0,1 // get value of analogue input line 0

JA Start // jump back to start

Binary format of the AAP 0,0 command:

Byte Index

CALC MUL, 4 // multiply by 4

AAP 0,0 // transfer result to target position of motor 0

0 1 2 3 4 5 6 7

Target- address

$01 don’t care

Instruction

Number

$22

Type

$00

Motor/

Bank

$00

Operand

Byte3

$00

Operand

Byte2

$00

Operand

Byte1

$00

Operand

Byte0

$00

Value (hex)

www.trinamic.com


4.5.30 AGP (accumulator to global parameter)

The content of the accumulator register is transferred to the specified global parameter. For practical usage, the accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have been modified by the CALC or CALCX (calculate) instruction. Note, that the global parameters in bank 0 are

EEPROM-only and thus should not be modified automatically by a standalone application.

Related commands: AAP, SGP, GGP, SAP, GAP, GIO

Mnemonic: AGP <parameter number>, <bank number>



35 <parameter number> <bank number> don’t care


STATUS VALUE



to chapter 0.

Example:

Copy accumulator to TMCL™ user variable #3

Mnemonic: AGP 3, 2

Binary:

Byte Index 0 1 2 3 4 5 6 7

Function

Value (hex)

Target- address

$01

Instruction

Number

$23

Type

$03

Motor/

Bank

$02

Operand

Byte3

$00

Operand

Byte2

$00

Operand

Byte1

$00

Operand

Byte0



4.5.31 CLE (clear error flags)

This command clears the internal error flags. It is intended for use in standalone mode only and must

not be used in direct mode.

The following error flags can be cleared by this command (determined by the <flag> parameter):



ALL: clear all error flags.



ETO: clear the timeout flag.



EAL: clear the external alarm flag



EDV: clear the deviation flag



EPO: clear the position error flag

Related commands: JC

Mnemonic: CLE <flags>


INSTRUCTION NO. TYPE <flags> MOT/BANK VALUE

don’t care don’t care 36

Example:

Reset the timeout flag

Mnemonic: CLE ETO

Binary:

0 – (ALL) all flags

1 – (ETO) timeout flag

2 – (EAL) alarm flag

3 – (EDV) deviation flag

4 – (EPO) position flag

5 – (ESD) shutdown flag

Byte Index

Function

0

Target- address

$01

2

Type

$01

Value (hex)

1

Instruction

Number

$24

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

7

Operand

Byte0



4.5.32 VECT (set interrupt vector)

The VECT command defines an interrupt vector. It needs an interrupt number and a label as parameter (like in JA, JC and CSUB commands).

This label must be the entry point of the interrupt handling routine.

Related commands: EI, DI, RETI

Mnemonic: VECT <interrupt number>, <label>



37 <interrupt number> don’t care <label>

The following table shows all interrupt vectors that can be used:


0

1

Timer 0

Timer 1

2

3

4

5

15

21

Timer 2




Deviation axis 0

31

32

39

40

41

27

28

29

30

Left stop switch 0

Right stop switch 0

Left stop switch 1

Right stop switch 1

Left stop switch 2

Right stop switch 2

Input change 0

Input change 1

Input change 2

42

255

Input change 3

Global interrupts

Example: Define interrupt vector at target position 500

VECT 3, 500

Binary format of VECT:

Byte Index 0 1 2 3 4

Function

Value (hex)

Target- address

$01

Instruction

Number

$25

Type

$03

Motor/

Bank

$00

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$01

7

Operand

Byte0

$F4 www.trinamic.com


4.5.33 EI (enable interrupt)

The EI command enables an interrupt. It needs the interrupt number as parameter. Interrupt number 255 globally enables interrupts.

Related command: DI, VECT, RETI

Mnemonic: EI <interrupt number>



25 <interrupt number> don’t care don’t care



0

1

Timer 0

Timer 1

21

27

28

29

30

2

3

4

5

15

Timer 2




Deviation axis 0

Left stop switch 0

Right stop switch 0

Left stop switch 1

Right stop switch 1

31

32

39

40

41

Left stop switch 2

Right stop switch 2

Input change 0

Input change 1

Input change 2

42

255

Input change 3

Global interrupts

Examples:

Enable interrupts globally

EI, 255

Binary format of EI:

Byte Index 0 1 2 3 4

Motor/

Bank

$00

Operand

Byte3

$00

Function

Target- address

Instruction

Number

Type

Value (hex)

$01 $19 $FF

Enable interrupt when target position reached

EI, 3

Binary format of EI:


Function

Value (hex)

Target- address

$01

Instruction

Number

$19

Type

$03

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

6

Operand

Byte1

$00

7

Operand

Byte0

$00

7

Operand

Byte0



4.5.34 DI (disable interrupt)

The DI command disables an interrupt. It needs the interrupt number as parameter. Interrupt number 255 globally disables interrupts.

Related command: EI, VECT, RETI

Mnemonic: DI <interrupt number>



26 <interrupt number> don’t care don’t care



0

1

Timer 0

Timer 1

21

27

28

29

30

2

3

4

5

15

Timer 2




Deviation axis 0

Left stop switch 0

Right stop switch 0

Left stop switch 1

Right stop switch 1

31

32

39

40

41

Left stop switch 2

Right stop switch 2

Input change 0

Input change 1

Input change 2

42

255

Input change 3

Global interrupts

Examples:

Disable interrupts globally

DI, 255

Binary format of DI:

Byte Index 0 1 2 3 4

Motor/

Bank

$00

Operand

Byte3

$00

Function

Target- address

Instruction

Number

Type

Value (hex)

$01 $1A $FF

Disable interrupt when target position reached

DI, 3

Binary format of DI:


Function

Value (hex)

Target- address

$01

Instruction

Number

$1A

Type

$03

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$00

6

Operand

Byte1

$00

7

Operand

Byte0

$00

7

Operand

Byte0


55


4.5.35 RETI (return from interrupt)

This command terminates the interrupt handling routine, and the normal program execution continues.

At the end of an interrupt handling routine the RETI command must be executed.

Internal function: the saved registers (A register, X register, flags) are copied back. Normal program execution continues.

Related commands: EI, DI, VECT

Mnemonic: RETI



38 don’t care don’t care don’t care

Example: Terminate interrupt handling and continue with normal program execution

RETI

Binary format of RETI:

Byte Index

Function

Value (hex)

0

Target- address

$01

1

Instruction

Number

$26

2

Type

$00

3

Motor/

Bank

$00

4

Operand

Byte3

$00

5

Operand

Byte2

$00

6

Operand

Byte1

$01

7

Operand

Byte0

$00

4.5.36 Customer Specific TMCL™ Command Extension (UF0… UF7 - User

Function)

The user definable functions UF0… UF7 are predefined functions without topic for user specific purposes. A user function (UF) command uses three parameters. Please contact TRINAMIC for a customer specific programming.

Internal function: Call user specific functions implemented in C by TRINAMIC.

Related commands: none

Mnemonic: UF0… UF7 <parameter number>



user defined user defined user defined 64… 71


Byte Index 0

Function

Value (hex)

Target- address

$02

1

Target- address

$01

2 3 4


Byte3 user defined

64… 71 user defined

5

Operand

Byte2 user defined

6

Operand

Byte1 user defined

7

Operand

Byte0 user defined www.trinamic.com


4.5.37 Request Target Position Reached Event

This command is the only exception to the TMCL™ protocol, as it sends two replies: One immediately after the command has been executed (like all other commands also), and one additional reply that will be sent when the motor has reached its target position. This instruction can only be used in direct mode (in

standalone mode, it is covered by the WAIT command) and hence does not have a mnemonic.

Internal function: send an additional reply when the motor has reached its target position

Mnemonic: ---



138 0/1 (don’t care) motor bit mask

With command 138 the value field is a bit vector. It shows for which motors one would like to have a position reached message. The value field contains a bit mask where every bit stands for one motor.

M

OTOR BIT MASK

Bit Selected motor

0

1

2

0

1

2

V

ALUES FOR TYPE

Value

0

Description

Position reached messages only for the next MVP command.

1 Position reached event message for every MVP command.

Reply in direct mode (right after execution of this command):

Byte Index 0 1 2 3 4 5 6 7

Function

Value (hex)

Target- address

$02

Target- address

$01


100 138

Byte3

$00

Operand

Byte2

$00

Operand

Byte1

$00

Operand

Byte0

Motor bit mask

The additional reply will be sent when at least the first motor has reached its target position. The TMCM-

1110 can control up to three motors.

Additional reply in direct mode (after a motor has reached its target position):

Byte Index 0 1 2 3 4 5 6 7

Function

Value (hex)

Target- address

$02

Target- address

$01


Byte3

128 138 $00

Operand

Byte2

$00

Operand

Byte1

$00

Operand

Byte0

Motor bit mask www.trinamic.com


4.5.38 TMCL™ Control Functions

There are several TMCL™ control functions, but for the user are only 136 and 137 interesting. Other control functions can be used with axis parameters.

Instruction number

136

137

Type

0 – string

1 – binary

Command Description

Firmware version Get the module type and firmware revision as a don’t care Reset to factory defaults string or in binary format. (Motor/Bank and Value are ignored.)

Reset all settings stored in the EEPROM to their factory defaults

This command does not send back a reply.

Value must be 1234

Further information about command 136

-

Type set to 0 - reply as a string:

Byte index Contents

1 Host Address

2… 9 Version string (8 characters, e.g. 6110V100)

There is no checksum in this reply format!

-

Type set to 1 - version number in binary format:

Please use the normal reply format. The version number is output in the value field of the reply in the following way:

Byte index in value field Contents

1 Version number, low byte

2

3

4

Version number, high byte

Type number, low byte (currently not used)

Type number, high byte

(currently not used) www.trinamic.com


5 Axis Parameters

The following sections describe all axis parameters that can be used with the SAP, GAP, AAP, STAP and RSAP commands.

ATTENTION

The following axis parameters are only available for axis 0, because the module has only one driver IC:

#6, #7

Meaning of the letters in column Access:

Access type

#140

#160… #184

#204… #254

Related command(s)

Description

R

W

E

GAP

SAP, AAP

STAP, RSAP

Parameter readable

Parameter writable

Parameter automatically restored from EEPROM after reset or power-on. These parameters can be stored permanently in EEPROM using STAP command and also explicitly restored (copied back from EEPROM into RAM) using RSAP.

Basic parameters should be adjusted to motor / application for proper module operation.

Parameters for the more experienced user – please do not change unless you are absolutely sure.

Number Axis Parameter Description Range [Unit] Acc.

0

1

2

3 target (next) position actual position The current position of the motor. Should only be overwritten for reference point target (next) speed actual speed

The desired position in position mode (see ramp mode, no. 138). setting.

The desired speed in velocity mode (see ramp mode, no. 138). In position mode, this parameter is set by hardware: to the maximum speed during acceleration, and to zero during deceleration and rest.

The current rotation speed.

−2.147.483.648…

+2.147.483.647

[µsteps]

−2.147.483.648…

+2.147.483.647

[µsteps]



2047



2047

RW

RW

RW

RW

4

5 maximum positioning speed maximum acceleration

Should not exceed the physically highest possible value. Adjust the pulse divisor (axis parameter 154), if the speed value is very low

(<50) or above the upper limit. See TMC 429 datasheet for calculation of physical units or use the TMCL-IDE calculation tool.

The limit for acceleration and deceleration.

Changing this parameter requires recalculation of the acceleration factor and the acceleration divisor. Therefore adjust the ramp divisor (axis parameter 153) carefully in steps of one.

See TMC 429 datasheet for calculation of physical units or use the TMCL-IDE calculation tool.

0… 2047

0… 2047*

1

RWE

RWE www.trinamic.com



6 absolute max. The maximum value is 255. This value means current

(CS / Current

Scale)

100% of the maximum current of the module.

The current adjustment is within the range 0…

255 and can be adjusted in 32 steps.

0… 7

8… 15

16… 23

24… 31

32… 39

40… 47

48… 55

56… 63

79…87

88… 95

96… 103

104… 111

112… 119

120… 127

128… 135

136… 143

160… 167

168… 175

176… 183

184… 191

192… 199

200… 207

208… 215

216… 223

240… 247

248… 255

64… 71

72… 79

144… 151

152… 159

224… 231

232… 239

The unit of the current is adequate to the

7 chosen motor current (with or without jumper).


standby current The current limit two seconds after the motor has stopped.


Range [Unit]

0… 255

Without jumpers:

Jumpers set:

0… 255

Without jumpers:

Jumpers set:

8

9

10

11

130

135 target pos. reached

Indicates that the actual position equals the target position. ref. switch status The logical state of the reference (left) switch.

See the TMC 429 data sheet for the different switch modes. The default has two switch modes: the left switch as the reference switch, the right switch as a limit (stop) switch.

The logical state of the (right) limit switch. right limit switch status left limit switch status

The logical state of the left limit switch (in three switch mode) minimum speed Should always be set 1 to ensure exact reaching of the target position. Do not change! actual acceleration

The current acceleration (read only).

0/1

0/1

0/1

0/1

0… 2047

0… 2047

*

1

Acc.

RWE

RWE

R

R

R

R

RWE

R

60 www.trinamic.com



138 ramp mode Automatically set when using ROR, ROL, MST and MVP.

0: position mode. Steps are generated, when the parameters actual position and target position differ. Trapezoidal speed ramps are provided.

2: velocity mode. The motor will run continuously and the speed will be changed

140 microstep resolution with constant (maximum) acceleration, if the parameter target speed is changed.

For special purposes, the soft mode (value 1) with exponential decrease of speed can be selected.

0 full step

1 half step

2 4 microsteps

153

154

160

161

162

163

3 8 microsteps

4 16 microsteps

5 32 microsteps

6 64 microsteps

7 128 microsteps

8 256 microsteps ramp divisor pulse divisor

The exponent of the scaling factor for the ramp generator - should be de/incremented carefully (in steps of one).

The exponent of the scaling factor for the pulse (step) generator – should be de/incremented carefully (in steps of one). step interpolation enable

Step interpolation is supported with a 16 microstep setting only. In this setting, each step impulse at the input causes the execution of 16 times 1/256 microsteps. This way, a smooth motor movement like in 256 microstep resolution is achieved.

0 – step interpolation off

1 – step interpolation on

Every edge of the cycle releases a double step enable step/microstep. It does not make sense to

activate this parameter for internal use.

Double step enable can be used with Step/Dir interface.

0 – double step off

1 – double step on

Selects the comparator blank time. This time chopper blank time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For low current drivers, a setting of 1 or 2 is good. For higher current applications like the TMCM-1110 a setting of 2 or 3 will be required. chopper mode Selection of the chopper mode:

0 – spread cycle

1 – classic const. off time

Range [Unit]

0/1/2

0… 8

0… 13

0… 13

0/1

0/1

0… 3

0/1

Acc.

RWE

RWE

RWE

RWE

RW

RW

RW

RW

61 www.trinamic.com



164 chopper Hysteresis decrement setting. This setting

165 hysteresis decrement chopper hysteresis end determines the slope of the hysteresis during on time and during fast decay time.

0 – fast decrement

3 – very slow decrement

Hysteresis end setting. Sets the hysteresis end value after a number of decrements.

Decrement interval time is controlled by axis parameter 164.

-3… -1 negative hysteresis end setting

0 zero hysteresis end setting

1… 12 positive hysteresis end setting

166

167 chopper hysteresis start

Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value. chopper off time The off time setting controls the minimum chopper frequency. An off time within the range of 5µs to 20µs will fit.

Off time setting for constant t

Off

N

CLK

= 12 + 32*t

OFF

chopper:

(Minimum is 64 clocks)

Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel.

168

169 smartEnergy current minimum

(SEIMIN) smartEnergy current down step

Sets the lower motor current limit for coolStep™ operation by scaling the CS

(Current Scale, see axis parameter 6) value. minimum motor current:

0 – 1/2 of CS

1 – 1/4 of CS

Sets the number of stallGuard2™ readings above the upper threshold necessary for each current decrement of the motor current.

Range [Unit]

0… 3

-3… 12

0… 8

0 / 2… 15

0/1

0… 3

170 smartEnergy hysteresis

Number of stallGuard2™ measurements per decrement:

Scaling: 0… 3: 32, 8, 2, 1

0: slow decrement

3: fast decrement

Sets the distance between the lower and the upper threshold for stallGuard2™ reading.

Above the upper threshold the motor current becomes decreased.

0… 15

Hysteresis:

(smartEnergy hysteresis value + 1) * 32

Upper stallGuard2™ threshold:

(smartEnergy hysteresis start + smartEnergy hysteresis + 1) * 32

Acc.

RW

RW

RW

RW

RW

RW

RW

62 www.trinamic.com



171 smartEnergy Sets the current increment step. The current current up step becomes incremented for each measured stallGuard2™ value below the lower threshold

(see smartEnergy hysteresis start).

Range [Unit]

1… 3

172

173

174

175

176

177

178

179 smartEnergy hysteresis start stallGuard2™ filter enable stallGuard2™ threshold slope control high side slope control low side short protection disable short detection timer

Vsense current increment step size:

Scaling: 0… 3: 1, 2, 4, 8

0: slow increment

3: fast increment / fast reaction to rising load

The lower threshold for the stallGuard2™ value (see smart Energy current up step).

Enables the stallGuard2™ filter for more precision of the measurement. If set, reduces the measurement frequency to one measurement per four fullsteps.

In most cases it is expedient to set the filtered mode before using coolStep™.

Use the standard mode for step loss

detection.

0 – standard mode

1 – filtered mode

This signed value controls stallGuard2™

threshold level for stall output and sets the optimum measurement range for readout. A lower value gives a higher sensitivity. Zero is the starting value. A higher value makes stallGuard2™ less sensitive and requires more torque to indicate a stall.

0 Indifferent value

1… 63 less sensitivity

-1 -

64 higher sensitivity

Determines the slope of the motor driver outputs. Set to 2 or 3 for this module or

rather use the default value.

0: lowest slope

3: fastest slope

Determines the slope of the motor driver outputs. Set identical to slope control high

side.

0: Short to GND protection is on

1: Short to GND protection is disabled

Use default value!

0: 3.2µs

1: 1.6µs

2: 1.2µs

3: 0.8µs

Use default value!

sense resistor voltage based current scaling

0: Full scale sense resistor voltage is 1/18 VDD

1: Full scale sense resistor voltage is 1/36 VDD

(refers to a current setting of 31 and DAC value 255)

Use default value. Do not change!

0… 15

0/1

-64… 63

0… 3

0… 3

0/1

0… 3

0/1

Acc.

RW

RW

RW

RW

RW

RW

RW

RW

RW

63 www.trinamic.com



180 smartEnergy This status value provides the actual motor actual current current setting as controlled by coolStep™.

The value goes up to the CS value and down to the portion of CS as specified by SEIMIN.

Range [Unit]

0… 31

181

182 stop on stall smartEnergy threshold speed actual motor current scaling factor:

0 … 31: 1/32, 2/32, … 32/32

Below this speed motor will not be stopped.

Above this speed motor will stop in case stallGuard2™ load value reaches zero.

Above this speed coolStep™ becomes enabled.

0… 2047

0… 2047

183

193

194

195

196

204 smartEnergy slow run current

Sets the motor current which is used below the threshold speed.


0… 255

Without jumpers:

Jumpers set: ref. search mode 1 search left stop switch only

2 search right stop switch, then search left stop switch

3 search right stop switch, then search left stop switch from both sides

4 search left stop switch from both sides referencing search speed

5 search home switch in negative direction, reverse the direction when left stop switch reached

6 search home switch in positive direction, reverse the direction when right stop switch reached

7 search home switch in positive direction, ignore end switches

8 search home switch in negative direction, ignore end switches

Adding 128 to these values reverses the polarity of the home switch input.

For the reference search this value directly specifies the search speed. referencing switch speed distance end switches freewheeling

1… 8

Similar to parameter no. 194, the speed for the switching point calibration can be selected.

This parameter provides the distance between the end switches after executing the RFS command (mode 2 or 3).

Time after which the power to the motor will be cut when its velocity has reached zero.

0… 2047

0… 2047

0… 2147483647

0… 65535

0 = never

[msec]

Acc.

RW

RW

RW

RW

RWE

RWE

RWE

R

RWE

64 www.trinamic.com



206 actual load value Readout of the actual load value used for stall

208 TMC262 driver error flags detection (stallGuard2™).

Bit 0 stallGuard2™ status

(1: threshold reached)

Bit 1 Overtemperature

(1: driver is sh t down due to overtemperature)

Bit 2

Bit 3

Bit 4

Bit 5

Bit 6

Bit 7

Pre-warning overtemperature

(1: t reshold is exceeded)

Short to ground A

(1: short condition dete ted, driver currently shut down)

Short to ground B

(1: short condition detected, driver currently shut down)

Open load A

(1: no chopper event has happened during the last period with constant coil polarity)

Open load B

(1: no chopper event has happened during the last period with constant coil polarity)

Stand still

(1: no step impulse occurred on the step input during the last 2^20 clock cycles)

Please refer to the TMC262 Datasheet for more information.

209

210

212

214

254 encoder position The value of an encoder register can be read out or written.

Encoder prescaler

Prescaler for the encoder. maximum encoder deviation

When the actual position (parameter 1) and the encoder position (parameter 209) differ more than set here the motor will be stopped. This function is switched off when the maximum deviation is set to zero. power down delay

Step/dir mode

Standstill period before the current is changed down to standby current. The standard value is 200 (value equates 2000msec).

0 Normal mode. Step/dir mode off.

1 Step/dir mode with automatic current reduction in case of standstill. If current reduction in standstill is not desired, choose the same value for the axis parameters #6 and #7.

*

1

Unit of acceleration:

Range [Unit]

0… 1023

0… 255

[encoder steps]

Acc.

R

R

RW

See paragraph 5.4.1. RWE

0… 65535

[encoder steps]

1… 65535

[10msec]

0/1

RWE

RWE

RWE

65

5.1 stallGuard2™ Related Parameters

The module is equipped with TMC262 motor driver chip. The TMC262 features load measurement that can be used for stall detection. stallGuard2™ delivers a sensorless load measurement of the motor as well as a stall detection signal. The measured value changes linear with the load on the motor in a wide range of load, velocity and current settings. At maximum motor load the stallGuard2™ value goes to zero. This corresponds to a load angle of 90° between the magnetic field of the stator and magnets in the rotor. This also is the most energy efficient point of operation for the motor. www.trinamic.com


1000 stallGuard2 reading

900

800

700

600

500

400

300

200

100

0

Start value depends on motor and operating conditions stallGuard value reaches zero and indicates danger of stall.

This point is set by stallGuard threshold value SGT.

10 20 30 40 50 60 70 80 90 100

Motor stalls above this point.

Load angle exceeds 90° and available torque sinks.

motor load

(% max. torque)

Figure 5.1: Principle function of stallGuard2

Stall detection means that the motor will be stopped when the load gets too high. This level is set using axis parameter #174 (stallGuard2™ threshold). In order to exclude e.g. resonances during motor acceleration and deceleration phases it is also possible to set a minimum speed for motor being stopped due to stall detection using axis parameter #181. Stall detection can also be used for finding the reference point. Do not

use RFS in this case.

P

ARAMETERS NEEDED FOR ADJUSTING THE STALL

G

UARD

2™

FEATURE


6 absolute max. current

The maximum value is 255. This value means 100% of the maximum current of the module. The current adjustment is within the range 0… 255 and can be

(CS / Current

Scale) adjusted in 32 steps.

0… 7

8… 15

16… 23

24… 31

32… 39

40… 47

48… 55

56… 63

64… 71

72… 79

79…87

88… 95

96… 103

104… 111

112… 119

120… 127

128… 135

136… 143

144… 151

152… 159

160… 167

168… 175

176… 183

184… 191

192… 199

200… 207

208… 215

216… 223

224… 231

232… 239

240… 247

248… 255


173 stallGuard2™ filter enable

Enables the stallGuard2™ filter for more precision of the measurement. If set, reduces the measurement frequency to one measurement per four fullsteps.

In most cases it is expedient to set the filtered mode before using coolStep™.

Use the standard mode for step loss detection.

0 – standard mode

1 – filtered mode

174 stallGuard2™ threshold

181 stop on stall

This signed value controls stallGuard2™ threshold level for stall output and sets the optimum measurement range for readout. A lower value gives a higher sensitivity. Zero is the starting value. A higher value makes stallGuard2™ less sensitive and requires more torque to indicate a stall.

0 Indifferent value

1… 63 less sensitivity

-1… -64 higher sensitivity

Below this speed motor will not be stopped. Above this speed motor will stop in case stallGuard2™ load value reaches zero.

206 actual load value Readout of the actual load value used for stall detection (stallGuard2™).

In this chapter only basic axis parameters are mentioned which concern stallGuard2™. The complete list of

axis parameters in chapter 5 contains further parameters which offer more configuration possibilities.

www.trinamic.com


5.2 coolStep™ Related Parameters

The figure below gives an overview of the coolStep™ related parameters. Please have in mind that the figure shows only one example for a drive. There are parameters which concern the configuration of the current. Other parameters are for velocity regulation and for time adjustment.

It is necessary to identify and configure the thresholds for current (I6, I7 and I183) and velocity (V182).

Furthermore the stallGuard2™ feature has to be adjusted and enabled (SG170 and SG181).

The reduction or increasing of the current in the coolStep™ area (depending on the load) has to be configured with parameters I169 and I171.

In this chapter only basic axis parameters are mentioned which concern coolStep™ and stallGuard2™. The

complete list of axis parameters in chapter 5 contains further parameters which offer more configuration

possibilities.

coolStep™ adjustment points and thresholds

Velocity Current

I

6

The current depends on the load of the motor.

I

183

I6

SG

170

SG

181

V

182

I

6

/2*

I

7

I

183

I

183

I

7

I

7

Time

T

214 coolStep™ area area without coolStep™

I

123 Current and parameter

V

123 Velocity and parameter

T

123 Time parameter

SG

123 stallGuard2™ parameter

* The lower threshold of the coolStep™ current can be adjusted up to I6 /4. Refer to parameter 168.

Figure 5.2: coolStep™ adjustment points and thresholds

www.trinamic.com


P

ARAMETERS NEEDED FOR ADJUSTING THE COOL

S

TEP

™

FEATURE

Number Axis parameter Description

The maximum value is 255. This value means 100% of the maximum current of the module. The current adjustment is

6

7

168

absolute max. current

(CS / Current Scale) standby current smartEnergy current minimum

(SEIMIN) within the range 0… 255 and can be adjusted in 32 steps.

0… 7 79…87 160… 167 240… 247

8… 15

16… 23

88… 95

96… 103

168… 175

176… 183

248… 255

The most

24… 31 104… 111 184… 191

important

32… 39 112… 119 192… 199

motor setting,

40… 47 120… 127 200… 207

since too high

48… 55 128… 135 208… 215

values might

56… 63

64… 71

136… 143

144… 151

216… 223

224… 231

cause motor damage!

72… 79 152… 159 232… 239

The current limit two seconds after the motor has stopped.

Sets the lower motor current limit for coolStep™ operation by scaling the CS (Current Scale, see axis parameter 6) value.

Minimum motor current:

169

smartEnergy current down step

0 – 1/2 of CS

1 – 1/4 of CS

Sets the number of stallGuard2™ readings above the upper threshold necessary for each current decrement of the motor current. Number of stallGuard2™ measurements per decrement:

Scaling: 0… 3: 32, 8, 2, 1

0: slow decrement

3: fast decrement

Sets the current increment step. The current becomes incremented for each measured stallGuard2™ value below the lower threshold (see smartEnergy hysteresis start).

171

smartEnergy current up step current increment step size:

183

smartEnergy slow run current

Scaling: 0… 3: 1, 2, 4, 8

0: slow increment

3: fast increment / fast reaction to rising load

Sets the motor current which is used below the threshold speed. Please adjust the threshold speed with axis parameter

182.

170

181

smartEnergy hysteresis stop on stall

Sets the distance between the lower and the upper threshold for stallGuard2™ reading. Above the upper threshold the motor current becomes decreased.

Below this speed motor will not be stopped. Above this speed motor will stop in case stallGuard2™ load value reaches zero.

182

214

For further information about the coolStep™ feature please refer to the TMC262 Datasheet.

smartEnergy threshold speed Above this speed coolStep™ becomes enabled. power down delay

Standstill period before the current is changed down to standby current. The standard value is 200 (value equates 2000msec). www.trinamic.com


5.3 Reference Search

The built-in reference search features switching point calibration and support of one or two reference switches. The internal operation is based on a state machine that can be started, stopped and monitored

(instruction RFS, no. 13). The reference switch is connected in series with the left limit switch. The differentiation between the left limit switch and the home switch is made through software. Switches with open contacts (normally closed) are used. The analogue input AIN_0 of the module can be used as home switch.

Hints for reference search:

- The settings of the automatic stop functions corresponding to the switches (axis parameters 12 and

13) have no influence on the reference search.

- Until the reference switch is found for the first time, the searching speed is identical to the maximum positioning speed (axis parameter 4), unless reduced by axis parameter 194.

- After hitting the reference switch, the motor slowly moves until the switch is released. Finally the switch is re-entered in the other direction, setting the reference point to the center of the two switching points. This low calibrating speed is a quarter of the maximum positioning speed by default (axis parameter 195).

- Set one of the values for axis parameter 193 for selecting the reference search mode.

P

ARAMETERS NEEDED FOR REFERENCE SEARCH


9 ref. switch status The logical state of the reference (left) switch.

See the TMC 429 data sheet for the different switch modes. The default has

10 two switch modes: the left switch as the reference switch, the right switch as a limit (stop) switch.

The logical state of the (right) limit switch.

11

12 right limit switch status left limit switch status right limit switch disable

The logical state of the left limit switch (in three switch mode)

If set, deactivates the stop function of the right switch

13

141 left limit switch disable ref. switch tolerance

Deactivates the stop function of the left switch resp. reference switch if set.

For three-switch mode: a position range, where an additional switch

(connected to the REFL input) won't cause motor stop.

149

193

194

195

196 soft stop flag If cleared, the motor will stop immediately (disregarding motor limits), when the reference or limit switch is hit. ref. search mode 1 search left stop switch only

2 search right stop switch, then search left stop switch

3 search right stop switch, then search left stop switch from both sides

4 search left stop switch from both sides

5 search home switch in negative direction, reverse the direction when left stop switch reached

6 search home switch in positive direction, reverse the direction when right stop switch reached

7 search home switch in positive direction, ignore end switches

8 search home switch in negative direction, ignore end switches

Adding 128 to these values reverses the polarity of the home switch input.

For the reference search this value directly specifies the search speed. referencing search speed referencing switch speed distance end switches

Similar to parameter no. 194, the speed for the switching point calibration can be selected.

This parameter provides the distance between the end switches after executing the RFS command (mode 2 or 3). www.trinamic.com


5.3.1 Reference Search Modes (Axis Parameter 193)

SAP 193, 0, 1

negative limit switch

Search left stop switch only.

SAP 193, 0, 2

negative limit switch positive limit switch

Search right stop switch, then search left stop switch.

SAP 193, 0, 3

negative limit switch positive limit switch

Search right stop switch, then search left stop switch from both sides.

SAP 193, 0, 4

negative limit switch

Search left stop switch from both sides.

Figure 5.3: Reference search modes 1-4

www.trinamic.com

70


SAP 193, 0, 5

negative limit switch positive limit switch home switch

Search home switch in negative direction, reverse the direction when left stop switch reached.

SAP 193, 0, 6

negative limit switch positive limit switch home switch

Search home switch in positive direction, reverse the direction when right stop switch reached.

SAP 193, 0, 7

home switch

Search home switch in positive direction, ignore end switches.

SAP 193, 0, 8

home switch

Search home switch in negative direction, ignore end switches.

Figure 5.4: Reference search modes 5-8

www.trinamic.com

71


5.4 Encoder

The TMCM-1110 provides an interface for single ended incremental encoders with TTL (5V) outputs. For the operation with encoder please consider the following:

-

The encoder counter can be read by software and can be used to monitor the exact position of the motor. This also makes closed loop operation possible.

-

The Encoder channel PHASE_Z is for zeroing the encoder counter. It can be selected as high or as low active, and it is automatically checked in parallel to the Encoder channel A and B inputs for referencing exactly.

-

To read out or to change the position value of the encoder, axis parameter 209 is used. To read out the position of your encoder 0 use GAP 209, 0. The position values can also be changed using command SAP 209, 0, <n>, with n = −2.147.483.648… +2.147.483.647

-

To change the encoder settings, axis parameter 210 is used. For changing the prescaler of encoder 0 use SAP 210, 0, .

-

Automatic motor stop on deviation error is also usable. This can be set using axis parameter 212

(maximum deviation). This function is turned off when the maximum deviation is set to 0.

P

ARAMETERS NEEDED FOR USING THE ENCODER

Number Axis Parameter

209 encoder position

Description

The value of an encoder register can be read out or written.

210 Encoder prescaler Prescaler for the encoder.

[encoder steps]

See paragraph

5.4.1

212 maximum encoder deviation

When the actual position (parameter 1) and the encoder position (parameter 209) differ more than set here the motor will be stopped. This function is switched off when the maximum deviation is set to zero.

0… 65535

[encoder steps]

5.4.1 Changing the Prescaler Value of an Encoder

The table below shows a prescaler subset which can be selected. Other values between those in the table can be used. The bits 2… 4 must not be used for the prescaler because they are needed to select special encoder functions.

T

O SELECT A PRESCALER

,

THE FOLLOWING VALUES CAN BE USED FOR

:

Value for



Resulting prescaler

SAP command for motor 0

SAP 210, M0, 

64

128

256

512

1024

2048

4096

8192

0.125

0.25

0.5

1

2

4

8

16

SAP 210, 0, 64

SAP 210, 0, 128

SAP 210, 0, 256

SAP 210, 0, 512

SAP 210, 0, 1024

SAP 210, 0, 2048

SAP 210, 0, 4096

SAP 210, 0, 8192

16384

32768

32

64

SAP 210, 0, 16384

SAP 210, 0, 32768

Formula for resulting steps per rotation:

StepsPerRotation = LinesOfEncoder * 4 * Prescaler

Consider the following formula for your calculation:

Example: = 6400

6400/512 = 12.5 (prescaler) www.trinamic.com

Prescaler = _p_

512

Resulting steps per rotation for a 400 line (1600 quadrate count) encoder

200

400

800

1600

3200

6400

12800

25600

51200

102400


There are some special functions that can also be configured using these values. To select these functions just add the following values to :

Bit

Adder for Command: SAP 210, <motor number>, 

2

3

4

4

8

16

If set the encoder will be zeroed with next null channel event.

If set in combination with bit 2: Encoder will be zeroed with each null channel event.

Channel Z polarity for encoder clearing: 0 - low

1 - high

Add up both values from these tables to get the required value for the SAP 210 command.

The resulting prescaler is value/512.

5.5 Calculation: Velocity and Acceleration vs. Microstep- and

Fullstep-Frequency

The values of the axis parameters, sent to the TMC429 do not have typical motor values, like rotations per second as velocity. But these values can be calculated from the TMC429 parameters, as shown in this document.

TMC429

VELOCITY PARAMETERS

TMC429 velocity parameters

Velocity

Related TMCM-1110 axis parameters

Axis parameter 2

Axis parameter 3 target (next) speed actual speed

Axis parameter 4 maximum positioning speed

Range

(TMC429 and TMCM-1110)

0… 2047

Axis parameter 13 minimum speed

Axis parameter 194 referencing search speed

Axis parameter 195 referencing switch speed

Axis parameter 5 0… 2047 a_max / maximum acceleration

µsrs / microstep resolution

microsteps per fullstep = 2

µsrs

Axis parameter 140 offers the following settings:

0

1

2

3

4

5 full step half step

4 microsteps

8 microsteps

16 microsteps

32 microsteps

0… 8

ramp_div / ramp divisor

pulse_div / pulse divisor

f

CLK

/ clock frequency

6

7

64 microsteps

128 microsteps

8 256 microsteps

Axis parameter 153: divider for the acceleration. The higher the value is, the less is the maximum acceleration

Default: 0

Axis parameter 153: divider for the velocity.

Increasing the value by one divides the acceleration into halves, decreasing the value by one doubles the acceleration.

Default: 0

---

0… 13

0… 13

16MHz www.trinamic.com


5.5.1 Microstep Frequency

The microstep frequency of the stepper motor is calculated with



sf

[

Hz

]



f

CLK

[

Hz

2

pulse

_

div

]





velocity

2048



32

µsf: microstep-frequency

74

5.5.2 Fullstep Frequency

To calculate the fullstep frequency from the microstep frequency, the microstep frequency must be divided by the number of microsteps per fullstep.

fsf

[

Hz

]





sf



srs

2

[

Hz

]

fsf: fullstep-frequency

The change in the pulse rate per time unit (

a: pulse frequency change per second

) is given by

a



2

pulse f

CLK

_

2



a

max

div



ramp

_

div



29

This results in acceleration in fullsteps of:

af



2



a srs

Example:

Signal f

CLK velocity a_max pulse_div 1 ramp_div 1

µsrs 6

Value

16 MHz

1000

1000



sf af: acceleration in fullsteps



16

MHz



1000



122070 .

31

Hz

2

1



2048



32

fsf

[

Hz

]



122070 .

31

2

6



1907 .

34

Hz a



( 16

Mhz

)

2



1000

2

1



1



29



119 .

21

MHz s af



119 .

21

MHz s

2

6



1 .

863

MHz s

www.trinamic.com


5.5.2.1 Calculation of Number of Rotations:

A stepper motor has e.g. 72 fullsteps per rotation.

RPS



fsf fullsteps per rotation



1907 .

34

72



26 .

49

RPM



fsf fullsteps



60

per rotation



1907 .

34



60

72



1589 .

46

75 www.trinamic.com


6 Global Parameters

Global parameters are grouped into 4 banks:

- bank 0 (global configuration of the module)

- bank 1 (user C variables)

- bank 2 (user TMCL™ variables)

- bank 3 (interrupt configuration)

Please use SGP and GGP commands to write and read global parameters.

76

6.1 Bank 0

Parameters 0… 38

The first parameters 0… 38 are only mentioned here for completeness. They are used for the internal handling of the TMCL-IDE and serve for loading microstep and driver tables. Normally these parameters remain untouched. If you want to use them for loading your specific values with your PC software

please contact TRINAMIC and ask how to do this. Otherwise you might cause damage on the motor

driver!

Number Parameter

0

1 datagram low word (read only) datagram high word (read only)

2

3

4

5

6

7… 22 cover datagram position cover datagram length cover datagram contents reference switch states (read only)

TMC429 SMGP register driver chain configuration long words 0… 15

E

23… 38 microstep table long word 0… 15

Parameters 64… 132

Parameters with numbers from 64 on configure stuff like the serial address of the module RS485 baud rate.

Change these parameters to meet your needs. The best and easiest way to do this is to use the appropriate functions of the TMCL-IDE. The parameters with numbers between 64 and 128 are stored in EEPROM only.

An SGP command on such a parameter will always store it permanently and no extra STGP command is needed. Take care when changing these parameters, and use the appropriate functions of the TMCL-

IDE to do it in an interactive way.

Meaning of the letters in column Access:

Access type

R

W

Related command

GGP

SGP, AGP

Description

Parameter readable

Parameter writable

SGP, AGP Parameter stored permanently in EEPROM www.trinamic.com


Number Global parameter

64

65

66

68

69

70

71

73

75

76

77

81

82

83

EEPROM magic

RS485 baud rate*) serial address serial heartbeat

CAN bit rate

Description

Setting this parameter to a different value as $E4 will cause re-initialization of the axis and global parameters

(to factory defaults) after the next power up. This is useful in case of miss-configuration.

0 9600 baud

Default

1 14400 baud

2 19200 baud

3 28800 baud

4 38400 baud

5 57600 baud

6

7

76800 baud

115200 baud

Not supported by Windows!

8 230400 baud

9 250000 baud

10 500000 baud

11 1000000 baud




The module (target) address for RS485.

Serial heartbeat for RS485 and USB interface. If this time limit is up and no further command is noticed the motor will be stopped.

0 – parameter is disabled

2 20kBit/s

3 50kBit/s

4 100kBit/s

CAN reply ID

5 125kBit/s

6 250kBit/s

7 500kBit/s

8 1000kBit/s

Default

The CAN ID for replies from the board (default: 2)

CAN ID configuration EEPROM lock flag

The module (target) address for CAN (default: 1)

Write: 1234 to lock the EEPROM, 4321 to unlock it.

Read: 1=EEPROM locked, 0=EEPROM unlocked. telegram pause time Pause time before the reply via RS485 is sent.

For RS485 it is often necessary to set it to 15 (for RS485 adapters controlled by the RTS pin). serial host address auto start mode

Host address used in the reply telegrams sent back via

RS485.

0: Do not start TMCL™ application after power up

(default).

1: Start TMCL™ application automatically after power up.

TMCL™ code protection Protect a TMCL™ program against disassembling or overwriting.

0 – no protection

1 – protection against disassembling

2 – protection against overwriting

3 – protection against disassembling and overwriting

If you switch off the protection against disassembling, the program will be erased first!

Changing this value from 1 or 3 to 0 or 2, the TMCL™ program will be wiped off.

CAN heartbeat Heartbeat for CAN interface. If this time limit is up and no further command is noticed the motor will be stopped.

0 – parameter is disabled

CAN secondary address Second CAN ID for the module. Switched off when set to zero.

Range Access

0… 255 RWE

0… 11 RWE

0… 255

[ms]

2… 8

RWE

RWE

0… 7ff RWE

0… 7ff RWE

0/1 RWE

0… 255 RWE

0… 255 RWE

0/1

[ms]

RWE

RWE

0,1,2,3 RWE

RWE

0… 7ff RWE www.trinamic.com



84

85

86

128 coordinate storage do not restore user variables step pulse length

TMCL™ application status

Description

0 – coordinates are stored in the RAM only (but can be copied explicitly between RAM and EEPROM)

1 – coordinates are always stored in the EEPROM only

0 – user variables are restored (default)

1 – user variables are not restored

Length of step pulse (for Step/Dir interface):

Default setting: 0 (1µs)

This setting is valid for all three motor axes.

0 –stop

1 – run

2 – step

3 – reset

Range

0 or 1

0/1

0… 15

0… 3

Access

RWE

RWE

RWE

R

129 download mode 0 – normal mode

1 – download mode

The index of the currently executed TMCL™ instruction.

0/1 R

130 TMCL™ program counter tick timer

R

132 A 32 bit counter that gets incremented by one every millisecond. It can also be reset to any start value.

Choose a random number.

RW

133 random number 0…

2147483

647

R

*) With most RS485 converters that can be attached to the COM port of a PC the data direction is controlled by the RTS pin of the COM port. Please note that this will only work with Windows 2000,

Windows XP or Windows NT4, not with Windows 95, Windows 98 or Windows ME (due to a bug in these operating systems). Another problem is that Windows 2000/XP/NT4 switches the direction back to

receive too late. To overcome this problem, set the telegram pause time (global parameter #75) of the module to 15 (or more if needed) by issuing an SGP 75, 0, 15 command in direct mode. The parameter will automatically be stored in the configuration EEPROM.

6.2 Bank 1

The global parameter bank 1 is normally not available. It may be used for customer specific extensions of the firmware. Together with user definable commands (see section 6.3) these variables form the interface between extensions of the firmware (written in C) and TMCL™ applications.

6.3 Bank 2

Bank 2 contains general purpose 32 bit variables for the use in TMCL™ applications. They are located in RAM and can be stored to EEPROM. After booting, their values are automatically restored to the RAM.

Up to 56 user variables are available.


Access type

R

W

E

Related command

GGP

SGP, AGP

SGP, AGP

Description

Parameter readable

Parameter writable

Parameter stored permanently in EEPROM

Number Global parameter Description

0… 55 general purpose variable #0… 55 for use in TMCL™ applications

56… 255 general purpose variables #56… #255 for use in TMCL™ applications

Range

-2

31

-2

31

…+2

31

…+2

31

Access

RWE

RW www.trinamic.com


6.4 Bank 3

Bank 3 contains interrupt parameters. Some interrupts need configuration (e.g. the timer interval of a timer interrupt). This can be done using the SGP commands with parameter bank 3 (SGP <type>, 3, <value>). The

priority of an interrupt depends on its number. Interrupts with a lower number have a higher priority.

The following table shows all interrupt parameters that can be set.


Access type

R

W

Related command

GGP

SGP, AGP

SGP, AGP E


0 Timer 0 period (ms)

Description

Parameter readable

Parameter writable

Parameter stored permanently in EEPROM

Description

Time between two interrupts (ms)

Range Access

32 bit unsigned [ms] RWE

1

2

27



32 bit unsigned [ms]

32 bit unsigned [ms]

0=off, 1=low-high, 2=high-low, 3=both 0… 3

RWE

RWE

RWE

28

29

30

31

32

39

40

41

42

Timer 1 period (ms)

Timer 2 period (ms)

Left stop switch 0 edge type

Right stop switch 0 edge type





Input 0 edge type

Input 1 edge type

Input 2 edge type

Input 3 edge type










RWE

RWE

RWE

RWE

RWE

RWE

RWE

RWE

RWE www.trinamic.com


7 TMCL™ Programming Techniques and Structure

80

7.1 Initialization

The first task in a TMCL™ program (like in other programs also) is to initialize all parameters where different values than the default values are necessary. For this purpose, SAP and SGP commands are used.

7.2 Main Loop

Embedded systems normally use a main loop that runs infinitely. This is also the case in a TMCL™ application that is running standalone. Normally the auto start mode of the module should be turned on.

After power up, the module then starts the TMCL™ program, which first does all necessary initializations and then enters the main loop, which does all necessary tasks end never ends (only when the module is powered off or reset).

There are exceptions, e.g. when TMCL™ routines are called from a host in direct mode.

So most (but not all) standalone TMCL™ programs look like this:

//Initialization

SAP 4, 0, 500 //define max. positioning speed

SAP 5, 0, 100 //define max. acceleration

MainLoop:

//do something, in this example just running between two positions

MVP ABS, 0, 5000

WAIT POS, 0, 0

MVP ABS, 0, 0

WAIT POS, 0, 0

JA MainLoop //end of the main loop => run infinitely

7.3 Using Symbolic Constants

To make your program better readable and understandable, symbolic constants should be taken for all important numerical values that are used in the program. The TMCL-IDE provides an include file with symbolic names for all important axis parameters and global parameters.

Example:

//Define some constants

#include TMCLParam.tmc

MaxSpeed = 500

MaxAcc = 100

Position0 = 0

Position1 = 5000

//Initialization

SAP APMaxPositioningSpeed, Motor0, MaxSpeed

SAP APMaxAcceleration, Motor0, MaxAcc

MainLoop:

MVP ABS, Motor0, Position1

WAIT POS, Motor0, 0

MVP ABS, Motor0, Position0

WAIT POS, Motor0, 0

JA MainLoop www.trinamic.com


Just have a look at the file TMCLParam.tmc

provided with the TMCL-IDE. It contains symbolic constants that define all important parameter numbers.

Using constants for other values makes it easier to change them when they are used more than once in a program. You can change the definition of the constant and do not have to change all occurrences of it in your program.

7.4 Using Variables

The User Variables can be used if variables are needed in your program. They can store temporary values.

The commands SGP, GGP and AGP are used to work with user variables:

SGP

is used to set a variable to a constant value (e.g. during initialization phase).

GGP

is used to read the contents of a user variable and to copy it to the accumulator register for further usage.

AGP

can be used to copy the contents of the accumulator register to a user variable, e.g. to store the result of a calculation.

Example:

MyVariable = 42

//Use a symbolic name for the user variable

//(This makes the program better readable and understandable.)

SGP MyVariable, 2, 1234 //Initialize the variable with the value 1234

...

...

GGP MyVariable, 2 //Copy the contents of the variable to the accumulator register

CALC MUL, 2 //Multiply accumulator register with two

AAP MyVariable, 2 //Store contents of the accumulator register to the variable

...

...

Furthermore, these variables can provide a powerful way of communication between a TMCL™ program running on a module and a host. The host can change a variable by issuing a direct mode SGP command

(remember that while a TMCL™ program is running direct mode commands can still be executed, without interfering with the running program). If the TMCL™ program polls this variable regularly it can react on such changes of its contents.

The host can also poll a variable using GGP in direct mode and see if it has been changed by the TMCL™ program.

7.5 Using Subroutines

The CSUB and RSUB commands provide a mechanism for using subroutines. The CSUB command branches to the given label. When an RSUB command is executed the control goes back to the command that follows the CSUB command that called the subroutine.

This mechanism can also be nested. From a subroutine called by a CSUB command other subroutines can be called. In the current version of TMCL™ eight levels of nested subroutine calls are allowed. www.trinamic.com


7.6 Mixing Direct Mode and Standalone Mode

Direct mode and standalone mode can also be mixed. When a TMCL™ program is being executed in standalone mode, direct mode commands are also processed (and they do not disturb the flow of the program running in standalone mode). So, it is also possible to query e.g. the actual position of the motor in direct mode while a TMCL™ program is running.

Communication between a program running in standalone mode and a host can be done using the TMCL™ user variables. The host can then change the value of a user variable (using a direct mode SGP command) which is regularly polled by the TMCL™ program (e.g. in its main loop) and so the TMCL™ program can react on such changes. Vice versa, a TMCL™ program can change a user variable that is polled by the host

(using a direct mode GGP command).

A TMCL™ program can be started by the host using the run command in direct mode. This way, also a set of TMCL™ routines can be defined that are called by a host. In this case it is recommended to place JA commands at the beginning of the TMCL™ program that jump to the specific routines. This assures that the entry addresses of the routines will not change even when the TMCL™ routines are changed (so when changing the TMCL™ routines the host program does not have to be changed).

Example:

//Jump commands to the TMCL™ routines

Func1: JA Func1Start

Func2:

Func3:

JA Func2Start

JA Func3Start

Func1Start: MVP ABS, 0, 1000

WAIT POS, 0, 0

MVP ABS, 0, 0

WAIT POS, 0, 0

STOP

Func2Start: ROL 0, 500

Func3Start:

WAIT TICKS, 0, 100

MST 0

STOP

ROR 0, 1000

WAIT TICKS, 0, 700

MST 0

STOP

This example provides three very simple TMCL™ routines. They can be called from a host by issuing a run command with address 0 to call the first function, or a run command with address 1 to call the second function, or a run command with address 2 to call the third function. You can see the addresses of the

TMCL™ labels (that are needed for the run commands) by using the Generate symbol file function of the

TMCL-IDE.

Please refer to the TMCL-IDE User Manual for further information about the TMCL-IDE.

www.trinamic.com


8 Life Support Policy

TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of

TRINAMIC Motion Control GmbH & Co. KG.

Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.

© TRINAMIC Motion Control GmbH & Co. KG 2012

Information given in this data sheet is believed to be accurate and reliable. However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use.

Specifications are subject to change without notice. www.trinamic.com

83


9 Revision History

9.1 Firmware Revision

Version

1.00

1.01

Date

2011-OCT-18

2011-DEC-20

Author

OK - Olav Kahlbaum

OK

OK

1.03 2012-APR-03 OK

Description

First version

- USB interface integration

- Encoder parameter integrated

- TMCL commands GIO and SIO

- New interrupts for axis 1 and 2

- Ready for using CAN interface

- Extended value range for positioning

- Global parameter 86 for setting step pulse length

(for Step/Dir interface) added

9.2 Document Revision

Version

1.00

1.01

Date

2011-OCT-30

2011-NOV-03

Author

SD – Sonja Dwersteg

SD

SD

1.02

1.03

1.04

1.05

1.06

1.07

2011-NOV-10

2011-DEC-22

2012-JAN-03

2012-JAN-11

2012-APR-04

2012-APR-11

SD

SD

SD

SD

SD

SD

Description

Initial version

Minor changes

TMCL™ control function 137 added (reset to factory

default, 4.5.38)

- Example program: Motor numbers changed from

three motors to only one motor (4.3.1).

-

Chapter 3.1.1.1.2 (USB interface) updated.

- Minor changes

-

Encoder information (chapter 5.4)

- TMCL commands GIO and SIO integrated

Minor changes

Command 138 corrected

Ref. 1.6 (firmware manual) corresponds to firmware version 1.03.

- Interrupts 41 and 42 new

- Interrupts 29… 32 new

- Interrupts 4 and 5 new

-

Chapter 6: global parameters 68, 69, 70, 71, 82, 83,

85, and 86 new

-

Chapter 4.1 and 4.2 updated (information about

CAN interface)

-

Chapter 5: axis parameters 6, 7, 140, 160… 184,

204… 254 for axis 0 only

- Range for positioning extended to 32 bit

- Axis parameters 12, 13, 141, and 149 deleted

Axis parameter #254 (step/dir mode; chapter 5)

corrected.

84 www.trinamic.com


10 References

[TMCM-1110]

[TMC262]

[TMC429]

[TMCL-IDE]

TMCM-1110 Hardware Manual

TMC262 Datasheet

TMC429 Datasheet

TMCL-IDE User Manual

USB-2-485 Manual [USB-2-485]

Please refer to www.trinamic.com

.

85 www.trinamic.com

TMCL™ FIRMWARE MANUAL Firmware Update V1.03

Firmware Update V1.03

TMCL™ FIRMWARE MANUAL

Table of Contents

1 Features

2 Overview

3 Putting the Module into Operation

3.1 Basic Set-up

4 TMCL™ and TMCL-IDE

4.1 Binary Command Format

4.2 Reply Format

4.3 Standalone Applications

4.4 TMCL™ Command Overview

4.5 Commands

5 Axis Parameters

5.1 stallGuard2™ Related Parameters

5.2 coolStep™ Related Parameters

5.3 Reference Search

5.4 Encoder

5.5 Calculation: Velocity and Acceleration vs. Microstep- and

Fullstep-Frequency

6 Global Parameters

6.1 Bank 0

6.2 Bank 1

6.3 Bank 2

6.4 Bank 3

7 TMCL™ Programming Techniques and Structure

7.1 Initialization

7.2 Main Loop

7.3 Using Symbolic Constants

7.4 Using Variables

7.5 Using Subroutines

7.6 Mixing Direct Mode and Standalone Mode

8 Life Support Policy

9 Revision History

9.1 Firmware Revision

9.2 Document Revision

10 References

Related manuals

Table of contents

TMCL™ FIRMWARE MANUAL Firmware Update V1.03

Firmware Update V1.03

TMCL™ FIRMWARE MANUAL

Table of Contents

1 Features

2 Overview

3 Putting the Module into Operation

3.1 Basic Set-up

4 TMCL™ and TMCL-IDE

4.1 Binary Command Format

4.2 Reply Format

4.3 Standalone Applications

4.4 TMCL™ Command Overview

4.5 Commands

5 Axis Parameters

5.1 stallGuard2™ Related Parameters

5.2 coolStep™ Related Parameters

5.3 Reference Search

5.4 Encoder

5.5 Calculation: Velocity and Acceleration vs. Microstep- and

Fullstep-Frequency

6 Global Parameters

6.1 Bank 0

6.2 Bank 1

6.3 Bank 2

6.4 Bank 3

7 TMCL™ Programming Techniques and Structure

7.1 Initialization

7.2 Main Loop

7.3 Using Symbolic Constants

7.4 Using Variables

7.5 Using Subroutines

7.6 Mixing Direct Mode and Standalone Mode

8 Life Support Policy

9 Revision History

9.1 Firmware Revision

9.2 Document Revision

10 References

Related manuals

TRINAMIC / ANALOG DEVICES

Trinamic

TMCM-110

Trinamic

PD-1160

Trinamic

TMCM-610/SG 6-axial Stepping Motor Control

Trinamic

PD42-2-1141

TRINAMIC / ANALOG DEVICES

TRINAMIC / ANALOG DEVICES TMCM-1140-TMCL

Trinamic

TMCM-351

Trinamic

TMCM-1111 StepRocker

TRINAMIC / ANALOG DEVICES

PD57-2-1060-TMCL

Trinamic

PD28-3-1021

Table of contents