Trinamic PD1-113-57-SE232, PD2-113-57-SE232, PD3-113-57-SE232, PD4-113-57-SE232, PD1-113-60-SE232 Firmware Manual

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PDx-113-57/60-SE

TMCM-113-57/60-SE

TMCLTM Firmware Manual

Version: 1.10

2009-OCT-28

Trinamic Motion Control GmbH & Co KG

Sternstraße 67

D – 20 357 Hamburg, Germany

Phone +49-40-51 48 06 - 0

FAX: +49-40-51 48 06 - 60

http://www.trinamic.com

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

Table of contents

1	Life support policy .......................................................................................................................................................			4
2	Features...........................................................................................................................................................................			5
3	Order codes ....................................................................................................................................................................			6
4	Overview .........................................................................................................................................................................			7
5 Putting the PDx-113-57/60-SE into operation .......................................................................................................				8
	5.1	Starting up.............................................................................................................................................................		9
	5.2	Writing a simple TMCLTM program ................................................................................................................		10
	5.3	Operating the module in direct mode ........................................................................................................		11
6	TMCLTM and TMCL-IDE ................................................................................................................................................			12
	6.1	Binary command format..................................................................................................................................		12
	6.2	Reply format........................................................................................................................................................		13
	6.2.1		Status codes..................................................................................................................................................	14
	6.3	Stand-alone applications .................................................................................................................................		14
	6.4	TMCLTM command overview ............................................................................................................................		14
	6.4.1		Motion commands ......................................................................................................................................	14
	6.4.2		Parameter commands ................................................................................................................................	15
	6.4.3		I/O port commands.....................................................................................................................................	15
	6.4.4		Control commands......................................................................................................................................	15
	6.4.5		Calculation commands...............................................................................................................................	15
	6.5	TMCLTM commands .............................................................................................................................................		16
	6.6	The ASCII interface ...........................................................................................................................................		18
	6.6.1		Format of the command line...................................................................................................................	18
	6.6.2		Format of a reply.........................................................................................................................................	18
	6.6.3		Commands that can be used in ASCII mode .....................................................................................	18
	6.6.4		Configuring the ASCII interface ..............................................................................................................	18
	6.7	Commands ...........................................................................................................................................................		20
	6.7.1		ROR (rotate right).........................................................................................................................................	20
	6.7.2		ROL (rotate left)............................................................................................................................................	21
	6.7.3		MST (motor stop).........................................................................................................................................	22
	6.7.4		MVP (move to position).............................................................................................................................	23
	6.7.5		SAP (set axis parameter) ...........................................................................................................................	25
	6.7.6		GAP (get axis parameter)...........................................................................................................................	29
	6.7.7		STAP (store axis parameter) .....................................................................................................................	33
	6.7.8		RSAP (restore axis parameter) .................................................................................................................	37
	6.7.9		SGP (set global parameter).......................................................................................................................	40
	6.7.10		GGP (get global parameter)......................................................................................................................	43
	6.7.11		STGP (store global parameter).................................................................................................................	46
	6.7.12		RSGP (restore global parameter).............................................................................................................	48
	6.7.13		RFS (reference search)................................................................................................................................	50
	6.7.14		SIO (set output) ...........................................................................................................................................	51
	6.7.15		GIO (get input/output) ...............................................................................................................................	52
	6.7.16		CALC (calculate) ............................................................................................................................................	54
	6.7.17		COMP (compare)...........................................................................................................................................	55
	6.7.18		JC (jump conditional)..................................................................................................................................	56
	6.7.19		JA (jump always)..........................................................................................................................................	57
	6.7.20		CSUB (call subroutine)................................................................................................................................	58
	6.7.21		RSUB (return from subroutine)................................................................................................................	59
	6.7.22		WAIT (wait for an event to occur) .........................................................................................................	60
	6.7.23		STOP (stop TMCLTM program execution) ................................................................................................	61
	6.7.24		SCO (set coordinate) ...................................................................................................................................	62
	6.7.25		GCO (get coordinate) ..................................................................................................................................	63
	6.7.26		CCO (capture coordinate)...........................................................................................................................	64
	6.7.27		CALCX (calculate using the X register) ..................................................................................................	65
	6.7.28		AAP (accumulator to axis parameter) ....................................................................................................	66
	6.7.29		AGP (accumulator to global parameter) ...............................................................................................	70
	6.7.30		CLE (clear error flags) .................................................................................................................................	73

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)			3
	6.7.31 Customer specific TMCLTM command extension (UF0…UF7/user function)...................................		74
	6.7.32 Request target position reached event.................................................................................................		75
	6.7.33 BIN (return to binary mode) ....................................................................................................................		76
	6.7.34 TMCLTM Control Functions..........................................................................................................................		77
7	Axis parameters ..........................................................................................................................................................		79
8	Global parameters ......................................................................................................................................................		83
8.1		Bank 0 ...................................................................................................................................................................	83
8.2		Bank 1 ...................................................................................................................................................................	85
8.3		Bank 2 ...................................................................................................................................................................	86
9	Hints and tips ..............................................................................................................................................................		87
9.1		Reference search ................................................................................................................................................	87
9.2		Changing the prescaler value of an encoder ............................................................................................	88
9.3		Stall detection.....................................................................................................................................................	89
9.4		Fixing microstep errors ....................................................................................................................................	89
9.5		Using the RS485 interface ...............................................................................................................................	89
	9.5.1	Using RS485 with converter .....................................................................................................................	89
	9.5.2 Using RS485 with USB-2-X interface converter ...................................................................................		89
10	Revision history ..........................................................................................................................................................		90
10.1		Firmware revision..............................................................................................................................................	90
10.2		Hardware revision .............................................................................................................................................	90
11	References.....................................................................................................................................................................		90

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

1 Life support policy

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

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

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

Specifications are subject to change without notice.

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

2 Features

The PDx-113-57/60-SE is a full mechatronic device consisting of a NEMA 23 (flange size 57mm) or NEMA 24 (flange size 60mm) stepper motor, controller/driver electronics and integrated encoder. The electronics itself is also available without the motor as TMCM-113-57/60-SE module.

Applications

Compact single-axis stepper motor solutions

Encoder feedback for high reliability operation (-SE option)

Electrical data

Supply voltage: +24V DC nominal (+7V .. +28.5V DC)

Motor current: up-to 2.8A RMS (programmable)

Integrated motor (for PDx-113-57/60-SE only)

Two phase bipolar stepper motor with 2.8A RMS nom. coil current

Holding torque with 57mm motor: 0.55Nm, 1.01Nm, 1.26Nm or 1.89Nm

Holding torque with 60mm motor: 1.1Nm, 1.65Nm, 2.1Nm or 3.1Nm

Integrated encoder (for –SE option only)

Integrated sensOstep™ magnetic encoder (max. 256 increments per rotation) for step-loss detection under all operating conditions

Integrated motion controller

Motion profile calculation in real-time (TMC428 motion controller)

On the fly alteration of motor parameters (e.g. position, velocity, acceleration)

Integrated bipolar stepper motor driver

Up-to 16 microsteps per full step

High-efficient operation, low power dissipation (TMC249 stepper driver with external MOSFETs)

Dynamic current control

Integrated protection

Integrated stallGuard™ for motor stall detection (e.g. elimination of end switches)

Integrated chopSync™ for high velocity operation

Interfaces

2 inputs for reference switches, 2 general purpose inputs and 2 general purpose outputs

either RS-232 or RS-485 serial communication interfaces

Software

Available with TMCL (both interface options)

stand-alone operation or remote controlled operation

program memory (non volatile) for up-to 2048 TMCL commands

PC-based application development software TMCL-IDE available for free

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

3 Order codes

The PDx-113-57/60-SE is currently available with two different stepper motor series (NEMA23 / 57mm flange size or) with four stepper motors of different length and holding torque each and two interface options:

With NEMA 23 / 57mm flange size motor:

	Order code	Description	Length of unit
	PD1-113-57-SE-option	PANdrive with 0.55Nm max./holding torque	60mm
	PD2-113-57-SE-option	PANdrive with 1.01Nm max./holding torque	70mm
	PD3-113-57-SE-option	PANdrive with 1.26Nm max./holding torque	75mm
	PD4-113-57-SE-option	PANdrive with 1.89Nm max./holding torque	95mm
		Table 3.1: Order codes (PDx-113-57-SE)
With NEMA 24 / 60mm flange size motor:

	Order code	Description	Length of unit
	PD1-113-60-SE-option	PANdrive with 1.10Nm max./holding torque	64mm
	PD2-113-60-SE-option	PANdrive with 1.65Nm max./holding torque	75mm
	PD3-113-60-SE-option	PANdrive with 2.10Nm max./holding torque	84mm
	PD4-113-60-SE-option	PANdrive with 3.10Nm max./holding torque	105mm
		Table 3.2: Order codes (PDx-113-60-SE)
The electronic module TMCM-113-57/60-SE itself is also available with two serial interface options:

	Order code	Description	Size of unit
	TMCM-113-57/60-SE-option	Single axis bipolar stepper motor controller /	board size: 60mm x 60mm
		driver electronics with integrated encoder
		electronics
		Table 3.3: Order codes (TMCM-113-57/60-SE)
Serial interface options:

	Interface option	Communication interface
	232	RS232 interface
	485	RS485 interface

Table 3.4: Options

For cost critical applications and applications with reduced requirements with regard to position feedback both versions - with and without motor - are also available without sensOstep™ encoder as PDx-113-57/60 and TMCM-113-57/60 on request.

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

4 Overview

As with most TRINAMIC modules the software running on the microprocessor of the PDx-113-57/60-SE 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 – normally – untouched throughout the whole lifetime, the firmware can be updated by the user. New versions can be downloaded free of charge from the TRINAMIC website (http://www.trinamic.com).

The firmware shipped with this PANdriveTM is related to the standard TMCLTM firmware shipped with most of TRINAMIC modules with regard to protocol and commands. Corresponding, the module of the PANdriveTM is based on the TMC428 motion controller for stepper motors and the TMC249 high power driver and supports the standard TMCLTM with a special range of values. All commands and parameters available with this unit are explained on the following pages.

Trinamic PD1-113-57-SE232, PD2-113-57-SE232, PD3-113-57-SE232, PD4-113-57-SE232, PD1-113-60-SE232 Firmware Manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

5 Putting the PDx-113-57/60-SE into operation

Here you can find basic information for putting your PANdrive into operation. The text contains a simple example for a TMCLTM program and a short description of operating the module in direct mode.

The things you need:

PDx-113-57/60-SE

Interface (RS232 or RS485) suitable to your PDx-113-57/60-SE version with cables

Power supply for 24V

TMCL-IDE program and PC

Precautions:

Do not connect or disconnect the motor while powered!

Do not mix up connections or short-circuit pins.

Avoid bounding IO wires with motor power wires as this may cause noise picked up from the motor supply.

Do not exceed the maximum power supply of 28.5V.

Start with power supply OFF!

1	STOPL	Left reference switch input
2	STOPR	Right reference switch input
3	GND	Supply and signal ground
4	VDD	Power supply output

5GPO_0 General purpose output 0

6GPO_1 General purpose output 1

7IN_0 General purpose input 0

8 IN_1 General purpose input 1

1	GND	Supply and signal ground
2	RS232_RxD or RS485A / RS485+
3	RS232_TxD or RS485B / RS485-
4	GND	Supply and system ground

2	VDD	Power supply input
1	GND	Supply and system ground

4	B-	Motor coil B
3	B+	Motor coil B
2	A-	Motor coil A

1	A+	Motor coil A

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

5.1 Starting up

Here we show you, how to connect the RS232 interface. Use the RS485 interface similarly please.

1.Connect the interface:

Please keep in mind that the RS232 transmit signal wire of the master has to be connected to the RS232 receive signal wire of the board and vice versa.

	PC		PDx-113-57/60-SE
	PC		PDx-113-57/60-SE
	(D-SUB 9pin)	(Serial communication connector)		1
				1
Pin	Label	Pin	Label
2	RS232_RxD	3	RS232_TxD
3	RS232_TxD	2	RS232_RxD	4
				4


	GND		GND
5	GND	1, 4	GND

2.Connect power supply:

	PDx-113-57/60-SE
	PDx-113-57/60-SE
	(Power connector)	2
		1
Pin	Label	1
2	Power supply
1	Ground

3.Turn power ON. The green LED of the module glows and gives notice that the module is powered with its supply voltage. If this does not occur, switch power OFF and check your connections as well as the power supply.

4.Start the TMCL-IDE software development environment (available on the TechLibCD and www.trinamic.com).

Installing the TMCL-IDE:

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

Open TMCL-IDE by clicking TMCL.exe.

Choose Setup and Options and thereafter the Connection tab.

Choose COM port and type with the parameters shown below (baud rate 9600). Click OK.

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)			10

5.2Writing a simple TMCLTM program

1.Type the following text in the open window.

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

SAP 4, 0, 1000		//Set the maximum speed
Loop: MVP ABS, 0,	150000	//Move to position 150000
WAIT POS, 0, 0
WAIT TICKS,	0, 200
MVP ABS, 0,	0	//Move back to position 0
WAIT POS, 0, 0
WAIT TICKS,	0, 100
JA Loop		// Infinite Loop

Assemble			Stop
Assemble			Stop
	Download	Run

2.Click the Assemble icon.

3.Thereafter click the Download icon to download the code into the TMCM-113-57/60-SE.

4.Click the Run icon. The downloaded program will now be executed.

5.Click Stop button to stop the program.

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

5.3Operating the module in direct mode

1.Start TMCL Direct Mode.

Direct Mode

2.If the communication is established the TMCM-113-57/60-SE is automatically detected. If the module is not detected, please check all points above (cables, interface, power supply, COM port, baud rate).

3.Issue a command by choosing instruction, type (if necessary), motor, and value and click Execute to send it to the module. As the TMCM-113 controls and drives only one motor, always choose 0 for the motor number.

Examples:

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

MST motor stop, motor 0

-> Click Execute. The motor stops now.

Please use the TMCL-IDE axis parameter calculation tool for getting best values.

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

6 TMCLTM and TMCL-IDE

The PDx-113-57/60-SE supports TMCLTM direct mode (binary commands or ASCII interface) and stand-alone TMCLTM program execution. You can store up to 2048 TMCLTM instructions on it.

In direct mode the TMCLTM communication over RS485 or RS232 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 PDx- 113-57/60-SE. The TMCLTM interpreter on the module will then interpret this command, do the initialization of the motion controller, read inputs and write outputs or whatever is necessary according to the specified command. As soon as this step has been done, the module will send a reply back over RS485/RS232 to the bus master. The master should not transfer the next command till then. Normally, the module will just switch to transmission and occupy the bus for a reply, otherwise it will stay in receive mode. It will not send any data over the interface without receiving a command first. This way, any collision on the bus will be avoided when there are more than two nodes connected to a single bus.

The Trinamic Motion Control Language (TMCLTM) 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 TMCMTM module to form programs that run stand-alone on the module. For this purpose there are not only motion control commands but also commands to control the program structure (like conditional jumps, compare and calculating).

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

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

6.1 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 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 RS232 or RS485 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 RS232 and RS485 is as follows:

Bytes		Meaning
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.

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

Checksum calculation

As mentioned above, the checksum is calculated by adding up all bytes (including the module address byte) using an 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

in Delphi:

var

i, Checksum: byte;

Command: array[0..8] of byte;

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

//Calculate the Checksum: Checksum:=Command[0];

for i:=1 to 7 do Checksum:=Checksum+Command[i]; Command[8]:=Checksum;

//Now, send the “Command” array (9 bytes) to the module

6.2 Reply format

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

The reply format for RS485 and RS232 is as follows:

Bytes		Meaning
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!

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

6.2.1 Status codes

The reply contains a status code.

The status code can have one of the following values:

Code		Meaning
Code		Meaning
100	Successfully executed, no error
101	Command loaded into TMCLTM
	program EEPROM
1	Wrong checksum
2	Invalid command
3	Wrong type
4	Invalid value
5	Configuration EEPROM locked
6	Command not available

6.3 Stand-alone applications

The module is equipped with an EEPROM for storing TMCLTM applications. You can use the TMCL-IDE for developing stand-alone TMCLTM applications. You can load your program down into the EEPROM and then it will run on the module. The TMCL-IDE contains an editor and a TMCLTM 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.

6.4 TMCLTM command overview

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

6.4.1 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 stand-alone mode.

Mnemonic		Command	Meaning
Mnemonic		number	Meaning
		number
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

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

6.4.2 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 stand-alone mode.

Mnemonic		Command	Meaning
Mnemonic		number	Meaning
		number
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

6.4.3 I/O port commands

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

Mnemonic		Command	Meaning
Mnemonic		number	Meaning
		number
SIO	14		Set output
GIO	15		Get input
SAC	29		Access to external SPI device

6.4.4 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 stand-alone mode only.

Mnemonic		Command	Meaning
Mnemonic		number	Meaning
		number
JA	22		Jump always
JC	21		Jump conditional
COMP	20		Compare accumulator with constant
			value
CLE	36		Clear error flags
CSUB	23		Call subroutine
RSUB	24		Return from subroutine
WAIT	27		Wait for a specified event
STOP	28		End of a TMCLTM program

6.4.5 Calculation commands

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

Mnemonic	Command	Meaning
	number
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

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

For calculating purposes there is an accumulator (or accu or A register) and an X register. When executed in a TMCLTM program (in stand-alone mode), all TMCLTM 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 TMCLTM program is running on the module (stand-alone mode), a host can still send commands like GAP, GGP or GIO to the module (e.g. to query the actual position of the motor) without affecting the flow of the TMCLTM program running on the module.

6.5 TMCLTM commands

The following TMCLTM commands are currently supported:

Command	Number	Parameter	Description
ROR	1	<motor number>, <velocity>	Rotate right with specified velocity
ROL	2	<motor number>, <velocity>	Rotate left with specified velocity
MST	3	<motor number>	Stop motor movement
MVP	4	ABS\|REL\|COORD, <motor number>,	Move to position (absolute or relative)
		<position\|offset>
SAP	5	<parameter>, <motor number>, <value>	Set axis parameter (motion control
			specific settings)
GAP	6	<parameter>, <motor number>	Get axis parameter (read out motion
			control specific settings)
STAP	7	<parameter>, <motor number>	Store axis parameter permanently (non
			volatile)
RSAP	8	<parameter>, <motor number>	Restore axis parameter
SGP	9	<parameter>, <bank number>, value	Set global parameter (module specific
			settings e.g. communication settings or
			TMCL™ user variables)
GGP	10	<parameter>, <bank number>	Get global parameter (read out module
			specific settings e.g. communication
			settings or TMCL™ user variables)
STGP	11	<parameter>, <bank number>	Store global parameter (TMCL™ user
			variables only)
RSGP	12	<parameter>, <bank number>	Restore global parameter (TMCL™ user
			variable only)
RFS	13	START\|STOP\|STATUS, <motor number>	Reference search
SIO	14	<port number>, <bank number>, <value>	Set digital output to specified value
GIO	15	<port number>, <bank number>	Get value of analogue/digital input
CALC	19	<operation>, <value>	Process accumulator & value
COMP	20	<value>	Compare accumulator <-> value
JC	21	<condition>, <jump address>	Jump conditional
JA	22	<jump address>	Jump absolute
CSUB	23	<subroutine address>	Call subroutine
RSUB	24		Return from subroutine
WAIT	27	<condition>, <motor number>, <ticks>	Wait with further program execution
STOP	28		Stop program execution
SCO	30	<coordinate number>, <motor number>,	Set coordinate
		<position>
GCO	31	<coordinate number>, <motor number>	Get coordinate
CCO	32	<coordinate number>, <motor number>	Capture coordinate
CALCX	33	<operation>	Process accumulator & X-register
AAP	34	<parameter>, <motor number>	Accumulator to axis parameter
AGP	35	<parameter>, <bank number>	Accumulator to global parameter

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

TMCLTM control commands:

Instruction

Description

Type

Mot/Bank

Value

128

– stop application

a running

TMCL™

standalone

(don't care)

application is stopped

129

– run application

TMCL™ execution is started (or

0 - run from

(don't care)

continued)

current address

1 - run from

starting address

specified address

130

– step application

only the next command of a

(don't care)

TMCL™ application is executed

131

– reset application

the program counter is set to

(don't care)

zero,

and

the

standalone

application

stopped

(when

running or stepped)

132

– start download

target

command execution

(don't care)

starting address

mode

stopped

and

all

following

of the application

commands

are

transferred

the TMCL™ memory

133

– quit download

target

command execution

(don't care)

mode

resumed

134 – read TMCL™

the specified program memory

(don't care)

<memory

memory

location is read

address>

135

– get application

one of these values is

(don't care)

status

returned:

0 – stop

1 – run

2 – step

3 – reset

136

– get firmware

return the module type and

0 – string

(don’t care)

version

firmware revision either as a

1 – binary

string or in binary format

137

– restore factory

reset all settings stored in the

(don’t care)

must be 1234

settings

EEPROM

their

factory

defaults

This command does not send

back a reply.

138

– reserved

139

– enter ASCII

Enter ASCII command line (see

(don’t care)

mode

chapter 6.6)

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

6.6 The ASCII interface

TMCLTM also offers an ASCII interface that can be used to communicate with the module and to send some commands as text strings.

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

Afterwards the commands are entered like 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-enter the binary mode enter the command BIN.

6.6.1 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.

Here are some 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.

6.6.2 Format of a reply

After executing the command the module sends back a reply in ASCII format. This 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.

6.6.3 Commands that can be 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, SAC, SCO, GCO, CCO, UF0, UF1, UF2, UF3, UF4, UF5, UF6, and UF7.

There are also special commands that are only available in ASCII mode:

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

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

STOP: Stops a running TMCLTM application.

6.6.4 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 8.1). 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

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

this case every character that is entered is echoed back when the module is addressed. A 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.

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

6.7 Commands

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

6.7.1 ROR (rotate right)

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

Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter #0 (target velocity).

The module is based on the TMC428 motor controller and the TMC249 power driver. This makes possible choosing a velocity between 0 and 2047.

Related commands: ROL, MST, SAP, GAP

Mnemonic: ROR 0, <velocity>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

0… 2047

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

Reply in direct mode:

STATUS

VALUE

100 – OK

(don't care)

Example:

Rotate right, motor 0, velocity = 350

Mnemonic: ROR 0, 350

Binary:

Byte Index

Function

Target-

Instruction

Type

Motor/

Operand

Checksum

address

Number

Bank

Byte3

Byte2

Byte1

Byte0

Value (hex)

$01

$00

$02

$00

$01

$5e

$62

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

6.7.2 ROL (rotate left)

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

Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter #0 (target velocity).

The module is based on the TMC428 motor controller and the TMC249 power driver. This makes possible choosing a velocity between 0 and 2047.

Related commands: ROR, MST, SAP, GAP

Mnemonic: ROL 0, <velocity>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

0… 2047

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

Reply in direct mode:

STATUS

VALUE

100 – OK

(don't care)

Example:

Rotate left, motor 0, velocity = 1200

Mnemonic: ROL 0, 1200

Binary:

Byte Index

Function

Target-

Instruction

Type

Motor/

Operand

Checksum

address

Number

Bank

Byte3

Byte2

Byte1

Byte0

Value (hex)

$01

$02

$00

$04

$b0

$b8

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

6.7.3 MST (motor stop)

With this command the motor will be instructed to stop with deceleration ramp (soft stop). For information about hard stops refer to chapter 9 (hints and tips) please.

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

(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:

Stop motor

Mnemonic: MST 0

Binary:

Byte Index

Function

Target-

Instruction

Type

Motor/

Operand

Checksum

address

Number

Bank

Byte3

Byte2

Byte1

Byte0

Value (hex)

$01

$03

$00

$05

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

6.7.4 MVP (move to position)

With this command 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.

Three operation types are available:

Moving to an absolute position in the range from - 8388608 to +8388607 (-223 to+223-1).

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

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 8388607 microsteps. Otherwise the motor will run in the wrong direction for taking a shorter way. If the value is exactly 8388608 the motor maybe stops.

Internal function: A new position value is transferred to the axis parameter #2 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

0 ABS – absolute

1 REL – relative

2 COORD – coordinate

<coordinate number (0..20)

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

Reply in direct mode:

STATUS

VALUE

100 – OK

(don't care)

Example:

Move motor to (absolute) position 90000

Mnemonic: MVP ABS, 0, 9000

Binary:

Byte Index

Function

Target-

Instruction

Type

Motor/

Operand

Checksum

address

Number

Bank

Byte3

Byte2

Byte1

Byte0

Value (hex)

$01

$04

$00

$01

$5f

$90

$f6

Example:

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

Mnemonic: MVP REL, 0, -1000

Binary:

Byte Index

Function

Target-

Instruction

Type

Motor/

Operand

Checksum

address

Number

Bank

Byte3

Byte2

Byte1

Byte0

Value (hex)

$01

$04

$01

$00

$ff

$fc

$18

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

Example:

Move motor to previously stored coordinate #8

Mnemonic: MVP COORD, 0, 8

Binary:

Byte Index		0		1		2		3		4		5		6		7		8

Function		Target-		Instruction		Type		Motor/		Operand		Operand		Operand		Operand		Checksum
		address		Number				Bank		Byte3		Byte2		Byte1		Byte0
Value (hex)	$01		$04		$02		$00		$00		$00		$00		$08		$11

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

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

6.7.5 SAP (set axis parameter)

With this command most of the motion control parameters of the module 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 ignoring leading zeros (or ones for negative values). The parameter is transferred to the correct position in the appropriate device.

Related commands: GAP, STAP, RSAP , AAP

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

Binary representation:

	INSTRUCTION NO.		TYPE	MOT/BANK	VALUE
	5		<parameter	0*	<value>
			number>
	*motor number is always O as only one motor is involved
Reply in direct mode:
		STATUS	VALUE
		100 – OK	(don't care)

List of parameters, which can be used for SAP:

Please note, that for the binary representation <parameter number> has to be filled with the number and the <value> has to be filled with a value from range.

Number	Axis Parameter	Description	Range
0	target (next) position	The desired position in position mode (see ramp	223
		mode, no. 138).
1	actual position	The current position of the motor. Should only be	223
		overwritten for reference point setting.
2	target (next) speed	The desired speed in velocity mode (see ramp	2047
		mode, no. 138). In position mode, this parameter is
		set by hardware: to the maximum speed during
		acceleration, and to zero during deceleration and
		rest.
3	actual speed	The current rotation speed.	2047
4	maximum positioning	Should not exceed the physically highest possible	0...2047
	speed	value. Adjust the pulse divisor (no. 154), if the
		speed value is very low (<50) or above the upper
		limit. See TMC 428 datasheet (p.24) for calculation of
		physical units.
5	maximum acceleration	The limit for acceleration (and deceleration).	0... 2047
		Changing this parameter requires re-calculation of
		the acceleration factor (no. 146) and the acceleration
		divisor (no.137), which is done automatically. See
		TMC 428 datasheet (p.24) for calculation of physical
		units.
6	absolute max. current	The most important motor setting, since too high	0..255
		values might cause motor damage! The maximum
		value is 255 (which mean 100% of the maximum
		current of the module).

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	Number	Axis Parameter	Description			Range
	7	standby current	The current limit two seconds after the motor has			0..255
			stopped.
	12	right limit switch disable	if set, deactivates the stop function of the right			0/1
			switch
	13	left limit switch disable	Deactivates the stop function of the left switch resp.			0/1
			reference switch if set.
	130	minimum speed	Should always be set 1 to ensure exact reaching of			0... 2047
			the target position. Normally no need to change.
	136	acceleration threshold	Specifies the threshold between low and high			0... 2047
			acceleration values for the parameters 144 and 145.
			Normally not needed.
	137	acceleration divisor	A ramping parameter, can be adjusted in special			0…13
			cases, automatically calculated by setting the
			cases, automatically calculated by setting the
			maximum acceleration (e.g. during	normal
			initialization). See the TMC428 data sheet for details.
			Normally no need to change.
	138	ramp mode	Automatically set when using ROR, ROL, MST and			0/1/2
			MVP.
			0: position mode. Steps are generated, when the
			parameters actual position and target position
			differ. Trapezoidal speed ramps are provided.
			2: velocity mode. The motor will run continuously
			and the speed will be changed with constant
			(maximum) acceleration, if the parameter "target
			speed" is changed.
			For special purposes, the soft mode (value 1) with
			exponential decrease of speed can be selected.
	140	microstep resolution	0 – full step *)			0…6
			1 – half step *)
			2 – 4 microsteps
			3 – 8 microsteps
			4 – 16 microsteps
			5 - 32 microsteps**)
			6 – 64 microsteps**)
			Modifying this parameter effects the rotation speed
			in the same relation:
			*) The full-step setting and the half-step setting are
			not optimized for use without an adapted
			microstepping table. These settings	just step
			through the microstep table in steps of 64
			respectively 32. To get real full stepping use axis
			parameter 211 or load an adapted microstepping
			table.
			**) If the module is specified for 16 microsteps only,
			switching to 32 or 64 microsteps brings an
			enhancement in resolution and smoothness. The
			position counter will use the full resolution, but,
			however, the motor will resolve a maximum of 24
			different microsteps only for the 32 or 64 microstep
			units.
	141	ref. switch tolerance	For three-switch mode: a position range, where an			0...4095
			additional switch (connected to the REFL input)
			won't cause motor stop.

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28)

Number

Axis Parameter

Description

Range

223

142

snapshot position

For referencing purposes, the exact position at

hitting of the reference switch can be captured in

this parameter. A dummy value has to be written

first to prepare caption.

143

max. current at rest

In contrast to the standby current, this current limit

0…7

becomes immediately active when the motor speed

reaches zero. The value represents a fraction of the

absolute maximum current:

0 – no change of current at rest (default, 100%)

1…7 – 12.5% …87.5%

See the TMC428 datasheet for details. Normally not

used, use parameters 6 and 7 instead!

144

max. current at low accel.

An optional current reduction factor, see parameters

0…7

136 and 143 for details. Normally not used, use

parameters 6 and 7 instead!

145

max. current at high

An optional current reduction factor, see parameters

0…7

accel.

136 and 143 for details. Normally not used, use

parameters 6 and 7 instead!

146

acceleration factor

A ramping parameter, can be adjusted in special

0…128

cases, automatically calculated by setting the

maximum

acceleration

(e.g.

during

normal

initialization). See the TMC428 data sheet for details.

Normally no need to change.

149

soft stop flag

If cleared, the motor will stop immediately

0/1

(disregarding motor limits), when the reference or

limit switch is hit.

153

ramp divisor

The exponent of the scaling factor for the ramp

0…13

generatorshould be de/incremented carefully (in

steps of one).

154

pulse divisor

The exponent of the scaling factor for the pulse

0…13

(step) generator – should be de/incremented

carefully (in steps of one).

193

referencing mode

1 – Only the left reference switch is searched.

1/2/3

2 – The right switch is searched, and then the left

switch is searched.

3 – Three-switch-mode: the right switch is searched

first,

and

then the

reference

switch

will be

searched.

194

referencing search speed

For the reference search this value specifies the

0…8

search speed as a fraction of the maximum velocity:

0 – full speed

1 – half of the maximum speed

2 – a quarter of the maximum speed

3 – 1/8 of the maximum speed (etc.)

195

referencing switch speed

Similar to parameter no. 194, the speed for the

0..8

switching point calibration can be selected.

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