EtherCAT TMCM-1310, TMCL Firmware Manual

MODULE FOR STEPPER MOTORS MODULE

TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany

www.trinamic.com

Firmware Version V1.11

TMCL™ FIRMWARE MANUAL

+ +

TMCM-1310

+ +

1-Axis Stepper Closed Loop Controller / Driver 3 A RMS / 48 V ABN and SSI Encoder Input 18 GPIOs USB, EtherCAT®

TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 2

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Table of Contents

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

2 Overview ......................................................................................................................................................................... 6

3 Communication via EtherCAT ................................................................................................................................... 7

3.1 SyncManager ......................................................................................................................................................... 7

3.1.1 Buffered Mode ................................................................................................................................................ 7

3.1.2 Mailbox Mode, used for TMCL-Applications ........................................................................................... 8

3.2 EtherCAT Slave State Machine ......................................................................................................................... 9

3.3 EtherCAT Firmware Update ............................................................................................................................. 11

3.4 Process Data ....................................................................................................................................................... 11

3.5 TMCL Mailbox ...................................................................................................................................................... 13

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

3.7 Status Codes ....................................................................................................................................................... 13

4 Operation with USB Interface ................................................................................................................................ 14

4.1 Binary Command Format for USB Interface .............................................................................................. 14

4.2 Reply Format ....................................................................................................................................................... 15

4.2.1 Status Codes ................................................................................................................................................. 15

4.3 Standalone Applications .................................................................................................................................. 15

5 The ASCII Interface ................................................................................................................................................... 16

5.1 Format of the Command Line ....................................................................................................................... 16

5.2 Format of a Reply .............................................................................................................................................. 16

5.3 Commands Used in ASCII Mode ................................................................................................................... 16

5.4 Configuring the ASCII Interface .................................................................................................................... 17

6 TMCL Commands ........................................................................................................................................................ 18

6.1 Motion Commands ............................................................................................................................................ 18

6.2 Parameter Commands ...................................................................................................................................... 18

6.3 Control Commands ........................................................................................................................................... 18

6.4 I/O Port Commands .......................................................................................................................................... 18

6.5 Calculation Commands .................................................................................................................................... 19

6.6 Interrupt Commands ........................................................................................................................................ 19

6.6.1 Interrupt Types ............................................................................................................................................ 19

6.6.2 Interrupt Processing ................................................................................................................................... 19

6.6.3 Interrupt Vectors ......................................................................................................................................... 20

6.6.4 Further Configuration of Interrupts ....................................................................................................... 20

6.6.5 Using Interrupts in TMCL .......................................................................................................................... 20

6.7 ASCII Commands ............................................................................................................................................... 21

6.8 Commands ........................................................................................................................................................... 22

6.8.1 ROR (rotate right) ........................................................................................................................................ 22

6.8.2 ROL (rotate left) ........................................................................................................................................... 23

6.8.3 MST (motor stop)......................................................................................................................................... 24

6.8.4 MVP (move to position) ............................................................................................................................ 25

6.8.5 SAP (set axis parameter) ........................................................................................................................... 27

6.8.6 GAP (get axis parameter) .......................................................................................................................... 28

6.8.7 STAP (store axis parameter) ..................................................................................................................... 29

6.8.8 RSAP (restore axis parameter) ................................................................................................................. 30

6.8.9 SGP (set global parameter) ...................................................................................................................... 31

6.8.10 GGP (get global parameter)...................................................................................................................... 32

6.8.11 STGP (store global parameter) ................................................................................................................ 33

6.8.12 RSGP (restore global parameter) ............................................................................................................ 34

6.8.13 RFS (reference search) ................................................................................................................................ 35

6.8.14 SIO (set input / output) ............................................................................................................................. 36

6.8.15 GIO (get input /output) ............................................................................................................................. 38

6.8.16 CALC (calculate) ............................................................................................................................................ 41

6.8.17 COMP (compare)........................................................................................................................................... 42

6.8.18 JC (jump conditional) ................................................................................................................................. 43

6.8.19 JA (jump always) ......................................................................................................................................... 44

6.8.20 CSUB (call subroutine) ............................................................................................................................... 45

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6.8.21 RSUB (return from subroutine) ................................................................................................................ 46

6.8.22 WAIT (wait for an event to occur) ......................................................................................................... 47

6.8.23 STOP (stop TMCL program execution) ................................................................................................... 48

6.8.24 SCO (set coordinate) ................................................................................................................................... 49

6.8.25 GCO (get coordinate) .................................................................................................................................. 50

6.8.26 CCO (capture coordinate) .......................................................................................................................... 51

6.8.27 ACO (accu to coordinate) .......................................................................................................................... 52

6.8.28 CALCX (calculate using the X register) .................................................................................................. 53

6.8.29 AAP (accumulator to axis parameter) .................................................................................................... 54

6.8.30 AGP (accumulator to global parameter) ............................................................................................... 55

6.8.31 CLE (clear error flags) ................................................................................................................................. 56

6.8.32 VECT (set interrupt vector) ........................................................................................................................ 57

6.8.33 EI (enable interrupt) ................................................................................................................................... 58

6.8.34 DI (disable interrupt) .................................................................................................................................. 59

6.8.35 RETI (return from interrupt) ..................................................................................................................... 60

6.8.36 Customer Specific TMCL Command Extension (user function) ....................................................... 61

6.8.37 Request Target Position Reached Event ............................................................................................... 62

6.8.38 BIN (return to binary mode) .................................................................................................................... 62

6.8.39 TMCL Control Functions ............................................................................................................................. 63

7 Axis Parameters .......................................................................................................................................................... 64

7.1 Velocity Calculation ........................................................................................................................................... 76

8 stallGuard2 Related Parameters ............................................................................................................................. 77

9 Closed-Loop Operation Related Axis Parameter ................................................................................................ 78

9.1 General Closed Loop Axis Parameters ........................................................................................................ 78

9.2 General Structure of the Closed Loop System ......................................................................................... 79

9.3 Setting Encoder Resolution and Motor Resolution ................................................................................. 80

9.4 Positioning Mode .............................................................................................................................................. 81

9.5 Position Maintenance and Standstill Mode ............................................................................................... 84

9.6 Velocity Mode ..................................................................................................................................................... 86

9.7 Torque Mode ....................................................................................................................................................... 87

9.8 Current Regulation ............................................................................................................................................ 88

9.9 Field Weakening ................................................................................................................................................ 92

9.10 Status and Feedback Information ................................................................................................................ 93

9.11 Example Programs: Closed Loop Operation .............................................................................................. 94

9.11.1 Example Program 1 ..................................................................................................................................... 94

9.11.2 Example Program 2 ..................................................................................................................................... 95

10 Reference Search ........................................................................................................................................................ 96

10.1.1 Reference Search Modes (Axis Parameter 193) ................................................................................... 97

11 Global Parameters ...................................................................................................................................................... 99

11.1 Bank 0 ................................................................................................................................................................... 99

11.2 Bank 1 ................................................................................................................................................................. 100

11.3 Bank 2 ................................................................................................................................................................. 101

11.4 Bank 3 ................................................................................................................................................................. 101

12 TMCL Programming Techniques and Structure ............................................................................................... 102

12.1 Initialization ...................................................................................................................................................... 102

12.2 Main Loop .......................................................................................................................................................... 102

12.3 Using Symbolic Constants ............................................................................................................................ 102

12.4 Using Variables ................................................................................................................................................ 103

12.5 Using Subroutines ........................................................................................................................................... 103

12.6 Mixing Direct Mode and Standalone Mode .............................................................................................. 104

13 Life Support Policy ................................................................................................................................................... 105

14 Revision History ........................................................................................................................................................ 106

14.1 Firmware Revision .......................................................................................................................................... 106

14.2 Document Revision ......................................................................................................................................... 106

15 References .................................................................................................................................................................. 107

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1 Features

The TMCM-1310 is a single axis stepper motor controller/driver standalone board with closed loop support. For communication an USB interface and EtherCAT®* are provided. The module supports motor currents up to 3A RMS and supply voltages up to 48V nominal. The module offers inputs for one incremental a/b/n (TTL, open-collector and differential inputs) or absolute SSI encoders (selectable in software). There are dedicated stop switch inputs, 8 general purpose inputs, and 8 general purpose outputs.

MAIN CHARACTERISTICS

Bipolar stepper motor driver

- Up to 256 microsteps per full step

- High-efficient operation, low power dissipation

- Dynamic current control

- Integrated protection: overtemperature and undervoltage

- stallGuard2™ feature for stall detection (for open loop operation)

Encoder

- Encoder input for incremental a/b/n (TTL, open-collector and differential inputs) and absolute SSI

encoders (selectable in software)

Interfaces

- USB 2.0 full-speed (12Mbit/s) communication interface (mini-USB connector)

- EtherCAT LINK IN and LINK OUT (RJ45)

- Dedicated STOP_L / STOP_R inputs

- Up to 8 multi-purpose inputs (+24V compatible, incl. 2 dedicated analog inputs)

- Up to 8 multi-purpose outputs (open-drain, incl. 2 outputs for currents up to 1A)

Software

- TMCL™ remote (direct mode) and standalone operation with memory for up to 1024 TMCL commands

- Closed-loop support

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

Electrical data

- Supply voltage: +12V… +48V DC

- Motor current: up to 3A RMS (programmable)

Mechanical data

- Board size: 110mm x 110mm, height 26.3mm

Please refer to separate TMCM-1310 Hardware Manual for additional information.

* EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,

Germany.

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TRINAMIC FEATURES – CLOSED LOOP MODE

The TMCM-1310 is mainly designed to run 2-phase stepper motors in closed loop mode. It offers an automatic motor load adaption in positioning mode, velocity mode, and torque mode, which is based on encoder feedback and closed loop control software for analysis, error detection and error correction.

The closed loop mode operation combines the advantages of a stepper driver system with the benefits of a servo drive. Thus, the TMCM-1310 is able to satisfy ambitious requirements in reliability and precision and can be used in several industrial demanding applications.

Benefits of Stepper Drive

High torque without gearing No feedback loop oscillations High precision Precise velocity control

Benefits of Servo Drive

Reaction to any impact No position loss Torque control

TMCM-1310

Figure 1.1 TMCM-1310 characteristics in closed loop mode

THE TRINAMIC CLOSED LOOP MODE OPERATION

- prevents the motor from stall and step loss caused by too high load or high velocity.

- adapts the current amplitude to each motor load which is within the ranges predetermined by motor

and controller/driver board characteristics.

- achieves a higher torque output than in open loop mode.

- guarantees a precise and fast positioning.

- enables velocity and positioning error compensation.

Using the TMCM-1310, energy will be saved and the motor will be kept cool.

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2 Overview

The software running on the microprocessor of the TMCM-1310 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 TMCM-1310 can be used as an EtherCAT slave device. The whole communication with the EtherCAT master follows a strict master-slave-relationship. Via the TMCL mailbox motor parameters are written and/or read using TRINAMICs TMCL protocol.

The firmware of this module is related to the standard TMCL firmware with a special range of values. 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 module to form programs that run standalone. 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 the module. This manual gives a detailed description of all TMCL commands and their usage.

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3 Communication via EtherCAT

3.1 SyncManager

The SyncManager enables consistent and secure data exchange between the EtherCAT master and the local application, and it generates interrupts to inform both sides of changes. The SyncManager is configured by the EtherCAT master. The communication direction is configurable, as well as the communication mode (buffered mode and mailbox mode). The SyncManager uses a buffer located in the memory area for exchanging data. Access to this buffer is controlled by the hardware of the SyncManager.

A buffer has to be accessed beginning with the start address, otherwise the access is denied. After accessing the start address, the whole buffer can be accessed, even the start address again, either as a whole or in several strokes. A buffer access finishes by accessing the end address, the buffer state changes afterwards. The end address cannot be accessed twice inside a frame. Two communication modes are supported by SyncManagers, the buffered mode and the mailbox mode.

3.1.1 Buffered Mode

The buffered mode allows both sides, EtherCAT master and local application, to access the communication buffer at any time. The consumer gets always the latest consistent buffer which was written by the producer, and the producer can always update the content of the buffer. The buffered mode is used for

cyclic process data.

Data transfer between EtherCAT master (PC etc.) und slave (TMCM-1310) is done using the dual port memory of the ET1100 EtherCAT-IC on the slave. The buffered mode allows writing and reading data simultaneously without interference. If the buffer is written faster than it is read out, old data will be dropped. The buffered mode is also known as 3-buffermode. One buffer of the three buffers is allocated to the producer (for writing), one buffer to the consumer (for reading), and the third buffer keeps the last consistently written data of the producer.

0x1000

0x10FF

0x1100

0x11FF

0x1200

0x12FF

0x1300

Buffer 0 (visible)

Buffer 1

(invisible, shall not be used)

Buffer 2

(invisible, shall not be used)

Next usable RAM space

All buffers are controlled by the SyncManager. Only buffer 0 is configured by the SyncManager and addressed by ECAT and μController.

Figure 3.1 SyncManager buffer allocation

As an example, Figure 3.1 demonstrates a configuration with start address 0x1000 and length 0x100. The other buffers shall not be read or written. Access to the buffer is always directed to addresses in the range of buffer 0.

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ECAT NEXT PDI

µControllerMaster

Exchange buffer (if frame is o.k.)

Load next buffer if new data are available

Exchange buffer

Read begin

Read end

Read begin

Read end

Write begin

Write end

Write begin

Write end

Figure 3.2 SyncManager buffered mode interaction

3.1.2 Mailbox Mode, used for TMCL-Applications

The mailbox mode implements a handshake mechanism for data exchange, so that no data will be lost. Each side, EtherCAT master or local application will get access to the buffer only after the other side has finished its access. The mailbox mode only allows alternating reading and writing. This assures that all data from the producer will reach the consumer. The mailbox mode uses just one buffer of the configured size. At first, after initialization/activation, the buffer (mailbox, MBX) is writeable. Once it is written completely, write access is blocked, and the buffer can be read out by the other side. After it was completely read out, it can be written again. The time it takes to read or write the mailbox does not matter. The mailbox mode is used for the application layer protocol.

Via the mailbox motor-parameters of the TMCM-1310 can be written/read using the TMCL protocol.

mailbox full

mailbox empty

mailbox full

mailbox empty

µControllerMaster

Read Read w. failure

(mailbox empty)

Write mailbox

Read mailbox

Write

Write w. failure

(mailbox full)

Write Write w. failure (mailbox full)

Read

Read w. failure

(mailbox empty)

Figure 3.3 SyncManager mailbox interaction

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3.2 EtherCAT Slave State Machine

The EtherCAT slave state machine has four states, which are shown in Figure 3.4. After power ON the slave state machine is in the Init state. In this situation mailbox and process data communication is impossible. The EtherCAT master initializes the SyncManager channels 0 and 1 for the communication via mailbox.

While changeover from Init state to Pre-Operational state the EtherCAT slave checks the correct initialization of the mailbox. Afterwards mailbox communication is possible. Now, in the Pre-Operational state the master initializes the SyncManager channels for the process data and the FMMU channels. Furthermore adjustments are sent, which differ from the default values.

While changeover from Pre-Operational state to Safe-Operational state the EtherCAT slave checks the correct initialization of the SyncManager channels for the process data as well as the adjustments for the Distributed Clocks. Before accepting the change of state, the EtherCAT slave copies actual input data into the accordant DP-RAM array of the EtherCAT slave controller. In the Safe-Operational state mailbox and process data communication are possible, but the slave holds its outputs in a safe situation and actualizes the input data periodically.

Before the EtherCAT slave changes the state to Operational it has to transfer valid output data. In the Operational state the EtherCAT slave copies the output data from the EtherCAT master to its outputs. Process data communication and mailbox communication are possible now.

The Bootstrap state is only used for updating the firmware. This state is reachable form the Init state. During Bootstrap state mailbox communication is available over File-Access over EtherCAT. Beyond this mailbox communication or process data communication is not possible.

Pre-Operational

Operational

Init

Safe-Operational

EtherCAT™ Slave State Machine

Bootstrap (optional)

Figure 3.4 EtherCAT™ slave state machine

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State / state change

Services

Init

- No communication on application layer

- Master has access to the DL-information registers

Init to Pre-Operational

- Master configures registers, at least:

• DL address register

• SyncManager channels for mailbox

communication

- Master initializes Distributed Clock synchronization

- Master requests Pre-Operational state

• Master sets AL control register

- Wait for AL status register confirmation

Pre-Operational

- Mailbox communication on the application layer

- No process data communication

Pre-Operational to Safe-Operational

- Master configures parameters using the mailbox:

• e.g., process data mapping

- Master configures DL Register:

• SyncManager channels for process data

communication

• FMMU channels

- Master requests Safe-Operational state

- Wait for AL Status register confirmation

Safe-Operational

- Mailbox communication on the application layer

- Process data communication, but only inputs are

evaluated. Outputs remain in safe state

Safe-Operational to Operational

- Master sends valid outputs

- Master requests Operational state (AL Control/Status)

- Wait for AL Status register confirmation

Operational

- Inputs and outputs are valid

Bootstrap

Recommended if firmware updates are necessary

- State changes only from and to Init

- No Process Data communication

- Mailbox communication on application layer, only

FoE protocol available (possibly limited file range)

THREE LEDS DISPLAY THE ACTUAL ACTIVITY:

Green LED

Description

EtherCAT0 LINK OUT state

OFF

No link.

blinking

Link and activity.

single flash

Link without activity.

EtherCAT LINK IN state

OFF

No link.

blinking

Link and activity.

single flash

Link without activity.

EtherCAT RUN state

OFF

The device is in state INIT.

blinking

The device is in state PRE-OPERATIONAL.

single flash

The device is in state SAFE-OPERATONAL.

ON

The device is in state OPERATIONAL.

flickering (fast)

The device is in state BOOTSTRAP.

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3.3 EtherCAT Firmware Update

For firmware updates the EtherCAT state machine of the slave has to be switched to Bootstrap state. The file access over EtherCAT protocol (FoE) is used.

THE TWO MAILBOXES FOR DATA TRANSFERS HAVE THE FOLLOWING PARAMETERS:

- Data output buffer: Start-address: 4096, length: 268 byte

- Data input buffer: Start-address: 4364, length: 40 byte

3.4 Process Data

In standard configuration for data transfer the following buffers are used (slave view):

DATA OUTPUT BUFFER / ETHERCAT MASTER -> SLAVE DATA TRANSFER

Data output buffer: Start-address: 4096(0x1000), length: first 8 bytes

Start address

End address

Data type

Data value / contents

0x1000

0x1003

UNSIGNED32

Controller Mode

Bit

Description

0

No operation

1

Position mode

2

Velocity mode

Torque mode

0x1004

0x1007

SIGNED32

Value (position / velocity / current)

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DATA INPUT BUFFER / ETHERCAT SLAVE -> MASTER DATA TRANSFER

Data input buffer: Start-address: 4216(0x1078), length: first 44 bytes

Start address

End address

Data type

Data value / contents

0x1078

0x107B

SIGNED32

Target Position Command for read out: GAP 0

0x107C

0x107F

SIGNED32

Actual position Command for read out: GAP 1

0x1080

0x1083

SIGNED32

Virtual actual position Command for read out: GAP 233.

0x1084

0x1087

SIGNED32

Encoder Position Command for read out: GAP 209

0x1088

0x108B

SIGNED32

Target velocity Command for read out: GAP 2

0x108C

0x108F

SIGNED32

Actual velocity Command for read out: GAP 3

0x1090

0x1093

SIGNED32

Measured velocity Command for read out: GAP 131

0x1094

0x1097

UNSIGNED32

Status word Command for read out: GAP 18)

0x1098

0x109B

UNSIGNED32

Error flags

Bit

Description

0

Target reached

1

Velocity reached

2

Closed loop

Position mode

4

Velocity mode

5

Torque mode

6

Home switch

7

Left stop switch

8

Right stop switch

9

Undervoltage

10

Overvoltage

11

Overtemperature

0x109C

0x109F

SIGNED32

Scaler Command for read out: GAP123

0x1100

0x1103

SIGNED32

Delta / torque Command for read out: GAP 14

0x1104

0x1107

SIGNED32

Gamma Command for read out: 230

All numbers are stored in little endian format. (least significant byte is stored at the lowest address)

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3.5 TMCL Mailbox

The TMCM-1310 slave module supports the TMCL protocol in direct mode. The communication follows a strict master-slave-relationship. Via the TMCL mailbox motor-parameters can be read and/or written.

3.6 Binary Command Format

Every command has a mnemonic and a binary representation. 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 onebyte 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.

TRANSMIT AN 8-BYTE COMMAND:

Bytes

Meaning

1

Module address

1

Command number

1

Type number

1

Motor or Bank number

4

Value (MSB first!)

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

RECEIVE AN 8-BYTE REPLY:

Bytes

Meaning

1

Reply address

1

Module address

1

Status (e.g. 100 means no error)

1

Command number

4

Value (MSB first!)

3.7 Status Codes

The reply contains a status code.

THE STATUS CODE CAN HAVE ONE OF THE FOLLOWING VALUES:

Code

Meaning

100

Successfully executed, no error

2

Invalid command

3

Wrong type

4

Invalid value

5

Configuration EEPROM locked

6

Command not available

8

Parameter is password protected

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4 Operation with USB Interface

In direct mode and most cases the TMCL communication over 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 TMCL-1310. 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 USB to the bus master. Only then should the master transfer the next command.

4.1 Binary Command Format for USB Interface

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 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.

THE BINARY COMMAND FORMAT FOR USB IS AS FOLLOWS:

Bytes

Meaning

1

Module address

1

Command number

1

Type number

1

Motor or Bank number

4

Value (MSB first!)

1

Checksum

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

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

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4.2 Reply Format

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

THE REPLY FORMAT FOR USB IS AS FOLLOWS:

Bytes

Meaning

1

Reply address

1

Module address

1

Status (e.g. 100 means “no error”)

1

Command number

4

Value (MSB first!)

1

Checksum

The checksum is also calculated by adding up all the other bytes using an 8-bit addition. Do not send the next command before you have received the reply!

4.2.1 Status Codes

The reply contains a status code.

The status code can have one of the following values:

Code

Meaning

100

Successfully executed, no error

101

Command loaded into TMCL program EEPROM

1

Wrong checksum

2

Invalid command

3

Wrong type

4

Invalid value

5

Configuration EEPROM locked

6

Command not available

4.3 Standalone Applications

The module is equipped with an EEPROM for storing TMCL applications. You can use 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.

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5 The ASCII Interface

There is also an ASCII interface that can be used to communicate with the module and to send some commands as text strings. The ASCII format can be used with the USB interface, only.

PROCEED AS FOLLOWS

- The ASCII command line interface is entered by sending the binary command 139 (enter ASCII mode).

- Afterwards the commands are entered as in the TMCL-IDE. Please note that only those commands,

which can be used in direct mode, also can be entered in ASCII mode.

- For leaving the ASCII mode and re-entering the binary mode enter the command BIN.

5.1 Format of the Command Line

As the first character, the address character has to be sent. The address character is A when the module address is 1, B for modules with address 2 and so on. After the address character there may be spaces (but this is not necessary). Then, send the command with its parameters. At the end of a command line a <CR> character has to be sent.

EXAMPLES FOR VALID COMMAND LINES

AMVP ABS, 1, 50000 A MVP ABS, 1, 50000 AROL 2, 500 A MST 1 ABIN

These command lines would address the module with address 1. To address e.g. module 3, use address character C instead of A. The last command line shown above will make the module return to binary mode.

5.2 Format of a Reply

After executing the command the module sends back a reply in ASCII format. The reply consists of:

- the address character of the host (host address that can be set in the module)

- the address character of the module

- the status code as a decimal number

- the return value of the command as a decimal number

- a <CR> character

So, after sending AGAP 0, 1 the reply would be BA 100 –5000 if the actual position of axis 1 is –5000, the host address is set to 2 and the module address is 1. The value 100 is the status code 100 that means command successfully executed.

5.3 Commands Used in ASCII Mode

The following commands can be used in ASCII mode: ROL, ROR, MST, MVP, SAP, GAP, STAP, RSAP, SGP, GGP, STGP, RSGP, RFS, SIO, GIO, SCO, GCO, CCO, UF0, UF1, UF2, UF3, UF4, UF5, UF6, and UF7.

SPECIAL COMMANDS WHICH ARE ONLY AVAILABLE IN ASCII MODE

- BIN: This command quits ASCII mode and returns to binary TMCL mode.

- RUN: This command can be used to start a TMCL program in memory.

- STOP: Stops a running TMCL application.

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5.4 Configuring the ASCII Interface

The module can be configured so that it starts up either in binary mode or in ASCII mode. Global parameter 67 is used for this purpose (please see also chapter 11.1).

Bit 0 determines the startup mode: if this bit is set, the module starts up in ASCII mode, else it will start up in binary mode (default).

Bit 4 and Bit 5 determine how the characters that are entered are echoed back. Normally, both bits are set to zero. In this case every character that is entered is echoed back when the module is addressed. Character can also be erased using the backspace character (press the backspace key in a terminal program).

When bit 4 is set and bit 5 is clear the characters that are entered are not echoed back immediately but the entire line will be echoed back after the <CR> character has been sent.

When bit 5 is set and bit 4 is clear there will be no echo, only the reply will be sent. This may be useful in RS485 systems.

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6 TMCL Commands

6.1 Motion Commands

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 1 Rotate right

MVP

4

Move to position

MST 3 Motor stop

RFS

13

Reference search

SCO

30

Store coordinate

CCO

32

Capture coordinate

GCO

31

Get coordinate

6.2 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.

6.3 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.

Mnemonic

Command number

Meaning

JA

22

Jump always

JC

21

Jump conditional

COMP

20

Compare accumulator with constant value

CSUB

23

Call subroutine

RSUB

24

Return from subroutine

WAIT

27

Wait for a specified event

STOP

28

End of a TMCL program

6.4 I/O Port Commands

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

Mnemonic

Command number

Meaning

SIO

14

Set output

GIO

15

Get input

Mnemonic

Command number

Meaning

SAP 5 Set axis parameter

GAP 6 Get axis parameter

STAP

7

Store axis parameter into EEPROM

RSAP

8

Restore axis parameter from EEPROM

SGP 9 Set global parameter

GGP

10

Get global parameter

STGP

11

Store global parameter into EEPROM

RSGP

12

Restore global parameter from EEPROM

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6.5 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.

Mnemonic

Command number

Meaning

CALC

19

Calculate using the accumulator and a constant value

CALCX

33

Calculate using the accumulator and the X register

AAP

34

Copy accumulator to an axis parameter

AGP

35

Copy accumulator to a global parameter

ACO

39

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.

6.6 Interrupt Commands

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

Mnemonic

Command number

Meaning

EI

25

Enable interrupt

DI

26

Disable interrupt

VECT

37

Set interrupt vector

RETI

38

Return from interrupt

6.6.1 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.

6.6.2 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.

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6.6.3 Interrupt Vectors

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

Interrupt number

Interrupt type

0

Timer 0

1

Timer 1

2

Timer 2

3

Target position reached

15

stallGuard2

21

Deviation

27

Left stop switch

28

Right stop switch

39

Input change 0

40

Input change 1

41

Input change 2

42

Input change 3

43

Input change 4

44

Input change 5

45

Input change 6

46

Input change 7

255

Global interrupts

6.6.4 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 6.8.9) for further information about that.

6.6.5 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

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In the above example, 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.

6.7 ASCII Commands

Mnemonic

Command number

Meaning

-

139

Enter ASCII mode

BIN - Quit ASCII mode and return to binary mode. This command can only be used in ASCII mode.

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6.8 Commands

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

6.8.1 ROR (rotate right)

With this command the motor will be instructed to rotate with a specified velocity in positive direction (increasing the position counter).

Like on all other TMCL modules, the motor will be accelerated or decelerated to the speed given with the command. The speed is given in microsteps per second (pps). For conversion of this value into rounds per minute etc. please refer to chapter 0, also.

The range is -327.678.000… +327.679.999.

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

Related commands: ROL, MST, SAP, GAP

Mnemonic: ROR 0, <velocity>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

1

don't care

<motor>

0*

-327.678.000… +327.679.999

* Motor number is always O as the module support just one axis

Reply in direct mode:

STATUS

VALUE

100 – OK

don't care

Example:

Rotate right, velocity = 10000

Mnemonic: ROR 0, 10000

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$00

$27

$10

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6.8.2 ROL (rotate left)

With this command the motor will be instructed to rotate with a specified velocity in positive direction (increasing the position counter).

Like on all other TMCL modules, the motor will be accelerated or decelerated to the speed given with the command. The speed is given in microsteps per second (pps). For conversion of this value into rounds per minute etc. please refer to chapter 0, also.

The range is -327.678.000… +327.679.999.

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

Related commands: ROR, MST, SAP, GAP

Mnemonic: ROL 0, <velocity>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

2

don't care

<motor>

0*

-327.678.000… +327.679.999

* Motor number is always O as the module support just one axis

Reply in direct mode:

STATUS

VALUE

100 – OK

don't care

Example:

Rotate left, velocity = 10000

Mnemonic: ROL 0, 10000

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$02

$00

$27

$10

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6.8.3 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 0

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

3

don’t care

<motor>

0*

don’t care

* Motor number is always O as the module support just one axis

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

Example:

Stop motor 0

Mnemonic: MST 0

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$03

$00

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6.8.4 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.

UNITS AND RANGE

Open loop: the range of the MVP command is 32 bit signed (−2.147.483.648… +2.147.483.647). The unit

is microsteps.

Closed loop: the range of the MVP command is 32 bit signed (−2.147.483.648… +2.147.483.647). The unit

is encoder steps.

Positioning can be interrupted using MST, ROL or ROR commands.

THREE OPERATION TYPES ARE AVAILABLE:

- Moving to an absolute position in the range from −2.147.483.648… +2.147.483.647.

- 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.

- Moving the motor to a (previously stored) coordinate (refer to SCO for details).

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

2.147.483.647 (231-1) microsteps resp. encoder steps. Otherwise the motor will run in the opposite direction in order to take the shorter distance. When moving to a coordinate, the coordinate has to be set properly in advance with the help of the SCO, CCO or ACO command.

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>, 0, <position|offset|coordinate number>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

4

0 ABS – absolute

<motor>

0*

−2.147.483.648…

+2.147.483.647

1 REL – relative

−2.147.483.648…

+2.147.483.647

2 COORD – coordinate

0… 20

* Motor number is always O as only one motor is involved

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

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Example:

Move motor 0 to (absolute) position 90000

Mnemonic: MVP ABS, 0, 9000

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$04

$00

$01

$5f

$90

Example:

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

Mnemonic: MVP REL, 0, -1000

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$04

$01

$00

$ff

$fc

$18

Example:

Move motor 0 to previously stored coordinate #8

Mnemonic: MVP COORD, 0, 8

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$04

$02

$00

$08

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6.8.5 SAP (set axis parameter)

With this command most of the motion control parameters can be specified. 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. The parameter is transferred to the correct position in the appropriate device.

Related commands: GAP, STAP, RSAP, AAP

Mnemonic: SAP <parameter number>, 0, <value>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

5

<motor>

0*

<value>

* Motor number is always O as only one motor is involved

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

For a table with parameters and values which can be used together with this command please refer to chapter 7.

Example:

Set the absolute maximum current of the motor during movements to approx. 78% of max. module current:

Mnemonic: SAP 6, 0, 200

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$05

$06

$00

$c8

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6.8.6 GAP (get axis parameter)

Most parameters of the TMCM-1310 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>, 0

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

6

<motor>

0*

don’t care

* Motor number is always O as only one motor is involved

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

For a table with parameters and values which can be used together with this command please refer to chapter 7.

Example:

Get the maximum current of motor

Mnemonic: GAP 6, 0

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$06

$01

$00

Reply:

Byte Index

0 1 2 3 4 5 6

7

Function

Host-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$02

$01

$64

$06

$00

$02

$80

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6.8.7 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>, 0 Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

7

<motor>

0*

don’t care*1

* Motor number is always O as only one motor is involved *1 The value operand of this function has no effect. Instead, the currently used value (e.g. selected by SAP) is saved

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

For a table with parameters and values which can be used together with this command please refer to chapter 7. The STAP command will not have any effect when the configuration EEPROM is locked (refer to 11.1). In direct mode, the error code 5 (configuration EEPROM locked, see also section 4.2.1) will be returned in this case.

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

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$07

$04

$00

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6.8.8 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>, 0

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

8

<motor>

0*

don’t care

* Motor number is always O as only one motor is involved

Reply structure in direct mode:

STATUS

VALUE

100 – OK

don’t care

For a table with parameters and values which can be used together with this command please refer to chapter 7.

Example:

Restore the maximum current of motor

Mnemonic: RSAP 6, 0

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$08

$06

$00

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6.8.9 SGP (set global parameter)

With this command 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 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 1 are used for global parameters, bank 2 is used for user variables, and bank 3 is used for interrupts.

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. For a table with parameters and bank numbers which can be used together with this command please refer to chapter 11.

Internal function: the parameter format is converted. 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>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

9

<value>

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

Example:

Set the serial address of the target device to 3

Mnemonic: SGP 66, 0, 3

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$09

$42

$00

$03

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6.8.10 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 1 are used for global parameters, bank 2 is used for user variables, and bank 3 is used for interrupts.

For a table with parameters and bank numbers which can be used together with this command please refer to chapter 11

Internal function: the parameter is read out of the correct position in the appropriate device. The parameter format is converted.

Related commands: SGP, STGP, RSGP, AGP

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

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

10

don’t care

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

Example:

Get the serial address of the target device

Mnemonic: GGP 66, 0

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$0a

$42

$00

Reply:

Byte Index

0 1 2 3 4 5 6

7

Function

Host-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$02

$01

$64

$0a

$00

$01

 Status = no error, value = 1

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6.8.11 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.

For a table with parameters and bank numbers which can be used together with this command please refer to chapter 11

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>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

11

don’t care

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

Example:

Store the user variable #42

Mnemonic: STGP 42, 2

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$0b

$2a

$02

$00

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6.8.12 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.

For a table with parameters and bank numbers which can be used together with this command please refer to chapter 11

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>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

12

don’t care

Reply structure in direct mode:

STATUS

VALUE

100 – OK

don’t care

Example:

Restore the user variable #42

Mnemonic: RSGP 42, 2

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$0c

$2a

$02

$00

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6.8.13 RFS (reference search)

The TMCM-1310 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 7). 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. Interaction is possible during execution.

Related commands: WAIT

Mnemonic: RFS <START|STOP|STATUS>, 0

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

13

0 START – start ref. search 1 STOP – abort ref. search 2 STATUS – get status

<motor>

0*

see below

* Motor number is always O as only one motor is involved

Reply in direct mode:

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

STATUS

VALUE

100 – OK

don’t care

When using type 2 (STATUS):

STATUS

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

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$0d

$00

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

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6.8.14 SIO (set input / output)

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

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

Related commands: GIO, WAIT

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

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

14

2

<value>

0/1

Reply structure:

STATUS

VALUE

100 – OK

don’t care

Example:

Set OUT_7 to high (bank 2, output 7)

Mnemonic: SIO 7, 2, 1

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$0e

$07

$02

$00

$01

OVERVIEW I/O CONNECTORS 0 AND 1

I/O

connector 1

I/O

connector 0

Figure 6.1 I/O connectors

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IN/OUT 0

IN/OUT 1

Direction

Description

1

GND

Power (GND)

GND

2

VCC

Power (supply output)

Connected to V

DIGITAL

of Power connector

3

AIN0

AIN4

Input

Dedicated analog input, input voltage range: 0… +10V, resolution: 12bit (0… 4095)

4

IN1

IN5

Input

Digital input (+24V compatible)

5

IN2

IN6

Input

Digital input (+24V compatible)

6

IN3

IN7

Input

Digital input (+24V compatible)

7

OUT0

OUT4

Output

Open-drain output (max. 100mA) Integrated freewheeling diode

8

OUT1

OUT5

Output

Open-drain output (max. 100mA) Integrated freewheeling diode

9

OUT2

OUT6

Output

Open-drain output (max. 100mA) Integrated freewheeling diode

10

OUT3

OUT7

Output

Open-drain output (max. 1A) Integrated freewheeling diode

I/O PORTS USED FOR SIO AND COMMAND

I/O Connector

I/O port

Command

Range

0

7

OUT_0

SIO 0, 2, <n>

1/0

0

8

OUT_1

SIO 1, 2, <n>

1/0 0 9

OUT_2

SIO 2, 2, <n>

1/0

0

10

OUT_3

SIO 3, 2, <n>

1/0

1

7

OUT_4

SIO 4, 2, <n>

1/0 1 8

OUT_5

SIO 5, 2, <n>

1/0

1

9

OUT_6

SIO 6, 2, <n>

1/0

1

10

OUT_7

SIO 7, 2, <n>

1/0

ADDRESSING ALL OUTPUT LINES WITH ONE SIO COMMAND:

- Set the type parameter to 255 and the bank parameter to 2.

- The value parameter must then be set to a value between 0… 255, where every bit represents one

output line.

- Furthermore, the value can also be set to -1. In this special case, the contents of the lower 8 bits of

the accumulator are copied to the output pins.

Example:

Set all output pins high. Mnemonic: SIO 255, 2, 3

THE FOLLOWING PROGRAM WILL SHOW THE STATES OF THE INPUT LINES ON THE OUTPUT LINES:

Loop: GIO 255, 0

SIO 255, 2,-1

JA Loop

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6.8.15 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.

GIO IN STANDALONE MODE

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

GIO IN DIRECT MODE

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>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

15

don’t care

Reply in direct mode:

STATUS

VALUE

100 – OK

Example:

Get the analogue value of ADC channel 0

Mnemonic: GIO 0, 1

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$0f

$00

$01

$00

Reply:

Byte Index

0 1 2 3 4 5 6

7

Function

Host-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$02

$01

$64

$0f

$00

$01

$2e

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OVERVIEW I/O CONNECTORS 0 AND 1

I/O

connector 1

I/O

connector 0

Figure 6.2 I/O connectors

IN/OUT 0

IN/OUT 1

Direction

Description

1

GND

Power (GND)

GND

2

VCC

Power (supply output)

Connected to V

DIGITAL

of Power connector

3

AIN0

AIN4

Input

Dedicated analog input,

input voltage range: 0… +10V, resolution: 12bit (0… 4095)

4

IN1

IN5

Input

Digital input (+24V compatible)

5

IN2

IN6

Input

Digital input (+24V compatible)

6

IN3

IN7

Input

Digital input (+24V compatible)

7

OUT0

OUT4

Output

Open-drain output (max. 100mA) Integrated freewheeling diode

8

OUT1

OUT5

Output

Open-drain output (max. 100mA) Integrated freewheeling diode

9

OUT2

OUT6

Output

Open-drain output (max. 100mA) Integrated freewheeling diode

10

OUT3

OUT7

Output

Open-drain output (max. 1A) Integrated freewheeling diode

6.8.15.1 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.

Note: AIN_0 and AIN_4 can be used in digital mode, too.

I/O Connector

I/O port

Command

Range

0

3

AIN_0

GIO 0, 0

0/1 0 4

IN_1

GIO 1, 0

0/1

0

5

IN_2

GIO 2, 0

0/1

0

6

IN_3

GIO 3, 0

0/1 1 3

AIN_4

GIO 4, 0

0/1

1

4

IN_5

GIO 5, 0

0/1

1

5

IN_6

GIO 6, 0

0/1 1 6

IN_7

GIO 7, 0

0/1

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READING ALL DIGITAL INPUTS WITH ONE GIO COMMAND:

- Set the type parameter to 255 and the bank parameter to 0.

- In this case the status of all digital input lines will be read to the lower eight bits of the accumulator.

USE FOLLOWING PROGRAM TO REPRESENT THE STATES OF THE INPUT LINES ON THE OUTPUT LINES:

Loop: GIO 255, 0

SIO 255, 2,-1

JA Loop

6.8.15.2 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.

FURTHER READ-OUT COMMANDS

I/O port

Command

Supply voltage [1/10V]

GIO 8, 1

Temperature [˚C]

GIO 9, 1

Coil current A [mA]

GIO 10, 1

Coil current B [mA]

GIO 11, 1

Input current [mA]

GIO 12, 1

6.8.15.3 I/O Bank 2 – States of Digital Outputs

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

I/O Connector

I/O port

Command

Range

0

3

AIN_0

GIO 0, 1

0… 4095

1

3

AIN_4

GIO 4, 1

0… 4095

I/O Connector

I/O port

Command

Range

0

7

OUT_0

GIO 0, 2, <n>

1/0 0 8

OUT_1

GIO 1, 2, <n>

1/0

0

9

OUT_2

GIO 2, 2, <n>

1/0

0

10

OUT_3

GIO 3, 2, <n>

1/0 1 7

OUT_4

GIO 4, 2, <n>

1/0

1

8

OUT_5

GIO 5, 2, <n>

1/0

1

9

OUT_6

GIO 6, 2, <n>

1/0

1

10

OUT_7

GIO 7, 2, <n>

1/0

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6.8.16 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>, <value>

Binary representation:

INSTRUCTION NO.

TYPE <operation>

MOT/BANK

VALUE

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

don’t care

Example:

Multiply accu by -5000

Mnemonic: CALC MUL, -5000

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$13

$02

$00

$FF

$EC

$78

Reply:

Byte Index

0 1 2 3 4 5 6

7

Function

Host-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$02

$01

$64

$13

$ff

$ec

$78

Status = no error, value = -5000

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6.8.17 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.

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 <value>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

20

don’t care

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

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$14

$00

$03

$e8

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6.8.18 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.

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>

Binary representation:

INSTRUCTION NO.

TYPE <condition>

MOT/BANK

VALUE

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 7 LE - lower/equal 8 ETO - time out error

don’t care

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

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$15

$05

$00

$0a

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6.8.19 JA (jump always)

Jump to a fixed address in the TMCL program memory.

This command is intended only for standalone operation.

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

Related commands: JC, WAIT, CSUB

Mnemonic: JA <Label>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

22

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 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$16

$00

$14

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6.8.20 CSUB (call subroutine)

This function calls a subroutine in the TMCL program memory.

This command 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>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

23

don’t care

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

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$17

$00

$64

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6.8.21 RSUB (return from subroutine)

Return from a subroutine to the command after the CSUB command.

This command is intended for standalone operation only.

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

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

24

don’t care

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 RSUB:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$18

$00

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6.8.22 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.

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>, 0, <ticks>

Binary representation:

INSTRUCTION NO.

TYPE <condition>

MOT/BANK

VALUE

27

0 TICKS - timer ticks*1

don’t care

<no. of ticks*>

1 POS - target position reached

<motor>

0*

<no. of ticks* for timeout>, 0 for no timeout

2 REFSW – reference switch

<motor>

0*

<no. of ticks* for timeout>, 0 for no timeout

3 LIMSW – limit switch

<motor>

0*

<no. of ticks* for timeout>, 0 for no timeout

4 RFS – reference search completed

<motor>

0*

<no. of ticks* for timeout>, 0 for no timeout

* Motor number is always 0 as only one motor is involved. *1 One tick is 10 milliseconds.

Example:

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

Mnemonic: WAIT POS, 0, 0

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$1b

$01

$00

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6.8.23 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.

The STOP command should be placed at the end of every standalone TMCL program. The STOP command is not to be used in direct mode.

Internal function: TMCL instruction fetching is stopped.

Related commands: none Mnemonic: STOP

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

28

don’t care

Example:

Mnemonic: STOP

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$1c

$00

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6.8.24 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>, 0, <position>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

30

0… 20

<motor>

0*

−2.147.483.648…

+2.147.483.647

* Motor number is always O as only one motor is involved

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

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

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$1e

$01

$00

$03

$e8

Note: 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 copies all coordinates (except coordinate number 0) from RAM to

the EEPROM.

SCO <coordinate number>, 255, 0 copies the coordinate selected by <coordinate number> to the

EEPROM. The coordinate number must be a value between 1 and

20.

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6.8.25 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>, 0

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

31

0… 20

<motor>

0*

don’t care

* Motor number is always O as only one motor is involved

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

Example:

Get motor value of coordinate 1

Mnemonic: GCO 1, 0

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$1f

$01

$00

Reply:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Target-

address

Status

Instructio

n

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$02

$01

$64

$0a

$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

EEPROM to the RAM.

GCO <coordinate number>, 255, 0 copies the coordinate selected by <coordinate number> from the

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

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6.8.26 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>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

32

0… 20

<motor>

0*

don’t care

* Motor number is always O as only one motor is involved

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

Example:

Store current position of the axis 0 to coordinate 3

Mnemonic: CCO 3, 0

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$20

$03

$00

TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 52

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6.8.27 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>, 0

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

39

0… 20

<motor>

0*

don’t care

* Motor number is always O as only one motor is involved

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

Example:

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

Mnemonic: ACO 1, 0

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$27

$01

$00

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6.8.28 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>

Binary representation:

INSTRUCTION NO.

TYPE <operation>

MOT/BANK

VALUE

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

don’t care

Example:

Multiply accu by X-register

Mnemonic: CALCX MUL Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$21

$02

$00

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6.8.29 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.

For a table with parameters and values which can be used together with this command please refer to chapter 7.

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

Mnemonic: AAP <parameter number>, 0

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

34

<motor>

0*

<don't care>

* Motor number is always O as only one motor is involved

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

Example:

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

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

CALC MUL, 4 // multiply by 4 AAP 0,0 // transfer result to target position of motor 0 JA Start // jump back to start

Binary format of the AAP 0,0 command:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$22

$00

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6.8.30 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. For a table with parameters and bank numbers which can be used together with this command please refer to chapter 11.

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

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

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

35

don’t care

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

Example:

Copy accumulator to TMCL user variable #3

Mnemonic: AGP 3, 2

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$23

$03

$02

$00

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6.8.31 CLE (clear error flags)

This command clears the internal error flags.

The CLE command is intended for use in standalone mode, only.

THE FOLLOWING ERROR FLAGS CAN BE CLEARED BY THIS COMMAND (DETERMINED BY THE <FLAG> PARAMETER):

- ALL: clear all error flags.

- EAL: clear the external alarm flag

- EDV: clear the deviation flag

Related commands: JC

Mnemonic: CLE <flags>

where <flags>=ALL|ETO|EDV|EPO

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

36

0 – (ALL) all flags 1 – (ETO) timeout flag 3 – (EDV) deviation flag

don’t care

Example:

Reset the timeout flag

Mnemonic: CLE ETO

Binary:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$24

$01

$00

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6.8.32 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>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

37

don’t care

<label>

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

Interrupt number

Interrupt type

0

Timer 0

1

Timer 1

2

Timer 2

3

Target position reached

15

stallGuard2

21

Deviation

27

Left stop switch

28

Right stop switch

39

Input change 0

40

Input change 1

41

Input change 2

42

Input change 3

43

Input change 4

44

Input change 5

45

Input change 6

46

Input change 7

255

Global interrupts

Example:

Define interrupt vector at target position 500

VECT 3, 500

Binary format of VECT:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$25

$03

$00

$01

$F4

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6.8.33 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>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

25

don’t care

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

Interrupt number

Interrupt type

0

Timer 0

1

Timer 1

2

Timer 2

3

Target position reached

15

stallGuard2

21

Deviation

27

Left stop switch

28

Right stop switch

39

Input change 0

40

Input change 1

41

Input change 2

42

Input change 3

43

Input change 4

44

Input change 5

45

Input change 6

46

Input change 7

255

Global interrupts

Examples:

Enable interrupts globally

EI, 255

Binary format of EI:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$19

$FF

$00

Enable interrupt when target position reached

EI, 3

Binary format of EI:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$19

$03

$00

TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 59

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6.8.34 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>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

26

don’t care

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

Interrupt number

Interrupt type

0

Timer 0

1

Timer 1

2

Timer 2

3

Target position reached

15

stallGuard2

21

Deviation

27

Left stop switch

28

Right stop switch

39

Input change 0

40

Input change 1

41

Input change 2

42

Input change 3

43

Input change 4

44

Input change 5

45

Input change 6

46

Input change 7

255

Global interrupts

Examples:

Disable interrupts globally

DI, 255

Binary format of DI:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$1A

$FF

$00

Disable interrupt when target position reached

DI, 3

Binary format of DI:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$1A

$03

$00

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6.8.35 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

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

38

don’t care

Example: Terminate interrupt handling and continue with normal program execution RETI

Binary format of RETI:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$26

$00

$01

$00

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6.8.36 Customer Specific TMCL Command Extension (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>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

64… 71

user defined

Reply in direct mode:

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$02

$01

user

defined

64… 71

user

defined

user

defined

user

defined

user

defined

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6.8.37 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: ---

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

138

don’t care

0*

* Motor number

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

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$02

$01

100

138

$00

Motor bit

mask

Additional reply in direct mode (after motors have reached their target positions):

Byte Index

0 1 2 3 4 5 6

7

Function

Target-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$02

$01

128

138

$00

Motor bit

mask

6.8.38 BIN (return to binary mode)

This command can only be used in ASCII mode. It quits the ASCII mode and returns to binary mode.

Related Commands: none

Mnemonic: BIN

Binary representation: This command does not have a binary representation as it can only be used in

ASCII mode.

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6.8.39 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

Type

Command

Description

136

0 – string 1 – binary

Firmware version

Get the module type and firmware revision as a string or in binary format. (Motor/Bank and Value are ignored.)

137

don’t care

Reset to factory defaults

Reset all settings stored in the EEPROM to their factory defaults

This command does not send back a reply.

Value must be 1234

SPECIAL REPLY FORMAT OF COMMAND 136

Type set to 0 - reply as a string:

Byte index

Contents

1

Host Address

2… 9

Version string (8 characters, e.g. 1310V102)

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

05 2 1E

3

Version number, low byte

4

Version number, high byte

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7 Axis Parameters

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

Attention!

Related to positioning, there are parameters which have two unit specifications.

- In open loop mode, calculate with µsteps.

- In closed loop mode, calculate with encoder steps.

For further information about closed loop operation parameters and functions please refer to Section 9.

MEANING OF THE LETTERS IN COLUMN ACCESS:

Access

type

Description

R

GAP

Parameter readable

W

SAP, AAP

Parameter writable

E

STAP, RSAP

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!

Parameters for closed loop operation

Number

Axis Parameter

Description

Range [Unit]

Acc.

0

Target position

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

−2.147.483.648…

+2.147.483.647 [µsteps] [encoder steps]

RW 1 Actual position

The current position of the motor. Should only be overwritten for reference point setting.

−2.147.483.648…

+2.147.483.647 [µsteps] [encoder steps]

RW

2

Target speed

The desired speed in velocity mode (see ramp mode / axis parameter 138). In position mode, this parameter is set by hardware:

- during acceleration to maximum speed

- during deceleration and rest to zero

-327.678.000… +327.679.999 [pps]

RW

3

Actual speed

The current rotation speed.

-327.678.000… +327.679.999 [pps]

RW

4

Maximum positioning speed

Should not exceed the physically highest possible value.

0… +327.679.999 [pps]

RWE 5

Maximum acceleration

The limit for acceleration (and deceleration).

1… +24.999.998 [pps/s]

RWE

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Number

Axis Parameter

Description

Range [Unit]

Acc.

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.

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

0… 7

79…87

160… 167

240… 247

8… 15

88… 95

168… 175

248… 255

16… 23

96… 103

176… 183

24… 31

104… 111

184… 191

32… 39

112… 119

192… 199

40… 47

120… 127

200… 207

48… 55

128… 135

208… 215

56… 63

136… 143

216… 223

64… 71

144… 151

224… 231

72… 79

152… 159

232… 239

0… 255





  









  





RWE

7

Standby current

The current limit two seconds after the motor has stopped.

00… 255





  









  





RWE

8

Target pos. reached

Indicates that the actual position equals the target position.

0/1 R 9

Ref. switch status

The logical state of the reference (left) switch. Connect this switch to IN1.

0/1 R 10

Right limit switch status

The logical state of the right limit switch.

0/1 R 11

Left limit switch status

The logical state of the left limit switch.

0/1 R 12

Right limit switch disable

If set, deactivates the stop function of the right switch

0/1

RWE

13

Left limit switch disable

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

0/1

RWE

14

CL torque mode target current

Target RMS current value for torque mode. Positive and negative values define rotation direction.

- Writing a target value to this parameter

automatically switches to torque mode.

- Reading provides the actual configured

target current while in torque mode.

- Reading while in other modes (velocity

mode, position mode) provides information on the actual advance angle (=delta). In these cases the unit is

microsteps). The maximum current that can be configured can be read out using axis parameter 15.

-3000… +3000 [mA]

RW

torque mode

R

velocity and position mode

15

Maximum possible current

Based on axis parameters 6 and 179 this parameter returns the maximum possible RMS current.

0….+3000 [mA]

R

16

CL velocity reached

This flag is set when the actual velocity is within the velocity reached window (axis parameter 17) around the target position.

0/1

R

17

CL Velocity reached window

Window around the target velocity value in which the target velocity will be considered as being reached. The velocity_reached flag will be set accordingly.

0… +268.435.454 [pps]

RW

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Number

Axis Parameter

Description

Range [Unit]

Acc.

18

Status word

The status word contains 12 bits (bit 0… 11).

They can be read out using command GAP 18. If a bit is set the specific event has occurred.

Bit 0

Target reached

Bit 1

Velocity reached

Bit 2

Closed loop mode

Bit 3

Position mode

Bit 4

Velocity mode

Bit 5

Torque mode

Bit 6

Home switch

Bit 7

Left stop switch

Bit 8

Right stop switch

Bit 9

Undervoltage

Bit 10

Overvoltage

Bit 11

Overtemperature

Bit 12

Position hold mode active

Bit 13

I2t value exceeded

0/1

R

19

CL torque mode actual current

Actual current in torque mode

-3000… +3000 [mA]

R

20

CL torque mode slope

Slope in torque mode (related to acceleration and deceleration).

[mA/s]

RW

25

Thermal winding time constant

Thermal winding time constant for the used motor. Used for I²t monitoring.

0… +4294967295 [ms]

RWE

26

I²t limit

An actual I²t sum that exceeds this limit leads to increasing the I²t exceed counter.

0… +4294967295

RWE 27

I²t sum

Actual sum of the I²t monitor.

0… +4294967295

R

28

I²t exceed counter

Counts how often an I²t sum was higher than the I²t limit.

0… +4294967295

RWE

29

Clear I²t exceeded flag

Clear the flag that indicates that the I²t sum has exceeded the I²t limit.

(ignored)

W

108

CL field weakening minimum velocity

Minimum motor speed at which the speed dependent Back EMF compensation will be applied (field weakening). Based on the velocity measured via encoder feedback.

0… +327.679.999 [pps]

RW

109

CL field weakening maximum velocity

Maximum motor speed for the speed dependent Back EMF compensation will be applied (field weakening). Based on the velocity measured via encoder feedback.

0… +327.679.999 [pps]

RW

112

CL encoder offset

Offset between encoder and electrical angle for correction of possible misalignment.

[encoder steps] Default = 0

RWE

113

CL current scale minimum

Minimum current scale factor for current regulation. 255 = 1 = 100% of maximum current 127 = 0.5 = 50% of maximum current …

Attention!

The maximum current itself is defined by the CS parameter of the motor driver chip (see axis parameter 6)

Default = 15 [1/256]

RW

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Number

Axis Parameter

Description

Range [Unit]

Acc.

114

CL current scale maximum

Maximum current scale factor for current regulation. 255 = 1 = 100% of maximum current 127 = 0.5 = 50% of maximum current …

Attention!

- The maximum current itself is defined by

the CS parameter of motor driver chip

(see axis parameters 6)

- The physical maximum current is defined

by the sense resistors and MOSFETs of

the TMCM-1311 and is limited to 3.0A

RMS.

Default = 255 [1/256]

RW

115

CL current scale input select

Current scaling using raw position error or product of position error and gain factor (depends on axis parameters 136 and 137). 0 = only raw position error used for current scaling 1 = (position error * gain) used for current scaling

0/1 Default = 1

RW

116

CL current scale lower error limit

Position error from which on the current amplitude is increased (current scale factor is increased).

Default = 0 [encoder steps]

RW

117

CL current scale upper error limit

Position error from which on the current amplitude will be increased to its configured maximum (parameter 114). This parameter must be higher than axis parameter 116.

Default = 255 [encoder steps]

RW

118

CL current scale increment value

Current scale increment value if the actual current scale factor is below the calculated current scale factor target value.

This parameter defines the step width at which the current scale factor will be increased.

Default = 1 [1/256]

RW

119

CL current scale decrement value

Current scale decrement value if the actual current scale factor is higher than the calculated current scale target value.

This parameter defines the step width at which the current scale factor will be decreased.

Default = 1 [1/256]

RW

120

CL current scale increment timeout

This parameter defines the delay between two current scale factor increments and thereby controls the rate at which the current scale factor will be increased.

Setting a timeout value here serves for dampening and prevents from high oscillations.

0 = the scale factor will directly be set to the actual target value without delay.

Default = 1 [ms]

RW

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Number

Axis Parameter

Description

Range [Unit]

Acc.

121

CL current scale decrement timeout

This parameter defines the delay between two current scale factor decrements and thereby controls the rate at which the current scale factor will be decreased, e.g., in order to prevent from oscillations around the target position.

Setting a timeout value here serves for dampening and prevents from high oscillations.

0 = the scale factor will directly be set to the actual target value without delay.

Default = 1 [ms]

RW 122

CL current scale enable

1 = current scaling function on for closed loop 0 = current scaling function off, closed loop operation is still possible

The current scaling functionality can be switched off if full specified current amplitude shall be used all the time.

When switched on, the current scaling functionality adapts the current according to the configured profile. This saves energy and keeps the motor cooler.

Default = 1

RW

123

CL actual current scale factor

Actual value of the current scale factor.

0… 255 [1/256]

R

124

CL correction velocity proportional factor

Proportional factor for on-line / live position lag compensation in positioning mode during a ramp movement. For a very quick compensation while the drive is active choose a high / the maximum value.

0… 65535

RW 125

CL max. following error

Maximum allowed following error during a ramp movement before starting compensation the position lag using parameters 124 and

126.

0… +268.435.454 Default = 0 [µsteps]

RW

126

CL max. correction velocity

Maximum correction speed during positioning mode. If a certain ramp/motion profile is used and a lag occurs during movement, the velocity will be increased to the maximum correction speed to compensate the position lag/ following error.

If set to 0 or smaller than target velocity, the ramp profile will be simply extended if there is a lag between actual position and commanded position.

If greater than target velocity the position lag will be compensated on-line / live.

0… +327.679.999 [pps]

RW

127

Relative positioning option

Positioning relative to one out of three starting points can be initialized using this parameter.

0

last target position

1

actual ramp generator position

2

actual encoder position

0/1/2

RW

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Number

Axis Parameter

Description

Range [Unit]

Acc.

128

Ramp mode

Automatically set when using ROR, ROL, MVP or SAP 14 commands.

0: Position mode. Steps are generated, when the parameters actual position and target position differ. Trapezoidal speed ramps are provided. When switching into this mode (using MVP ABS|REL|COORD), the motor will immediately start when there is a position difference.

1: Velocity mode. The motor will run continuously and the speed will be changed with constant (maximum) acceleration, if the parameter target speed is changed.

2: Torque mode. In closed loop mode only, the motor can be driven with constant torque. The velocity is only limited by the motor characteristics and the current setting. This mode of operation cannot be used in open loop mode!

0/1/2

RW

129

Closed loop operation

0: open loop mode 1: closed loop mode

When switching from open loop to closed loop mode the closed loop system will be initialized.

Attention:

Wait for the closed loop init flag to be set to 1 after switching to closed loop mode (see parameter 133).

0/1

RW

130

Start/Stop velocity

Ramp generation for acceleration and deceleration begins/ends with this start and stop velocity value. When set to equal to the target speed, no ramp is generated. When set smaller than the target velocity (also to zero), the ramp starts with this velocity value. Must be smaller than target velocity (axis parameter 4).

0… +327.679.999 Default=0 [pps]

RWE

131

Measured speed

The speed measured using the encoder (read only).

+/-INT_MAX [pps/s]

R

132

Encoder initialization

Use this parameter to initialize the encoder automatically by writing 1. Attention: the fullstep resolution of the encoder has to be set first! Further, the status of encoder initialization can be read out:

0

no encoder initialization

1

encoder initialization in process

2

encoder initialization completed

3

encoder initialization incorrect

Write: 0/1 Read-out: 0/1/2/3

RW

133

CL init flag

0: open loop mode or closed loop not initialized 1: closed loop is initialized and ready for use See also parameter 129.

0/1

R

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Number

Axis Parameter

Description

Range [Unit]

Acc.

134

CL position reached window

Window around the target position in which the target position will be considered as being reached. This value should be adjusted to the application and the resolution of the encoder.

If the actual position is within the target reached window for at least or longer than defined by axis parameter 135, the position_reached flag will be set.

0… 255 [encoder steps] Default = 50

RW

135

CL position reached time

Minimum duration the motor must be within the target reached window (axis parameter

134) before the position will be considered as reached and position_reached flag will be set.

0… 131072 Default = 100 [1/10 ms]

RW

136

CL standstill position error gain

When the target position is reached, the velocity regulation will be switched off and the system is in a special standstill mode. In this mode, the position is hold and maintained as long as the position error is within the range of the standstill error limit (axis parameter 138) around the target position. This parameter is a gain factor for the position error used for position maintenance in standstill mode.

- A value of 20 typically provides good

results.

- Higher values provide higher stiffness.

- For values greater than 25 a dampening

factor > 0 (axis parameter 137) should be

used as well to prevent from oscillations.

10… 50 Default = 10

RW

137

CL standstill position error dampening factor

When the target position is reached, the velocity regulation is switched off and the system is in a standstill mode where the position is hold and maintained as long as the position error is within the range of the standstill error limit (axis parameter 138) around the target position. Parameter 137 is a dampening factor to prevent from oscillations when using a high proportional gain (axis parameter 136).

- When axis parameter 136 is between 10

and 20, this parameter can be 0.

- For higher proportional gain, e.g., 30, a

dampening factor of 20 is a good

starting value.

0… 65535 Default = 0

RW

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Number

Axis Parameter

Description

Range [Unit]

Acc.

138

CL standstill position error limit

When the target position is reached, the position maintenance by the ramp generator is switched off and the system is in a standstill mode. As long as the position error is within the range around the target position defined by axis parameter 138, the position maintenance is done using parameter 136 and 137. When the position error exceeds the range defined by this parameter, the configured ramp parameters are used to move back to the target position (as in normal positioning mode).

0… +268.435.454 [µsteps] Default=255

RW 140

Microstep resolution

0

full step

1

half step

2

4 microsteps

3

8 microsteps

4

16 microsteps

5

32 microsteps

6

64 microsteps

7

128 microsteps

8

256 microsteps (default)

This parameter is only for open loop mode. With closed loop, the microstep resolution is always 256.

0… 8

RWE

141

CL torque mode start/stop current

Start and stop current in torque mode.

0… +3000 [mA]

RW 150

Motor current

Actual motor current 󰇛 



󰇜

[mA]

R

151

Current Phase A

Actual peak current Phase A

[mA]

R

152

Current Phase B

Actual peak current Phase B

[mA]

R

153

Supply Voltage

Actual value of supply voltage

[1/10 V]

R

154

DC Current

Actual DC current of the complete module + motor

[mA]

R

155

Module temperature

Actual temperature of the module

[°C]

R

162

Chopper blank time

Selects the comparator blank time. This 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-1310 a setting of 2 or 3 will be required.

0… 3

RW

163

Chopper mode

Selection of the chopper mode: 0 – spread cycle 1 – classic const. off time

0/1

RW

164

Chopper hysteresis decrement

Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time. 0 – fast decrement 3 – very slow decrement

0… 3

RW

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Number

Axis Parameter

Description

Range [Unit]

Acc.

165

Chopper hysteresis end

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

-3… 12

RW

166

Chopper hysteresis start

Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value.

0… 8

RW

167

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

chopper:

N

CLK

= 12 + 32*t

OFF

(Minimum is 64 clocks)

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

0 / 2… 15

RW

168

smartEnergy current minimum (SEIMIN)

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

0/1

RW

169

smartEnergy current down step

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

0… 3

RW

170

smartEnergy hysteresis

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

0… 15

RW

Hysteresis: (smartEnergy hysteresis value + 1) * 32

Upper stallGuard2 threshold: (smartEnergy hysteresis start + smartEnergy

hysteresis + 1) * 32

171

smartEnergy current up step

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

current increment step size: Scaling: 0… 3: 1, 2, 4, 8

0: slow increment 3: fast increment / fast reaction to rising load

1… 3

RW

172

smartEnergy hysteresis start

The lower threshold for the stallGuard2™

value (see smart Energy current up step).

0… 15

RW

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Number

Axis Parameter

Description

Range [Unit]

Acc.

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

0/1

RW

174

stallGuard2 threshold

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

-64… 63

RW

175

Slope control high side

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

0… 3

RW

176

Slope control low side

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

side.

0… 3

RW

177

Short protection disable

0: Short to GND protection is on 1: Short to GND protection is disabled

Use default value!

0/1

RW

178

Short detection timer

0: 3.2µs 1: 1.6µs 2: 1.2µs 3: 0.8µs

Use default value!

0… 3

RW

179

Vsense

Sense resistor voltage based current scaling

0: 0… 3A 1: 0… 1.5A higher solution

0/1

RW

180

smartEnergy actual current

This status value provides the actual motor 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.

actual motor current scaling factor:

0 … 31: 1/32, 2/32, … 32/32

0… 31

RW

181

Stop on stall

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

0… +327.679.999 [pps]

RW 182

smartEnergy threshold speed

Above this speed coolStep becomes enabled.

0… +327.679.999 [pps]

RW

183

smartEnergy slow run current

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

0… 255





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



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

  





RW

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Number

Axis Parameter

Description

Range [Unit]

Acc.

193

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.

1… 8

RWE

194

Referencing search speed

For the reference search this value directly specifies the search speed.

-327.678.000… +327.679.999 [pps]

RWE

195

Referencing switch speed

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

-327.678.000… +327.679.999 [pps]

RWE

196

End switch distance

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

0… +2.147.483.647 [µsteps] [encoder steps]

R

198

Clear on null

This parameter can be used to set bit 2 of axis parameter 201.

0

Delete bit 2 of axis parameter 201.

1

Clear encoder on next null channel event (set bit 2 of axis parameter

201).

0/1

RW 200

Boost current

Current used for acceleration and deceleration phases. If set to 0 the same current as set by axis parameter 6 will be used.

0… 255





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



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

  





RWE

201

Encoder mode

Operation mode of the encoder.

4 (bit 2)

Clear encoder on next null channel event.

8 (bit 3)

Clear encoder on every null channel event.

16 (bit 4)

Null channel polarity (active high when set)

4, 8, 16

RWE

202

Motor Resolution

Motor fullstep resolution.

0… 400 Default: 200 [fullsteps]

RW

204

Freewheeling

Time after which the power to the motor will be cut when its velocity has reached zero. Parameter is not valid in closed loop mode!

0… 65535 0 = never [msec]

RWE 206

Actual load value

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

0… 1023

R

207

Max encoder deviation error flag

When maximum deviation is reached, motor is stopped/switched off. This flag shows this condition.

0/1

R

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Number

Axis Parameter

Description

Range [Unit]

Acc.

208

Driver error flags

Bit 0

stallGuard2 status (1:threshold reached)

Bit 1

Overtemperature (1: driver is shut down due to overtemperature)

Bit 2

Pre-warning overtemperature (1: treshold is exceeded)

Bit 3

Short to ground A (1: short condition deteted, driver currently shut down)

Bit 4

Short to ground B (1: short condition detected, driver currently shut down)

Bit 5

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

Bit 6

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

Bit 7

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

0/1

R

209

Encoder counter

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

[encoder steps]

RW

210

Encoder resolution

Resolution of the encoder in absolute positions. Quadrature encoder: 1 line = 4 positions

0… 65535 [positions]

RW

212

Max. encoder deviation

When the actual commanded position and the encoder position (parameter 209) differ more than defined by this parameter the motor will be stopped. This function is switched off when the maximum deviation is set to zero. If the value is negative and the maximum encoder deviation is exceeded, the motor current will be switched off so that the axis can be turned freely. The new starting position will be detected. With the next command the motor can be driven as usual. This function is used in open loop mode and closed loop mode.

−2.147.483.648…

+2.147.483.647 [µsteps]

RWE

214

Power down delay

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

1… 65535 [10msec]

RWE

230

Gamma

Actual field weakening value (field weakening = speed dependent Back EMF compensation). The read-out value can be useful to choose values for axis parameters 108 and 109.

0… 255 Default = 255

R 233

Virtual actual position

With this parameter the actual virtual position of the ramp generator can be read out.

−2.147.483.648…

+2.147.483.647 [µsteps]

R

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Number

Axis Parameter

Description

Range [Unit]

Acc.

236

CL actual target current scale factor

Actual target value of the current scale factor as defined by axis parameters 113, 114, 116, and 117. Due to the configurable delays using axis parameters 120 and 121, the actual target current scale factor may be different to the actual current scale factor.

0… 255 [1/256]

R

237

Position error

This parameter indicates the difference between the virtual actual position of the ramp generator and the measured position of the motor.

−2.147.483.648…

+2.147.483.647 [µsteps] [encoder steps]

R

7.1 Velocity Calculation

Some axis parameters are related to the speed of the motor. The unit of the velocity <value> is pulse per second (pps). For calculating the speed it is necessary to set the microstep resolution of the driver (axis parameter 140) first. Further, the fullsteps of the motor must be given. Now, calculate as follows:

󰇛󰇜 

  

  

󰇛󰇜   

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8 stallGuard2 Related Parameters

The module is equipped with a 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.

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 the 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.

PARAMETERS NEEDED FOR ADJUSTING THE STALLGUARD2 FEATURE

Number

Axis Parameter

Description

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.

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

0… 7

79…87

160… 167

240… 247

8… 15

88… 95

168… 175

248… 255

16… 23

96… 103

176… 183

24… 31

104… 111

184… 191

32… 39

112… 119

192… 199

40… 47

120… 127

200… 207

48… 55

128… 135

208… 215

56… 63

136… 143

216… 223

64… 71

144… 151

224… 231

72… 79

152… 159

232… 239

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

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

181

stop on stall

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 7 contains further parameters which offer more configuration possibilities.

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9 Closed-Loop Operation Related Axis Parameter

The TMCM-1310 focuses on operating stepper motors in a closed loop using encoder feedback to prevent from motor stall, to adapt the current amplitude for saving energy and reducing heating, and for precise and fast positioning.

9.1 General Closed Loop Axis Parameters

All values for electrical period and step positions focus on a microstep resolution of 256 steps per full step. For a stepper motor with 200 steps (1.8°) this results in 51200 microsteps per revolution. When using an encoder with lower resolution the encoder position is automatically scaled to a resolution of 256 microsteps per full step.

Number

Axis parameter

Description

Units / Default

Acc.

128

Ramp mode

Automatically set when using ROR, ROL, MVP or SAP 14 commands.

0: Position mode. Steps are generated, when the parameters actual position and target position differ. Trapezoidal speed ramps are provided. When switching into this mode (using MVP ABS|REL|COORD), the motor will immediately start when there is a position difference.

1: Velocity mode. The motor will run continuously and the speed will be changed with constant (maximum) acceleration, if the parameter target speed is changed.

2: Torque mode. In closed loop mode only, the motor can be driven with constant torque. The velocity is only limited by the motor characteristics and the current setting. This mode of operation cannot be used in open loop mode!

0/1/2

RW

129

Closed loop operation

0: open loop mode 1: closed loop mode

When switching from open loop to closed loop mode the closed loop system will be initialized.

Attention:

Wait for the closed loop init flag to be set to 1 after switching to closed loop mode (see axis parameter 133).

0/1

RW

133

CL init flag

0: open loop mode or closed loop not initialized 1: closed loop is initialized and ready for use See also parameter 129.

0/1

R 207

Max encoder deviation error flag

When maximum deviation is reached, motor is stopped/switched off. This flag shows this condition.

0/1

R

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Number

Axis parameter

Description

Units / Default

Acc.

212

Max. encoder deviation

When the actual commanded position and the encoder position (parameter 209) differ more than defined by this parameter the motor will be stopped. This function is switched off when the maximum deviation is set to zero. If the value is negative and the maximum encoder deviation is exceeded, the motor current will be switched off so that the axis can be turned freely. The new starting position will be detected. With the next command the motor can be driven as usual. This function is used in open loop mode and closed loop mode.

−2.147.483.648…

+2.147.483.647 [µsteps]

RWE

9.2 General Structure of the Closed Loop System

The general structure of the closed loop system of the TMCM-1310 focuses on ease of use. Basically, the stepper motor will be controlled similar to open loop mode. Nevertheless, extended functionality is provided for control of position, velocity, and current amplitude. The structure consists of three major blocks: a ramp generator, a torque control block, and the driver plus actuator. The structure is shown in Figure 9.1.

The ramp generator is primarily used for ramp calculation, velocity control (velocity mode) and position control (position mode). When using the TMCM-1310 in open loop, this block behaves just like a typical ramp generator and the stepper motor can lose steps if load is too high. In closed loop mode, the ramp generator provides extended functionality to control position and velocity.

The torque control block is used to control commutation angle and current level. Further it provides an option to compensate back EMF at higher speeds. Current level control can be switched off but closed loop operation is still possible. When using current level control the current amplitude is dynamically adapted to the actual load condition and the actual position error accounting for high drive efficiency and low heat dissipation in the stepper motor. Additionally, the torque control block is used without ramp generator for position maintenance during motor stand-still.

The driver block is realized using the integrated Trinamic TMC262 stepper motor pre-driver and a dedicated MOSFET stage. The TMC262 powers the stepper motor windings with the commanded current vectors of the torque control block. The actuator is the stepper motor itself including an encoder for position feedback. Rigid coupling and good alignment between motor and feedback is required for proper closed loop operation.

Torque Control

IA / IB

Commutation

Angle Control

Current

Level Control

Parameters

actual velocity

/

position

Ramp

Parameters

Ramp Generator

target

Velocity

(SAP 2)

actual velociy / position / electrical angle

Commutation Angle Control

Parameters

target

Position

(SAP 0)

Field

Weakening

Control

Parameters

2-Phase

Motor

Field

Weakening

Current

Level

Control

Flags/

Status/

Errors

Velocity

Control

Position

Control

acceleration

(SAP 5)

Energy

Efficient

Driver

TMC262

&

Driver

Stage

Feedback (ABN):

position velocity el. angle

Figure 9.1 Closed Loop System Structure

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9.3 Setting Encoder Resolution and Motor Resolution

Before starting closed loop operation, the resolution of the encoder and the motor must be configured properly. Therefore, set just two parameters: encoder resolution (axis parameter 210) and motor resolution (axis parameter 202).

ENCODER RESOLUTION

Encoders that have a binary resolution (e.g. 32768 steps per round) can be used as well as encoders with a decimal resolution (e.g. 40000 steps per round). To configure the resolution of the encoder use parameter 210 and input the encoder resolution directly. For a typical ABN type quadrature encoder, the resolution in number of positions or increments is the number of lines 4 times. E.g., if you have a 1000 lines encoder, the resolution is 1000 * 4 = 4000.

Note: SSI encoder interface is not yet implemented.

MOTOR RESOLUTION

For proper operation especially in closed loop mode, the motor resolution must also be configured. The default value is 200 as most stepper motors have 200 fullsteps with 1.8° each. If your motor is different, you need to adapt parameter 202 by simply configuring the number of fullsteps of the motor.

AXIS PARAMETERS RELATED TO ENCODER RESOLUTION AND MOTOR RESOLUTION

Number

Axis parameter

Description

Units / Default

Acc.

201

Encoder mode

Operation mode of the encoder.

4 (bit 2)

Clear encoder on next null channel event.

8 (bit 3)

Clear encoder on every null channel event.

16 (bit 4)

Null channel polarity (active high when set)

4, 8, 16

RWE

202

Motor Resolution

Motor fullstep resolution.

0… 400 Default: 200 [fullsteps]

RW

210

Encoder resolution

Resolution of the encoder in absolute positions. Quadrature encoder: 1 line = 4 positions

0… 65535 [positions]

RW

112

CL Encoder Offset

Offset between encoder and electrical angle for correction of possible misalignment.

0 default [encoder steps]

RW

ATTENTION!

The encoder for a stepper motor with, e.g., 200 fullsteps per rotation should have a minimum encoder resolution of 9 bit in order to have adequate supporting points per fullstep. This is necessary to avoid step loss in case a fullstep change happens.

Minimum encoder resolution > fullsteps of stepper motor *2

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9.4 Positioning Mode

In positioning mode, a certain target position (SAP 0) is set by the user and the TMCM-1310 uses the ramp profile parameters for acceleration (SAP 5) and target velocity (SAP 4) to make a ramp movement to the target position. This is similar to open loop operation. A start/stop velocity can be set (SAP 130) to start the ramp from a different velocity than zero.

In closed loop mode, the actual target position (during movement) and the final target position (as set by the user) are maintained and the motor does not lose steps or stalls. The dynamic behavior of this position maintenance can be adapted using various parameters.

ONLINE ERROR COMPENSATION

Target Velocity

Time

V_STARTSTOP

(SAP 130)

0

Max. Positioning

Velocity

(SAP 4)

Max. Correction

Velocity

(SAP 126)

Position

Start Position

Target Position

(SAP 0)

Time

Acceleration

Max.

Acceleration

(SAP 5)

Time

0

Figure 9.2 Typical Parameters for Positioning Mode

If the target velocity and the actual target position cannot be reached during movement due to high load (blue broken line in Figure 9.2), a maximum correction velocity (axis parameter 126) can be defined to compensate the position error between virtual target position of the ramp generator (axis parameter 233) and actual position of the drive (according to encoder feedback / encoder counter axis parameter 209).

The behavior of this online error compensation (green broken line in Figure 9.2) can be configured using a correction velocity proportional factor (axis parameter 124) and a configurable maximum following error (axis parameter 125) that is allowed before actually starting compensation.

If the maximum correction velocity is equal to or smaller than the maximum positioning velocity, the target position may not be reached in the time as defined by ramp parameters. Instead, the ramp motion will be extended until the target position is reached. In case it is desired to reach the target position just in time as specified by ramp parameters, TRINAMIC recommends setting a higher maximum correction velocity.

The ramp parameters can be changed on the fly during movement. The ramp will also be updated on-line.

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EXAMPLE: ERROR COMPENSATION

Figure 9.3 Example: online error compensation

In this example the target position has been reached in time though the load on the motor occasionally got too high. The closed loop error compensation had been able to make up leeway by executing dynamic error correction parameters. The virtual actual position (grey) calculated by the ramp generator and the actual position measured by the encoder (blue) merged at the end. Positioning has been carried out successfully.

AXIS PARAMETERS USED IN POSITIONING MODE

Number

Axis parameter

Description

Units / Default

Acc.

0

Target position

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

−2.147.483.648…

+2.147.483.647 [encoder steps]

RW

1

Actual position

The current position of the motor.

−2.147.483.648…

+2.147.483.647 [encoder steps]

RW

2

Target speed

The desired speed in velocity mode (see ramp mode / parameter 138). In position mode, this parameter is set by hardware:

- during acceleration to maximum speed

- during deceleration and rest to zero

-327.678.000… +327.679.999 [pps]

RW

3

Actual speed

The current rotation speed.

-327.678.000… +327.679.999 [pps]

RW

4

Maximum positioning speed

Should not exceed the physically highest possible value.

0… +327.679.999 [pps]

RWE 5

Maximum acceleration

The limit for acceleration and deceleration.

1… +24.999.998 [pps/s]

RW

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Number

Axis parameter

Description

Units / Default

Acc.

8

Target pos. reached

Indicates that the actual position equals the target position.

0/1

R

124

CL correction velocity proportional factor

Proportional factor for on-line / live position lag compensation in positioning mode during a ramp movement. For a very quick compensation while the drive is active choose a high / the maximum value.

0… 65535

RW 125

CL max. following error

Maximum allowed following error during a ramp movement before starting compensation the position lag using parameters 124 and 126.

0… +268.435.454 Default = 0 [µsteps]

RW

126

CL max. correction velocity

Maximum correction speed during positioning mode. If a certain ramp/motion profile is used and a lag occurs during movement, the velocity will be increased to the maximum correction speed to compensate the position lag/ following error.

If set to 0 or smaller than target velocity, the ramp profile will be simply extended if there is a lag between actual position and commanded position.

If greater than target velocity the position lag will be compensated on-line / live.

0… +327.679.999 [pps]

RW

127

Relative positioning option

Positioning relative to one out of three starting points can be initialized using this parameter.

0

last target position

1

actual ramp generator position

2

actual encoder position

0/1/2

RW

130

Start/Stop Velocity

Ramp generation for acceleration and deceleration begins/ends with this start and stop velocity value. When set to equal to the target speed, no ramp is generated. When set smaller than the target velocity (also to zero), the ramp starts with this velocity value. Must be smaller than target velocity (axis parameter 4).

0… +327.679.999 Default = 0 [pps]

RWE

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9.5 Position Maintenance and Standstill Mode

When doing a ramp movement in positioning mode there are two parameters that can be used to configure the behavior for setting the target_reached flag:

- Axis parameter 134 defines a window around the target position in which the position is considered

as reached.

- Additionally, parameter 135 defines the duration the motor must be within the position window

defined by axis parameter 134 to set the target_reached flag.

Adapting these parameters prevents from long settling times around the target position. Tune for fast response times, e.g., for applications with fast positioning.

When the target position is reached and the target_reached flag has been set, the system is in standstill mode.

Target Position (SAP 0)

Time

Target Reached

Window (SAP 134)

Standstill Error Position

Limit (SAP 138)

Standstill Error Position

Limit (SAP 138)

Target Reached

Window (SAP 134)

Target Reached Window Time (SAP 135)

TARGET_REACHED flag set

If the position error is outside the standstill position error limit, ramp

generator parameters are used to „move back“ to the target position

using a defined ramp profile.

If the position error is inside the standstill position error limit, only the torque

control block is used to maintain the target position.

Position Error

[microsteps]

Figure 9.4 Principle and parameters for position maintenance

POSITION ERROR INSIDE THE STANDSTILL POSITION ERROR LIMIT (BLUE AREA)

If load is applied to the motor shaft in standstill mode the target position is maintained by the torque control block as long as the position error is within the range defined by axis parameter 138 (standstill error position limit / blue area in Figure 9.4). That is, the target position is maintained by adapting commutation angle and current amplitude. Thereby, the position error is amplified with a gain factor (axis parameter 136) for position maintenance. A higher gain factor provides higher stiffness. Additionally, a dampening factor (axis parameter 137) can be used to prevent from oscillations when using a high gain factor. More information on the current amplitude regulation is given in section 9.8.

POSITION ERROR OUTSIDE THE STANDSTILL POSITION ERROR LIMIT (ORANGE AREA)

If the position error further increases and exceeds the limit defined by axis parameter 138, the ramp generator will be activated. In this case, the ramp generator uses the configured acceleration and velocity values to move back to the target position (orange areas).

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AXIS PARAMETERS RELATED TO POSITIONING MAINTENANCE AND STANDSTILL MODE

Number

Axis parameter

Description

Units / Default

Acc.

8

Target pos. reached

Indicates that the actual position equals the target position.

0/1

R

134

CL position reached window

Window around the target position in which the target position will be considered as being reached. This value should be adjusted to the application and the resolution of the encoder.

If the actual position is within the target reached window for at least or longer than defined by axis parameter 135, the position_reached flag will be set.

0… 255 [encoder steps] Default = 50

RW

135

CL position reached time

Minimum duration the motor must be within the target reached window (axis parameter

134) before the position will be considered as reached and position_reached flag will be set.

0… 131072 Default = 100 [1/10 ms]

RW

136

CL standstill position error gain

When the target position is reached, the velocity regulation will be switched off and the system is in a special standstill mode. In this mode, the position is hold and maintained as long as the position error is within the range of the standstill error limit (axis parameter 138) around the target position. This parameter is a gain factor for the position error used for position maintenance in standstill mode.

- A value of 20 typically provides good

results.

- Higher values provide higher stiffness.

- For values greater than 25 a dampening

factor > 0 (axis parameter 137) should be used as well to prevent from oscillations.

10… 50 Default = 10

RW

137

CL standstill position error dampening factor

When the target position is reached, the velocity regulation is switched off and the system is in a standstill mode where the position is hold and maintained as long as the position error is within the range of the standstill error limit (axis parameter 138) around the target position. Parameter 137 is a dampening factor to prevent from oscillations when using a high proportional gain (axis parameter 136).

- When axis parameter 136 is between 10

and 20, this parameter can be 0.

- For higher proportional gain, e.g., 30, a

dampening factor of 20 is a good starting value.

0… 65535 Default = 0

RW

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Number

Axis parameter

Description

Units / Default

Acc.

138

CL standstill position error limit

When the target position is reached, the position maintenance by the ramp generator is switched off and the system is in a standstill mode. As long as the position error is within the range around the target position defined by axis parameter 138, the position maintenance is done using parameter 136 and 137. When the position error exceeds the range defined by this parameter, the configured ramp parameters are used to move back to the target position (as in normal positioning mode).

0… +268.435.454 [µsteps] Default=255

RW

9.6 Velocity Mode

In velocity mode, the motor is commanded to move at constant velocity. The target velocity is defined by axis parameter 2. Current level and phase angle will be adapted to maintain the commanded velocity. If desired, the ramp up can be made using a defined acceleration phase by setting axis parameter 5. When the target velocity is reached (measured via encoder interface), the velocity_reached flag (GAP 16) is set. A velocity reached window can be defined using axis parameter 17. If the actual velocity is within this window the target velocity is considered as reached.

Number

Axis parameter

Description

Units / Default

Acc.

16

CL velocity reached

This flag is set when the actual velocity is within the velocity reached window (axis parameter 17) around the target position.

0/1

R

17

CL Velocity reached window

Window around the target velocity value in which the target velocity will be considered as being reached. The velocity_reached flag will be set accordingly.

0… +268.435.454 [pps]

RW

130

Start/Stop velocity

Ramp generation for acceleration and deceleration begins/ends with this start and stop velocity value. When set to equal to the target speed, no ramp is generated. When set smaller than the target velocity (also to zero), the ramp starts with this velocity value. Must be smaller than target velocity (axis parameter 4).

0… +327.679.999 Default = 0 [pps]

RWE

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9.7 Torque Mode

In torque mode, the motor is commanded to run with fixed torque output. The velocity varies depending on the actual load. The motor runs as fast as it can for a certain load situation. In this mode, the commutation angle is always 90 degrees ahead for maximum torque output.

With axis parameter 14, the target phase current amplitude can be configured [mA] to the desired value. It is fixed as long as the motor is running in torque mode. The current amplitude will not be regulated. The range of axis parameter 14 covers the maximum current range allowed by the TMCM-1311, which is up to 4200mA peak phase current. The moving direction is defined by the sign of axis parameter 14.

HOW TO USE TRAPEZOID RAMPS IN TORQUE MODE:

- Set the current slope with axis parameter 20. This way, trapezoid ramps with acceleration and

deceleration of the drive can be generated.

- Set a start and stop value for the ramp using axis parameter 141.

- To get the actual state of the ramp, the actual current in torque mode can be read out with axis

parameter 19. This parameter can also be set to specify a value for the actual current, if necessary.

AXIS PARAMETERS RELATED TO TORQUE MODE

Number

Axis parameter

Description

Units / Default

Acc.

14

CL torque mode target current

Target RMS current value for torque mode. Positive and negative values define rotation direction.

- Writing a target value to this parameter

automatically switches to torque mode.

- Reading provides the actual configured

target current while in torque mode.

- Reading while in other modes (velocity

mode, position mode) provides information on the actual advance angle

(in these cases the unit is microsteps). The maximum current that can be configured can be read out using axis parameter 15.

-3000… +3000 [mA]

RW

torque mode

R

velocity and position mode

15

Maximum possible current

Based on axis parameters 6 and 179 this parameter returns the maximum possible RMS current.

0….+3000 [mA]

R 19

CL torque mode actual current

Actual current in torque mode

-3000… +3000 [mA]

RW

20

CL torque mode slope

Slope in torque mode (related to acceleration and deceleration).

[mA/s]

RW

141

CL torque mode start/stop current

Start and stop current in torque mode.

0… +3000 [mA]

RW

150

Motor current

Actual motor current 󰇛 



󰇜

[mA]

R

151

Current Phase A

Actual peak current Phase A

[mA]

R

152

Current Phase B

Actual peak current Phase B

[mA]

R

153

Supply Voltage

Actual value of supply voltage

[1/10 V]

R

154

DC Current

Actual DC current of the complete module + motor

[mA]

R

155

Module temperature

Actual temperature of the module

[°C]

R

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9.8 Current Regulation

This section explains the current amplitude regulation of the closed loop system. Basically, the self-acting current regulation is used to improve drive efficiency by adapting the current level to a value that is just sufficient enough to move the load with the desired speed. To achieve this, the current amplitude is automatically adapted based on the actual position error and the configured parameters. This way, energy cost can be kept down and heat dissipation can be reduced.

In case this is not desired, the feature can be switched off completely using axis parameter 122 (current scale enable). Then, the motor is simply driven with the configured maximum current level. Nevertheless, it is still in closed loop mode and does not lose any steps or stall.

Current Scale Factor (GAP 123)

position error

(GAP 14)

45° 90° 135°0°

I_SCALE_MIN

(SAP 113)

-45°-90°-135°

I_SCALE_MAX

(SAP 114)

X_TARGET

(SAP 0)

Current Scaler Lower

Error Limit (SAP 116)

Current Scaler Upper Error Limit (SAP 117)

Figure 9.5 Basic principle of position error dependent current amplitude regulation

EXPLANATIONS RELATED TO FIGURE 9.5

Based on the position error with respect to the actual target position, the current amplitude (which is the length of the current vector of phase A and phase B current) is adapted. The red lines in Figure 9.5 show the position error dependent target current scale factor.

The target current amplitude is defined by four axis parameters as shown in Figure 9.5:

- Axis parameters 113 and 114 define the minimum and maximum current scale value, which are factors

the maximum current (as defined by axis parameter 6) is scaled with.

- With axis parameters 116 and 117 two error limits can be configured. Within these two limits the

current is scaled (increased or decreased) using a linear function.

Figure 9.6 Basic principle of position error dependent current amplitude regulation

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EXPLANATIONS RELATED TO FIGURE 9.6

Figure 9.6 shows the two phase currents for phase A and B as XY-diagram on a scope using two current probes. They show the difference between current regulator enabled (left) and disabled (right). One complete circle represents a full electrical period of 360°. On the left side, current level regulation is switched on. When moving the rotor away from its target position (in this example somewhere in the lower right quadrant) the current amplitude is increased based on the position error up to its configured maximum amplitude. When approaching the target position the current level is decreased again. On the right side, the current regulation is switched off and current amplitude is always on the configured maximum regardless if there is a position error or not.

Additionally, there are a couple of parameters to adapt the dynamic behavior of the current regulation (shown in Figure 9.7):

- Axis parameters 118 and 119 configure the increment and decrement value for the current scale factor.

Each time the current scale factor needs to be increased or decreased this value is added or subtracted from the actual value until the actual target current scale factor is reached.

- Axis parameters 120 and 121 define a delay timer value. Each time the current scale factor needs to be

updated (increased or decreased) a timer is started with the respective delay value. The next increment or decrement will only be done when the timer is zero. If the parameters 120 and 121 are set to zero (default), the current scale factor is always directly set to the target current scale factor as defined by axis parameters 113, 114, 116, and 117. The effects of axis parameters 120 and 121 are shown in Figure 9.7. For example, the current scale value can immediately be set to its target value while it will be decreased with some delay.

Time

0

Actual Current Scale Target Value

Actual Current Scale Value

SAP

120

=

0

SAP

120

>

0

SAP

121

>

0

SAP

121

=

0

I_SCALE_MAX

(SAP 114)

I_SCALE_MIN

(SAP 113)

Current Scale Factor (GAP 123)

Figure 9.7 Using delay times for current increase and decrease

AXIS PARAMETERS RELATED TO THE CURRENT REGULATION

Number

Axis parameter

Description

Units / Default

Acc.

113

CL current scale minimum

Minimum current scale factor for current regulation. 255 = 1 = 100% of maximum current 127 = 0.5 = 50% of maximum current …

Attention!

The maximum current itself is defined by the CS parameter of the motor driver chip (see axis parameter 6)

Default = 15 [1/256]

RW

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Number

Axis parameter

Description

Units / Default

Acc.

114

CL current scale maximum

Maximum current scale factor for current regulation. 255 = 1 = 100% of maximum current 127 = 0.5 = 50% of maximum current …

Attention!

- The maximum current itself is defined by

the CS parameter of motor driver chip

(see axis parameters 6)

- The physical maximum current is defined

by the sense resistors and MOSFETs of the

TMCM-1310 and is limited to 3.0A RMS.

Default = 255 [1/256]

RW

115

CL current scale input select

Current scaling using raw position error or product of position error and gain factor (depends on axis parameters 136 and 137). 0 = only raw position error used for current scaling 1 = (position error * gain) used for current scaling

0/1 Default = 1

RW

116

CL current scale lower error limit

Position error from which on the current amplitude is increased (current scale factor is increased).

Default = 0 [encoder steps]

RW

117

CL current scale upper error limit

Position error from which on the current amplitude will be increased to its configured maximum (parameter 114). This parameter must be higher than axis parameter 116.

Default = 255 [encoder steps]

RW

118

CL current scale increment value

Current scale increment value if the actual current scale factor is below the calculated current scale factor target value.

This parameter defines the step width at which the current scale factor will be increased.

Default = 1 [1/256]

RW

119

CL current scale decrement value

Current scale decrement value if the actual current scale factor is higher than the calculated current scale target value.

This parameter defines the step width at which the current scale factor will be decreased.

Default = 1 [1/256]

RW

120

CL current scale increment timeout

This parameter defines the delay between two current scale factor increments and thereby controls the rate at which the current scale factor will be increased.

Setting a timeout value here serves for dampening and prevents from high oscillations.

0 = the scale factor will directly be set to the actual target value without delay.

Default = 1 [ms]

RW

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Number

Axis parameter

Description

Units / Default

Acc.

121

CL current scale decrement timeout

This parameter defines the delay between two current scale factor decrements and thereby controls the rate at which the current scale factor will be decreased, e.g., in order to prevent from oscillations around the target position.

Setting a timeout value here serves for dampening and prevents from high oscillations.

0 = the scale factor will directly be set to the actual target value without delay.

Default = 1 [ms]

RW 122

CL current scale enable

1 = current scaling function on for closed loop 0 = current scaling function off, closed loop operation is still possible

The current scaling functionality can be switched off if full specified current amplitude shall be used all the time.

When switched on, the current scaling functionality adapts the current according to the configured profile. This saves energy and keeps the motor cooler.

Default = 1

RW

123

CL actual current scale factor

Actual value of the current scale factor.

0… 255 [1/256]

R

236

CL actual target current scale factor

Actual target value of the current scale factor as defined by axis parameters 113, 114, 116, and 117. Due to the configurable delays using axis parameters 120 and 121, the actual target current scale factor may be different to the actual current scale factor.

0… 255 [1/256]

R

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9.9 Field Weakening

For higher velocities a correction of the advance angle is required to compensate for motor Back EMF and phase shift between electrical and magnetic field. Therefore, axis parameters 108 and 109 are used. These parameters define corner velocities at which the maximum commutation angle is allowed to go beyond 90 degrees up to a maximum of 180 degrees (= 2 motor fullsteps). The increase is linearly between the field weakening minimum and the maximum velocity.

Adjusting the field weakening parameters 108 and 109 allows for automatic motor back EMF compensation in case high velocities are needed. TRINAMIC recommends to start with default values and adjust the field weakening minimum and maximum velocities carefully. Actual gamma/field weakening values can be read out on the fly using axis parameter 230.

This mechanism is also applied in positioning and torque mode when exceeding the configured corner velocities.

gamma

Velocity

0

max. phase

angle correction

of 90°

field weakening

Vmin (SAP 108)

field weakening Vmax (SAP 109)

Figure 9.8 Principle and parameters for field weakening in velocity mode

AXIS PARAMETERS RELATED TO FIELD WEAKENING

Number

Axis parameter

Description

Units / Default

Acc.

108

CL field weakening minimum velocity

Minimum motor speed at which the speed dependent Back EMF compensation will be applied (field weakening). Based on the velocity measured via encoder feedback.

0… +327.679.999 [pps]

RW

109

CL field weakening maximum velocity

Maximum motor speed for the speed dependent Back EMF compensation will be applied (field weakening). Based on the velocity measured via encoder feedback.

0… +327.679.999 [pps]

RW 230

Gamma

Actual field weakening value (field weakening = speed dependent Back EMF compensation).

This read-out value can be useful to choose values for axis parameters 108 and 109.

0… 255

R

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9.10 Status and Feedback Information

Some parameters can be read out, e.g., for visualization and feedback.

AXIS PARAMETERS FOR READ-OUT

Number

Axis parameter

Description

Units / Default

8

Target pos. reached

Indicates that the actual position equals the target position.

0/1

15

Maximum possible current

Based on axis parameters 6 and 179 this parameter returns the maximum possible RMS current.

0… +3000 [mA]

16

CL velocity reached

This flag is set when the actual velocity is within the velocity reached window (axis parameter 17) around the target position.

0/1 19

CL torque mode actual current

Actual current in torque mode.

-3000… +3000 [mA]

123

CL actual current scale factor

Actual value of the current scale factor.

0… 255 [1/256]

236

CL actual target current scale factor

Actual target value of the current scale factor as defined by axis parameters 113, 114, 116, and 117. Due to the configurable delays using axis parameters 120 and 121, the actual target current scale factor may be different to the actual current scale factor.

0… 255 [1/256] 133

CL init flag

0: open loop mode or closed loop not initialized 1: closed loop is initialized and ready for use See also axis parameter 129.

0/1

150

Motor current

Actual motor current 󰇛 



󰇜

[mA]

151

Current Phase A

Actual peak current Phase A

[mA]

152

Current Phase B

Actual peak current Phase B

[mA]

153

Supply Voltage

Actual value of supply voltage

[1/10 V]

154

DC Current

Actual DC current of the complete module + motor

[mA]

155

Module temperature

Actual temperature of the module

[°C]

230

Gamma

Actual field weakening value (field weakening = speed dependent commutation angle compensation). The read-out value can be useful to choose values for axis parameters 108 and 109.

0… 2.147.483.647

[pps] 233

Virtual actual position

With this parameter the actual virtual position of the ramp generator can be read out.

−2.147.483.648…

+2.147.483.647 [µsteps]

236

CL actual target current scale factor

Actual target value of the current scale factor as defined by axis parameters 113, 114, 116, and 117. Due to the configurable delays using axis parameters 120 and 121, the actual target current scale factor may be different to the actual current scale factor.

0… 255 [1/256] 237

Position error

This parameter indicates the difference between the virtual actual position of the ramp generator and the measured position of the motor.

−2.147.483.648…

+2.147.483.647 [encoder steps]

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9.11 Example Programs: Closed Loop Operation

Both example programs show that it is necessary to set the maximum current first. Then, check (example

2) or set (example 1) the motor steps and the encoder steps before switching to closed loop operation.

After setting axis parameter 126 to 1 for closed loop mode wait until the closed loop flag is set!

9.11.1 Example Program 1

To run example program 1, an encoder with 40000 increments per rotation has to be connected. For positioning, the commands MVP ABS and WAIT POS are used.

//Initialize the parameters SAP 6, 0, 128 //max. current SAP 202, 0, 200 //motor full steps SAP 210, 0, 40000 //encoder steps

SAP 4, 0, 398105 //positioning speed SAP 5, 0, 3981070 //acceleration SAP 126, 0, 1023950 //correction speed

SAP 129, 0, 1 //switch on closed loop ClWait: GAP 133, 0 //wait until closed loop is ready JC ZE, ClWait

//Let motor run Loop: MVP ABS, 0, 512000 WAIT POS, 0, 0 WAIT TICKS, 0, 100 MVP ABS, 0, 0 WAIT POS, 0, 0 WAIT TICKS, 0, 100 JA Loop STOP

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9.11.2 Example Program 2

In the second example program, the encoder resolution is detected automatically. Here, the motor will run increasing and decreasing the positioning counter while using position reached interrupts.

SAP 6, 0, 128 //set max. motor current

//Start encoder detection and wait until ready SAP 132, 0, 1 Detect: GAP 132, 0 COMP 2 JC NE, Detect

//Switch on closed loop and wait until ready SAP 129, 0, 1 Init: GAP 133, 0 JC ZE, Init

//Let motor run (using position reached interrupt) VECT 3, PosReached1 EI 3 EI 255

MVP ABS, 0, 51200 Loop: WAIT TICKS, 0, 1000 JA Loop

PosReached1: VECT 3, PosReached2 MVP ABS, 0, 0 RETI

PosReached2: VECT 3, PosReached1 MVP ABS, 0, 51200 RETI

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10 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.

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.

PARAMETERS NEEDED FOR REFERENCE SEARCH

Number

Axis Parameter

Description

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

10

Right limit switch status

The logical state of the (right) limit switch.

11

Left limit switch status

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

12

Right limit switch disable

If set, deactivates the stop function of the right switch

13

Left limit switch disable

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

149

Soft stop flag

If cleared, the motor will stop immediately (disregarding motor limits), when the reference or limit switch is hit.

193

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.

194

Referencing search speed

For the reference search this value directly specifies the search speed.

195

Referencing switch speed

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

196

Distance end switches

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

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10.1.1 Reference Search Modes (Axis Parameter 193)

SAP 193, 0, 3

negative limit switch

positive limit switch

SAP 193, 0, 4

negative limit switch

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

Search left stop switch from both sides.

SAP 193, 0, 1

negative limit switch

SAP 193, 0, 2

negative limit switch

positive limit switch

Search left stop switch only.

Search right stop switch, then search left stop switch.

TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 98

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SAP 193, 0, 5

negative limit switch

positive limit switch

home switch

SAP 193, 0, 6

negative limit switch

positive limit switch

home switch

SAP 193, 0, 7

home switch

SAP 193, 0, 8

home switch

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

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

Search home switch in positive direction, ignore end switches.

Search home switch in negative direction, ignore end switches.

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11 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.

11.1 Bank 0

PARAMETERS 64… 132

Parameters with numbers from 64 on configure stuff like auto start mode or end switch polarity. Change these parameters to meet your needs. The best and easiest way to do this is to use the ap propriate 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

Description

R

GGP

Parameter readable

W

SGP, AGP

Parameter writable

E

STGP, RSGP

Parameter stored permanently in EEPROM

Number

Global parameter

Description

Range

Access

64

EEPROM magic

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… 255

RWE

67

ASCII mode

Configure the TMCL ASCII interface: Bit 0: 0 – start up in binary (normal) mode 1 – start up in ASCII mode Bits 4 and 5: 00 – Echo back each character 01 – Echo back complete command 10 – Do not send echo, only send command reply

RWE

73

configuration EEPROM lock flag

Write: 1234 to lock the EEPROM, 4321 to unlock it. Read: 1=EEPROM locked, 0=EEPROM unlocked.

0/1

RWE

77

Auto start mode

0: Do not start TMCL application after power up (default). 1: Start TMCL application automatically after power up.

0/1

RWE

79

End switch polarity

0: normal polarity 1: reverse polarity

0/1

RWE

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Number

Global parameter

Description

Range

Access

81

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.

0,1,2,3

RWE

84

Coordinate storage

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 or 1

RWE

85

do not restore user variables

0 – user variables are restored (default) 1 – user variables are not restored

0/1

RWE

128

TMCL application status

0 –stop 1 – run 2 – step 3 – reset

0… 3

R

129

Download mode

0 – normal mode 1 – download mode

0/1 R 130

TMCL program counter

The index of the currently executed TMCL instruction.

R 132

Tick timer

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

RW

133

Random number

Choose a random number. Read only!

0… 2147483647

R

11.2 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 6.8.36) these variables form the interface between extensions of the firmware (written in C) and TMCL applications.

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