Trinamic PD3-140-42-SE, TMCM-140-42-SE User guide

PDx-140-42-SE

TMCM-140-42-SE

TMCL™ Firmware Manual

Version: 1.05

2009-OCT-21

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-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 2

Table of contents

1 Life support policy ....................................................................................................................................................... 4

2 Features ........................................................................................................................................................................... 5

3 Order codes .................................................................................................................................................................... 6

4 Overview ......................................................................................................................................................................... 7

5 TMCLTM and TMCL-IDE .................................................................................................................................................. 8

5.1 Binary command format .................................................................................................................................... 8

5.2 Reply format .......................................................................................................................................................... 9

5.2.1 Status codes .................................................................................................................................................. 10

5.3 Stand-alone applications ................................................................................................................................. 10

5.4 TMCLTM command overview ............................................................................................................................ 10

5.4.1 Motion commands ...................................................................................................................................... 10

5.4.2 Parameter commands ................................................................................................................................ 11

5.4.3 I/O port commands..................................................................................................................................... 11

5.4.4 Control commands ...................................................................................................................................... 11

5.4.5 Calculation commands ............................................................................................................................... 11

5.5 TMCLTM list of commands ................................................................................................................................ 12

5.6 The ASCII interface ........................................................................................................................................... 14

5.6.1 Format of the command line ................................................................................................................... 14

5.6.2 Format of a reply ......................................................................................................................................... 14

5.6.3 Commands that can be used in ASCII mode ..................................................................................... 14

5.6.4 Configuring the ASCII interface .............................................................................................................. 14

5.7 Commands ........................................................................................................................................................... 16

5.7.1 ROR (rotate right)......................................................................................................................................... 16

5.7.2 ROL (rotate left) ............................................................................................................................................ 17

5.7.3 MST (motor stop) ......................................................................................................................................... 18

5.7.4 MVP (move to position) ............................................................................................................................. 19

5.7.5 SAP (set axis parameter) ........................................................................................................................... 21

5.7.6 GAP (get axis parameter) ........................................................................................................................... 24

5.7.7 STAP (store axis parameter) ..................................................................................................................... 28

5.7.8 RSAP (restore axis parameter) ................................................................................................................. 31

5.7.9 SGP (set global parameter) ....................................................................................................................... 34

5.7.10 GGP (get global parameter) ...................................................................................................................... 37

5.7.11 STGP (store global parameter) ................................................................................................................. 41

5.7.12 RSGP (restore global parameter) ............................................................................................................. 43

5.7.13 RFS (reference search) ................................................................................................................................ 45

5.7.14 SIO (set output) ........................................................................................................................................... 46

5.7.15 GIO (get input/output) ............................................................................................................................... 47

5.7.16 CALC (calculate) ............................................................................................................................................ 49

5.7.17 COMP (compare) ........................................................................................................................................... 50

5.7.18 JC (jump conditional).................................................................................................................................. 51

5.7.19 JA (jump always).......................................................................................................................................... 52

5.7.20 CSUB (call subroutine) ................................................................................................................................ 53

5.7.21 RSUB (return from subroutine) ................................................................................................................ 54

5.7.22 WAIT (wait for an event to occur) ......................................................................................................... 55

5.7.23 STOP (stop TMCLTM program execution) ................................................................................................ 56

5.7.24 SCO (set coordinate) ................................................................................................................................... 57

5.7.25 GCO (get coordinate) .................................................................................................................................. 58

5.7.26 CCO (capture coordinate) ........................................................................................................................... 59

5.7.27 ACO (accu to coordinate; valid from TMCLTM version 4.18 on) ....................................................... 60

5.7.28 CALCX (calculate using the X register) .................................................................................................. 61

5.7.29 AAP (accumulator to axis parameter) .................................................................................................... 62

5.7.30 AGP (accumulator to global parameter) ............................................................................................... 65

5.7.31 CLE (clear error flags) ................................................................................................................................. 68

5.7.32 Customer specific TMCLTM command extension (UF0…UF7/user function) ................................... 69

5.7.33 Request target position reached event ................................................................................................. 70

5.7.34 BIN (return to binary mode) .................................................................................................................... 71

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5.7.35 TMCLTM Control Functions .......................................................................................................................... 72

6 Axis parameters .......................................................................................................................................................... 74

7 Global parameters ...................................................................................................................................................... 77

7.1 Bank 0 ................................................................................................................................................................... 77

7.2 Bank 1 ................................................................................................................................................................... 79

7.3 Bank 2 ................................................................................................................................................................... 80

8 Hints and tips .............................................................................................................................................................. 81

8.1 Reference search ................................................................................................................................................ 81

8.2 Changing the prescaler value of an encoder ............................................................................................ 82

8.3 Stall detection ..................................................................................................................................................... 83

8.4 Fixing microstep errors .................................................................................................................................... 83

8.5 Using the RS485 interface ............................................................................................................................... 83

9 Revision history .......................................................................................................................................................... 84

9.1 Firmware revision .............................................................................................................................................. 84

9.2 Document revision ............................................................................................................................................ 84

10 References..................................................................................................................................................................... 84

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 4

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-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 5

2 Features

The PDx-140-42-SE is a full mechatronic device consisting of a NEMA 17 (flange size 42mm) stepper motor, controller/driver electronics and integrated encoder. The electronics itself is also available without the motor as TMCM-140-42-SE module.

Applications

 Very 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 2.0A RMS (programmable)

Integrated motor (for PDx-140-42-SE only)

 Two phase bipolar stepper motor with 2A RMS nom. coil current  Holding torque: 0.22Nm, 0.36Nm, 0.44Nm or 0.7Nm

Integrated encoder (for –SE option only)

 Integrated sensOstep™ magnetic encoder (max. 4096 increments per rotation) e.g. for step-loss detection

under all operating conditions and positioning

Integrated motion controller

 Motion profile calculation in real-time (TMC428 motion controller)  On the fly alteration of motor parameters (e.g. position, velocity, acceleration)  High performance ARM7 microcontroller for overall system control and serial communication protocol

handling

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  USB and either RS-232, RS-485 or CAN (2.0B up-to 1Mbit/s) communication interfaces

Software

 Available with TMCL (all interface options) or CANopen (CAN interface option)  TMCL: stand-alone operation or remote controlled operation  TMCL: program memory (non volatile) for up-to 2048 TMCL commands  TMCL: PC-based application development software TMCL-IDE available for free  CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported  Please see separate TMCL and CANopen firmware manuals for additional information

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 6

Order code

Description

Dimensions [mm3]

PD1-140-42-SE-option

PANdrive with 0.22Nm max./holding torque

42x42x72

PD2-140-42-SE-option

PANdrive with 0.36Nm max./holding torque

42x42x76,5

PD3-140-42-SE-option

PANdrive with 0.44Nm max./holding torque

42x42x85,5

PD4-140-42-SE-option

PANdrive with 0.70Nm max./holding torque

42x42x98,5

Order code

Description

Dimensions [mm3]

TMCM-140-42-SE-option

Single axis bipolar stepper motor controller / driver electronics with integrated encoder electronics

board size: 42x42

Option

Communication interface + firmware

232

USB (mini USB connector) and RS232 interface, TMCL firmware

485

USB (mini USB connector) and RS485 interface, TMCL firmware

CAN

USB (mini USB connector) and CAN interface, TMCL firmware

CANopen

USB (mini USB connector) and CAN interface, CANopen firmware

3 Order codes

The PDx-140-42-SE is currently available with four different stepper motors (between 0.22Nm and 0.70Nm holding torque), three interface options in addition to the standard on-board USB interface (RS232, RS485 or CAN) and two firmware versions (TMCL and CANopen):

Table 3.1: Order codes (PDx-140-42-SE)

The electronic module TMCM-140-42-SE itself is also available with three interface options in addition to the standard on-board USB interface (RS232, RS485 or CAN) and two firmware versions (TMCL and CANopen):

Table 3.2: Order codes (TMCM-140-42-SE)

Both versions offer the following options:

Table 3.3: 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-140-42 and TMCM-140-42 on request.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 7

4 Overview

As with most TRINAMIC modules the software running on the microprocessor of the PDx-140-42-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 module is related to the standard TMCLTM firmware [TMCLTM] shipped with most of TRINAMIC modules with regard to protocol and commands. Corresponding, this module is based on the TMC428-I stepper motor controller and the TMC249A-LA 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.

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Bytes

Meaning

1

Module address

1

Command number

1

Type number

1

Motor or Bank number

4

Value (MSB first!)

1

Checksum

5 TMCL

The PDx-140-42-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 and most cases the TMCLTM communication over RS485, RS232, USB or CAN 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-140-42-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/USB/CAN to the bus master. Only then should the master transfer the next command. Normally, the module will just switch to transmission and occupy the bus for a reply, otherwise it will stay in receive mode. It will not send any data over the interface without receiving a command first. This way, any collision on the bus will be avoided when there are more than two nodes connected to a single bus.

The Trinamic Motion Control Language (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 TMCM 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 (IDE means “Integrated Development Environment”).

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

TM

and TMCL-IDE

5.1 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, RS485 or USB interface, it has to be enclosed by an address byte at the beginning and a checksum byte at the end. In this case it consists of nine bytes.

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

The binary command format for RS232/RS485/USB is as follows:

 The checksum is calculated by adding up all the other bytes using an 8-bit addition.  When using CAN bus, just leave out the first byte (module address) and the last byte (checksum).

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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

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

 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

5.2 Reply format

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

The reply format for RS485/RS232/USB is as follows:

 The checksum is also calculated by adding up all the other bytes using an 8-bit addition.  When using CAN bus, the first byte (reply address) and the last byte (checksum) are left out.  Do not send the next command before you have received the reply!

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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

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

5.2.1 Status codes

The reply contains a status code.

The status code can have one of the following values:

5.3 Stand-alone applications

The module is equipped with an EEPROM for storing TMCLTM applications. You can use TMCL-IDE for developing stand-alone TMCLTM applications. You can load them 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.

5.4 TMCL

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

TM

command overview

5.4.1 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.

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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

Mnemonic

Command number

Meaning

SIO

14

Set output

GIO

15

Get input

SAC

29

Access to external SPI device

Mnemonic

Command number

Meaning

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

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

5.4.2 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.

5.4.3 I/O port commands

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

5.4.4 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.

5.4.5 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.

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Command

Number

Parameter

Description

ROR

1

Rotate right with specified velocity

ROL

2

Rotate left with specified velocity

MST

3

Stop motor movement

MVP

4

ABS|REL|COORD, <motor number>, <position|offset>

Move to position (absolute or relative)

SAP

5

Set axis parameter (motion control specific settings)

GAP

6

Get axis parameter (read out motion control specific settings)

STAP

7

Store axis parameter permanently (non volatile)

RSAP

8

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

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

STGP

11

Store global parameter (TMCL™ user

variables only)

RSGP

12

Restore global parameter (TMCL™ user variable only)

RFS

13

START|STOP|STATUS, <motor number>

Reference search

SIO

14

Set digital output to specified value

GIO

15

Get value of analogue/digital input

CALC

19

Process accumulator & value

COMP

20

<value>

Compare accumulator <-> value

JC

21

Jump conditional

JA

22

Jump absolute

CSUB

23

Call subroutine

RSUB

24 Return from subroutine

WAIT

27

Wait with further program execution

STOP

28 Stop program execution

SCO

30

Set coordinate GCO

31

Get coordinate

CCO

32

Capture coordinate

CALCX

33

Process accumulator & X-register

AAP

34

Accumulator to axis parameter

AGP

35

Accumulator to global parameter

ACO

39

Accu to coordinate

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.

5.5 TMCL

The following TMCLTM commands are currently supported:

TM

list of commands

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Instruction

Description

Type

Mot/Bank

Value

128 – stop application

a running TMCL™ standalone application is stopped

(don't care)

129 – run application

TMCL™ execution is started (or continued)

0 - run from current address 1 - run from specified address

(don't care)

starting address

130 – step application

only the next command of a TMCL™ application is executed

(don't care)

131 – reset application

the program counter is set to zero, and the standalone application is stopped (when running or stepped)

(don't care)

132 – start download mode

target command execution is stopped and all following commands are transferred to the TMCL™ memory

(don't care)

starting address of the application 133 – quit download mode

target command execution is resumed

(don't care)

134 – read TMCL™ memory

the specified program memory location is read

(don't care)

135 – get application status

one of these values is returned: 0 – stop 1 – run 2 – step 3 – reset

(don't care)

136 – get firmware version

return the module type and firmware revision either as a string or in binary format

0 – string 1 – binary

(don’t care)

137 – restore factory settings

reset all settings stored in the EEPROM to their factory defaults This command does not send back a reply.

(don’t care)

must be 1234

138 – reserved

139 – enter ASCII mode

Enter ASCII command line (see chapter 5.6)

(don’t care)

TMCLTM control commands:

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5.6 The ASCII interface

Since TMCLTM V3.21 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 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-enter the binary mode enter the command “BIN”.

5.6.1 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.

5.6.2 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”.

5.6.3 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 TMCL  RUN: This command can be used to start a TMCL  STOP: Stops a running TMCL

TM

application.

TM

program in memory.

TM

mode.

5.6.4 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 7.1). 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

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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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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

1

(don't care)

0*

0… 2047

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$00

$02

$00

$01

$5e

$62

5.7 Commands

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

5.7.1 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-I stepper motor controller and the TMC249A-LA power driver. This makes possible choosing a velocity between 0 and 2047.

Related commands: ROL, MST, SAP, GAP

Mnemonic: ROR 0, <velocity>

Binary representation:

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

Reply in direct mode:

Example:

Rotate right, velocity = 350

Mnemonic: ROR 0, 350

Binary:

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

2

(don't care)

0*

0… 2047

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$02

$00

$04

$b0

$b8

5.7.2 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-I stepper motor controller and the TMC249A-LA power driver. This makes possible choosing a velocity between 0 and 2047.

Related commands: ROR, MST, SAP, GAP

Mnemonic: ROL 0, <velocity>

Binary representation:

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

Reply in direct mode:

Example:

Rotate left, velocity = 1200

Mnemonic: ROL 0, 1200

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 18

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

3

(don't care)

0*

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$03

$00

$05

5.7.3 MST (motor stop)

With this command the motor will be instructed to stop either with deceleration ramp (soft stop) or without (hard stop). Please note: depending on motor speed a hard stop might lead to step losses.

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

Related commands: ROL, ROR, SAP, GAP

Mnemonic: MST 0

Binary representation:

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

Reply in direct mode:

Example:

Stop motor

Mnemonic: MST 0

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 19

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

4

0 ABS – absolute

0*

1 REL – relative

0

2 COORD –

coordinate

0

<coordinate number

(0..56)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$04

$00

$01

$5f

$90

$f6

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$04

$01

$00

$ff

$fc

$18

5.7.4 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 (-2  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:

23

to+223-1).

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

Reply in direct mode:

Example:

Move motor to (absolute) position 90000

Mnemonic: MVP ABS, 0, 9000

Binary:

Example:

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

Mnemonic: MVP REL, 0, -1000

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 20

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$04

$02

$00

$08

$11

Example:

Move motor to previously stored coordinate #8

Mnemonic: MVP COORD, 0, 8

Binary:

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

of the SCO, CCO or ACO command.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 21

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

5

<parameter

number>

0*

<value>

STATUS

VALUE

100 – OK

(don't care)

Number

Axis Parameter

Description

Range

0

target (next) position

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

 2

23

1

actual position

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

 223

2

target (next) speed

The desired speed in velocity mode (see ramp mode, no.

138). In position mode, this parameter is set by hardware: to the maximum speed during acceleration, and to zero during deceleration and rest.

2047

3

actual speed

The current rotation speed.

2047

4

maximum positioning speed

Should not exceed the physically highest possible value. Adjust the pulse divisor (no. 154), if the speed value is very low (<50) or above the upper limit. See TMC 428 datasheet for calculation of physical units.

0...2047

5

maximum acceleration

The limit for acceleration (and deceleration). 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 for calculation of physical units.

0... 2047 6

absolute max. current

The most important motor setting, since too high values might cause motor damage! The maximum value is 255 (which mean 100% of the maximum current of the module).

0..255

7

standby current

The current limit two seconds after the motor has stopped. The value range of this parameter is the same as with parameter 6.

0..255

12

right limit switch disable

If set, deactivates the stop function of the right switch

0/1

13

left limit switch disable

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

0/1

130

minimum speed

Should always be set 1 to ensure exact reaching of the target position. Normally no need to change.

0... 2047

5.7.5 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:

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

Reply in direct mode:

List of parameters, which can be used for SAP:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 22

Number

Axis Parameter

Description

Range

138

ramp mode

Automatically set when using ROR, ROL, MST and MVP. 0: position mode. Steps are generated, when the parameters actual position and target position differ. Trapezoidal speed ramps are provided. 2: velocity mode. The motor will run continuously and the speed will be changed with constant (maximum) acceleration, if the parameter "target speed" is changed. For special purposes, the soft mode (value 1) with exponential decrease of speed can be selected.

0/1/2

140

microstep resolution

0 – full step *) 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.

0…6

149

soft stop flag

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

0/1

153

ramp divisor

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

0…13

154

pulse divisor

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

0…13

193

referencing mode

1 – Only the left reference switch is searched. 2 – The right switch is searched and afterwards the left switch is searched. 3 – Three-switch-mode: the right switch is searched first and afterwards the reference switch will be searched. Please see chapter 5.7.13 for details on reference search.

1/2/3

194

referencing search speed

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

0…2047 195

referencing switch speed

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

0..2047

203

mixed decay threshold

If the actual velocity is above this threshold, mixed decay will be used. Since V3.13, this can also be set to –1 which turns on mixed decay permanently also in the rising part of the microstep wave. This can be used to fix microstep errors.

0..2048 or -1

204

freewheeling

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

0…65535 0 = never

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 23

Number

Axis Parameter

Description

Range

205

stall detection threshold

Stall detection threshold. Set it to 0 for no stall detection or to a value between 1 (low threshold) and 7 (high threshold). The motor will be stopped if the load value exceeds the stall detection threshold. Switch off mixed decay to get usable results.

0..7

209

encoder position

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

210

encoder prescaler

Prescaler for the encoder.

211

fullstep threshold

When exceeding this speed the driver will switch to real full step mode. To disable this feature set this parameter to zero or to a value greater than 2047. Setting a full step threshold allows higher motor torque of the motor at higher velocity. When experimenting with this in a given application, try to reduce the motor current in order to be able to reach a higher motor velocity!

0..2048

212

maximum encoder deviation

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

0…65535 214

power down delay

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

from 10msec on

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$05

$06

$00

$c8

$d5

Example:

Set the absolute maximum current of motor to 200mA

Mnemonic: SAP 6, 0, 200

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 24

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

6

0*

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Number

Axis Parameter

Description

Range

0

target (next) position

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

 2

23

1

actual position

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

 223

2

target (next) speed

The desired speed in velocity mode (see ramp mode, no.

138). In position mode, this parameter is set by hardware: to the maximum speed during acceleration, and to zero during deceleration and rest.

2047

3

actual speed

The current rotation speed.

2047

4

maximum positioning speed

Should not exceed the physically highest possible value. Adjust the pulse divisor (no. 154), if the speed value is very low (<50) or above the upper limit. See TMC 428 datasheet for calculation of physical units.

0...2047

5

maximum acceleration

The limit for acceleration (and deceleration). 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 for calculation of physical units.

0... 2047 6

absolute max. current

The most important motor setting, since too high values might cause motor damage! The maximum value is 255 (which means 100% of the maximum current of the module).

0..255

7

standby current

The current limit two seconds after the motor has stopped. The value range of this parameter is the same as with parameter 6.

0..255

8

target pos. reached

Indicates that the actual position equals the target position.

0/1

5.7.6 GAP (get axis parameter)

Most parameters of the PDx-140-42-SE can be adjusted individually for the axis. With this parameter they can be read out. In stand-alone 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:

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

Reply in direct mode:

List of parameters, which can be used for GAP:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 25

Number

Axis Parameter

Description

Range

9

ref. switch status

The logical state of the reference (left) switch. See the TMC 428 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.

0/1

10

right limit switch status

The logical state of the (right) limit switch.

0/1

11

left limit switch status

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

0/1 12

right limit switch disable

If set, deactivates the stop function of the right switch

0/1

13

left limit switch disable

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

0/1

130

minimum speed

Should always be set 1 to ensure exact reaching of the target position. Normally no need to change.

0... 2047 135

actual acceleration

The current acceleration. Read only!

0... 2047

138

ramp mode

Automatically set when using ROR, ROL, MST and MVP. 0: position mode. Steps are generated, when the parameters actual position and target position differ. Trapezoidal speed ramps are provided. 2: velocity mode. The motor will run continuously and the speed will be changed with constant (maximum) acceleration, if the parameter "target speed" is changed. For special purposes, the soft mode (value 1) with exponential decrease of speed can be selected.

0/1/2

140

microstep resolution

0 – full step*) 1 – half step*) 2 – 4 microsteps 3 – 8 microsteps 4 – 16 microsteps 5 – 32 microsteps**) 6 – 64 microsteps**) Note that modifying this parameter will affect 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.

0…6

149

soft stop flag

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

0/1

153

ramp divisor

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

0…13

154

pulse divisor

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

0…13

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 26

Number

Axis Parameter

Description

Range

193

referencing mode

1 – Only the left reference switch is searched. 2 – The right switch is searched and afterwards the left switch is searched. 3 – Three-switch-mode: the right switch is searched first and afterwards the reference switch will be searched. Please see chapter 5.7.13 for details on reference search.

1/2/3

194

referencing search speed

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

0…2047 195

referencing switch speed

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

0..2047

196

distance end switches

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

0… 8388307

203

mixed decay threshold

If the actual velocity is above this threshold, mixed decay will be used. Since V3.13, this can also be set to –1 which turns on mixed decay permanently also in the rising part of the microstep wave. This can be used to fix microstep errors.

0..2048 or -1

204

freewheeling

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

0…65535 0 = never

205

stall detection threshold

Stall detection threshold. Set it to 0 for no stall detection or to a value between 1 (low threshold) and 7 (high threshold). The motor will be stopped if the load value exceeds the stall detection threshold. Switch off mixed decay to get usable results.

0..7

206

actual load value

Readout of the actual load value used for stall detection.

0..7

208

driver error flags

TMC236 error flags. Read only!

209

encoder position

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

210

encoder prescaler

Prescaler for the encoder.

211

fullstep threshold

When exceeding this speed the driver will switch to real full step mode. To disable this feature set this parameter to zero or to a value greater than 2047. Setting a full step threshold allows higher motor torque of the motor at higher velocity. When experimenting with this in a given application, try to reduce the motor current in order to be able to reach a higher motor velocity!

0..2048

212

maximum encoder deviation

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

0…65535 214

power down delay

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

from 10msec on

215

absolute encoder value

Absolute value of the encoder. Read only!

0…4095

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 27

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$06

$01

$00

$0a

Byte Index

0 1 2 3 4 5 6 7 8

Function

Host-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$02

$01

$64

$06

$00

$02

$c7

$36

Example:

Get the actual position of motor

Mnemonic: GAP 0, 1

Binary:

Reply:

 status=no error, position=711

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 28

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

7

0*1

(don't care)*2

STATUS

VALUE

100 – OK

(don't care)

Parameter number

Motor number

Value

s. chapter 6

0

s. chapter 6

Number

Axis Parameter

Description

4

maximum positioning speed

Should not exceed the physically highest possible value. Adjust the pulse divisor (no. 154), if the speed value is very low (<50) or above the upper limit. See TMC 428 datasheet for calculation of physical units.

5

maximum acceleration

The limit for acceleration (and deceleration). 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 for calculation of physical units.

6

absolute max. current

The most important motor setting, since too high values might cause motor damage! The maximum value is 255 (which mean 100% of the maximum current of the module).

7

standby current

The current limit two seconds after the motor has stopped. The value range of this parameter is the same as with parameter 6.

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.

130

minimum speed

Should always be set 1 to ensure exact reaching of the target position. Normally no need to change.

5.7.7 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 (refer to axis parameter list in chapter 6).

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:

*1motor number is always O as only one motor is involved *2the value operand of this function has no effect. Instead, the currently used value (e.g. selected by SAP) is saved.

Reply in direct mode:

Parameter ranges:

List of parameters, which can be used for STAP:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 29

Number

Axis Parameter

Description

138

ramp mode

Automatically set when using ROR, ROL, MST and MVP. 0: position mode. Steps are generated, when the parameters actual position and target position differ. Trapezoidal speed ramps are provided. 2: velocity mode. The motor will run continuously and the speed will be changed 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 *) 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.

149

soft stop flag

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

153

ramp divisor

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

154

pulse divisor

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

193

referencing mode

1 – Only the left reference switch is searched. 2 – The right switch is searched and afterwards the left switch is searched. 3 – Three-switch-mode: the right switch is searched first and afterwards the reference switch will be searched. Please see chapter 5.7.13 for details on reference search.

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.

203

mixed decay threshold

If the actual velocity is above this threshold, mixed decay will be used. Since V3.13, this can also be set to –1 which turns on mixed decay permanently also in the rising part of the microstep wave. This can be used to fix microstep errors.

204

freewheeling

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

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 30

Number

Axis Parameter

Description

205

stall detection threshold

Stall detection threshold. Set it to 0 for no stall detection or to a value between 1 (low threshold) and 7 (high threshold). The motor will be stopped if the load value exceeds the stall detection threshold. Switch off mixed decay to get usable results.

210

encoder prescaler

Prescaler for the encoder.

211

fullstep threshold

When exceeding this speed the driver will switch to real full step mode. To disable this feature set this parameter to zero or to a value greater than 2047. Setting a full step threshold allows higher motor torque of the motor at higher velocity. When experimenting with this in a given application, try to reduce the motor current in order to be able to reach a higher motor velocity!

212

maximum encoder deviation

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

214

power down delay

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

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$07

$04

$00

$0d

Example:

Store the maximum speed of motor

Mnemonic: STAP 4, 0

Binary:

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

7.1). In direct mode, the error code 5 (configuration EEPROM locked, see also section 5.2.1) will be returned in this case.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 31

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

8

0*

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Number

Axis Parameter

Description

4

maximum positioning speed

Should not exceed the physically highest possible value. Adjust the pulse divisor (no. 154), if the speed value is very low (<50) or above the upper limit. See TMC 428 datasheet for calculation of physical units.

5

maximum acceleration

The limit for acceleration (and deceleration). 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 for calculation of physical units.

6

absolute max. current

The most important motor setting, since too high values might cause motor damage! The maximum value is 255 (which mean 100% of the maximum current of the module).

7

standby current

The current limit two seconds after the motor has stopped. The value range of this parameter is the same as with parameter 6.

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.

130

minimum speed

Should always be set 1 to ensure exact reaching of the target position. Do not change!

138

ramp mode

Automatically set when using ROR, ROL, MST and MVP. 0: position mode. Steps are generated, when the parameters actual position and target position differ. Trapezoidal speed ramps are provided. 2: velocity mode. The motor will run continuously and the speed will be changed 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.

5.7.8 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 (refer to axis parameter list in chapter 6). 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:

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

Reply structure in direct mode:

List of parameters, which can be used for RSAP:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 32

Number

Axis Parameter

Description

140

microstep resolution

0 – full step *) 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.

149

soft stop flag

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

153

ramp divisor

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

154

pulse divisor

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

193

referencing mode

1 – Only the left reference switch is searched. 2 – The right switch is searched and afterwards the left switch is searched. 3 – Three-switch-mode: the right switch is searched first and afterwards the reference switch will be searched. Please see chapter 5.7.13 for details on reference search.

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.

203

mixed decay threshold

If the actual velocity is above this threshold, mixed decay will be used. Since V3.13, this can also be set to –1 which turns on mixed decay permanently also in the rising part of the microstep wave. This can be used to fix microstep errors.

204

freewheeling

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

205

stall detection threshold

Stall detection threshold. Set it to 0 for no stall detection or to a value between 1 (low threshold) and 7 (high threshold). The motor will be stopped if the load value exceeds the stall detection threshold. Switch off mixed decay to get usable results.

210

encoder prescaler

Prescaler for the encoder.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 33

Number

Axis Parameter

Description

211

fullstep threshold

When exceeding this speed the driver will switch to real full step mode. To disable this feature set this parameter to zero or to a value greater than 2047. Setting a full step threshold allows higher motor torque of the motor at higher velocity. When experimenting with this in a given application, try to reduce the motor current in order to be able to reach a higher motor velocity!

212

maximum encoder deviation

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

214

power down delay

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

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$08

$06

$00

$10

Example:

Restore the maximum current of motor

Mnemonic: RSAP 6, 0

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 34

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

9

<parameter

number>

<value>

STATUS

VALUE

100 – OK

(don't care)

Number

Global parameter

Description

Range

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

65

RS232/RS485 baud rate

0

9600 baud

Default

1

14400 baud

2 19200 baud

3

28800 baud

4

38400 baud

5 57600 baud

6

76800 baud

Not supported by Windows!

7

115200 baud

8 230400 baud

9

250000 baud

Not supported by Windows!

10

500000 baud

Not supported by Windows!

11

1000000 baud

Not supported by Windows!

0…11

66

serial address

The module (target) address for RS-232/RS-485.

0…255

67

ASCII mode

Configure the TMCLTM 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

5.7.9 SGP (set global parameter)

With this command most of the module specific parameters not directly related to motion control can be specified and the TMCLTM 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, only bank 0 and 1 are used for global parameters, and bank 2 is used for user variables. Refer to chapter 7 for a complete parameter list.

All module settings will automatically be stored non-volatile (internal EEPROM of the processor). The TMCLTM user variables will not be stored in the EEPROM automatically, but this can be done by using STGP commands.

Internal function: the parameter format is converted ignoring leading zeros (or ones for negative values). The parameter is transferred to the correct position in the appropriate (on board) device.

Related commands: GGP, STGP, RSGP, AGP

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

Binary representation:

Reply in direct mode:

Global parameters of bank 0, which can be used for SGP:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 35

Number

Global parameter

Description

Range

69

CAN bit rate

1

10kBit/s

2 20kBit/s

3

50kBit/s

4

100kBit/s

5 125kBit/s

6

250kBit/s

7

500kBit/s

8 1000kBit/s

Default

1..7

70

CAN reply ID

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

0..7ff

71

CAN ID

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

0..7ff

73

configuration EEPROM lock flag

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

0/1

75

telegram pause time

Pause time before the reply via RS232 or RS485 is sent. For RS232 set to 0. For RS485 it is often necessary to set it to 15 (for RS485 adapters controlled by the RTS pin). For CAN interface this parameter has no effect!

0…255

76

serial host address

Host address used in the reply telegrams sent back via RS232 or RS485.

0..255

77

auto start mode

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

0/1

80

shutdown pin functionality

Select the functionality of the SHUTDOWN pin 0 – no function 1 – high active 2 – low active

0..2

81

TMCLTM code protection

Protect a TMCLTM 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 TMCLTM program will be wiped off.

0,1,2,3

83

CAN secondary address

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

0..7ff

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 1 132

tick timer

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

Global parameters of bank 1, which can be used for SGP:

The global parameter bank 1 is normally not available, but can be used for customer specific extensions of the firmware.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 36

Number

Global parameter

Description

Range

0

general purpose variable #0

for use in TMCLTM applications

-231…+2

31

1

general purpose variable #1

for use in TMCLTM applications

-231…+231

2

general purpose variable #2

for use in TMCLTM applications

-231…+231

3

general purpose variable #3

for use in TMCLTM applications

-231…+2

31

4

general purpose variable #4

for use in TMCLTM applications

-231…+231

5

general purpose variable #5

for use in TMCLTM applications

-231…+231

6

general purpose variable #6

for use in TMCLTM applications

-231…+2

31

7

general purpose variable #7

for use in TMCLTM applications

-231…+231

8

general purpose variable #8

for use in TMCLTM applications

-231…+231

9

general purpose variable #9

for use in TMCLTM applications

-231…+2

31

10

general purpose variable #10

for use in TMCLTM applications

-231…+231

11

general purpose variable #11

for use in TMCLTM applications

-231…+231

12

general purpose variable #12

for use in TMCLTM applications

-231…+2

31

13

general purpose variable #13

for use in TMCLTM applications

-231…+231

14

general purpose variable #14

for use in TMCLTM applications

-231…+231

15

general purpose variable #15

for use in TMCLTM applications

-231…+2

31

16

general purpose variable #16

for use in TMCLTM applications

-231…+231

17

general purpose variable #17

for use in TMCLTM applications

-231…+231

18

general purpose variable #18

for use in TMCLTM applications

-231…+2

31

19

general purpose variable #19

for use in TMCLTM applications

-231…+231

20..55

general purpose variables #20..#55

for use in TMCLTM applications

-231…+231

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$09

$42

$00

$03

$4f

Global parameters of bank 2, which can be used for SGP:

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

Please refer to chapter 7 for more information about bank 0 to 2.

Example:

Set the serial address of the target device to 3

Mnemonic: SGP 66, 0, 3

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 37

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

10

(see chapter 6)

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Number

Global parameter

Description

Range

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

65

RS232/RS485 baud rate

0

9600 baud (default)

1

14400 baud

2 19200 baud

3

28800 baud

4

38400 baud

5 57600 baud

6

76800 baud

Not supported by Windows!

7

115200 baud

8 230400 baud

9

250000 baud

Not supported by Windows!

10

500000 baud

Not supported by Windows!

11

1000000 baud

Not supported by Windows!

0…11

66

serial address

The module (target) address for RS-232/RS-485.

0…255

67

ASCII mode

Configure the TMCLTM 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

5.7.10 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, only bank 0 and 1 are used for global parameters, and bank 2 is used for user variables. Please refer to chapter 7 for a complete parameter list.

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

Related commands: SGP, STGP, RSGP, AGP

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

Binary representation:

Reply in direct mode:

Global parameters of bank 0, which can be used for GGP:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 38

Number

Global parameter

Description

Range

69

CAN bit rate

1

10kBit/s

2 20kBit/s

3

50kBit/s

4

100kBit/s

5 125kBit/s

6

250kBit/s

7

500kBit/s

8 1000kBit/s

Default

1..7

70

CAN reply ID

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

0..7ff

71

CAN ID

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

0..7ff

73

configuration EEPROM lock flag

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

0/1

75

telegram pause time

Pause time before the reply via RS232 or RS485 is sent. For RS232 set to 0. For RS485 it is often necessary to set it to 15 (for RS485 adapters controlled by the RTS pin). For CAN interface this parameter has no effect!

0…255

76

serial host address

Host address used in the reply telegrams sent back via RS232 or RS485.

0..255

77

auto start mode

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

0/1

80

shutdown pin functionality

Select the functionality of the SHUTDOWN pin 0 – no function 1 – high active 2 – low active

0..2

81

TMCLTM code protection

Protect a TMCLTM 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 TMCLTM program will be wiped off.

0,1,2,3

83

CAN secondary address

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

0..7ff

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

128

TMCLTM application status

0 –stop 1 – run 2 – step 3 – reset

0..3

129

download mode

0 – normal mode 1 – download mode

0/1

130

TMCLTM program counter

The index of the currently executed TMCLTM instruction.

132

tick timer

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

133

random number

Choose a random number. Read only!

0…21474

83647

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 39

Global parameters of bank 1, which can be used for GGP:

The global parameter bank 1 is normally not available, but can be used for customer specific extensions of the firmware.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 40

Number

Global parameter

Description

Range

0

general purpose variable #0

for use in TMCLTM applications

-231…+2

31

1

general purpose variable #1

for use in TMCLTM applications

-231…+231

2

general purpose variable #2

for use in TMCLTM applications

-231…+231

3

general purpose variable #3

for use in TMCLTM applications

-231…+2

31

4

general purpose variable #4

for use in TMCLTM applications

-231…+231

5

general purpose variable #5

for use in TMCLTM applications

-231…+231

6

general purpose variable #6

for use in TMCLTM applications

-231…+2

31

7

general purpose variable #7

for use in TMCLTM applications

-231…+231

8

general purpose variable #8

for use in TMCLTM applications

-231…+231

9

general purpose variable #9

for use in TMCLTM applications

-231…+2

31

10

general purpose variable #10

for use in TMCLTM applications

-231…+231

11

general purpose variable #11

for use in TMCLTM applications

-231…+231

12

general purpose variable #12

for use in TMCLTM applications

-231…+2

31

13

general purpose variable #13

for use in TMCLTM applications

-231…+231

14

general purpose variable #14

for use in TMCLTM applications

-231…+231

15

general purpose variable #15

for use in TMCLTM applications

-231…+2

31

16

general purpose variable #16

for use in TMCLTM applications

-231…+231

17

general purpose variable #17

for use in TMCLTM applications

-231…+231

18

general purpose variable #18

for use in TMCLTM applications

-231…+2

31

19

general purpose variable #19

for use in TMCLTM applications

-231…+231

20..55

general purpose variables #20..#55

for use in TMCLTM applications

-231…+231

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$0a

$42

$00

$4d

Byte Index

0 1 2 3 4 5 6 7 8

Function

Host-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$02

$01

$64

$0a

$00

$01

$72

Global parameters of bank 2, which can be used for GGP:

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

Please refer to chapter 7 for more information about bank 0 to 2.

Example:

Get the serial address of the target device

Mnemonic: GGP 66, 0

Binary:

Reply:

 Status=no error, Value=1

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 41

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

11

(see chapter 8)

(see chapter 8)

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Number

Global parameter

Description

0

general purpose variable #0

for use in TMCLTM applications

1

general purpose variable #1

for use in TMCLTM applications

2

general purpose variable #2

for use in TMCLTM applications

3

general purpose variable #3

for use in TMCLTM applications

4

general purpose variable #4

for use in TMCLTM applications

5

general purpose variable #5

for use in TMCLTM applications

6

general purpose variable #6

for use in TMCLTM applications

7

general purpose variable #7

for use in TMCLTM applications

8

general purpose variable #8

for use in TMCLTM applications

9

general purpose variable #9

for use in TMCLTM applications

10

general purpose variable #10

for use in TMCLTM applications

11

general purpose variable #11

for use in TMCLTM applications

12

general purpose variable #12

for use in TMCLTM applications

13

general purpose variable #13

for use in TMCLTM applications

14

general purpose variable #14

for use in TMCLTM applications

15

general purpose variable #15

for use in TMCLTM applications

16

general purpose variable #16

for use in TMCLTM applications

17

general purpose variable #17

for use in TMCLTM applications

18

general purpose variable #18

for use in TMCLTM applications

5.7.11 STGP (store global parameter)

This command is used to store TMCLTM 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 (see the list of global parameters in chapter 7).

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:

Reply in direct mode:

Global parameters of bank 0, which can be used for STGP:

The global parameter bank 0 is not required for the STGP command, because these parameters are automatically stored with the SGP command in EEPROM.

Global parameters of bank 1, which can be used for STGP:

The global parameter bank 1 is normally not available, but can be used in customer specific extensions of the firmware.

Global parameters of bank 2, which can be used for STGP:

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

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 42

Number

Global parameter

Description

19

general purpose variable #19

for use in TMCLTM applications

20..55

general purpose variables #20..#55

for use in TMCLTM applications

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$0b

$2a

$02

$00

$38

Example:

Store the user variable #42

Mnemonic: STGP 42, 2

Binary:

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

7.1). In direct mode, the error code 5 (configuration EEPROM locked, see also section 5.2.1) will be returned in this case.

Please refer to chapter 7 for more information about bank 0 to 2.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 43

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

8

0*

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Number

Global parameter

Description

0

general purpose variable #0

for use in TMCLTM applications

1

general purpose variable #1

for use in TMCLTM applications

2

general purpose variable #2

for use in TMCLTM applications

3

general purpose variable #3

for use in TMCLTM applications

4

general purpose variable #4

for use in TMCLTM applications

5

general purpose variable #5

for use in TMCLTM applications

6

general purpose variable #6

for use in TMCLTM applications

7

general purpose variable #7

for use in TMCLTM applications

8

general purpose variable #8

for use in TMCLTM applications

9

general purpose variable #9

for use in TMCLTM applications

10

general purpose variable #10

for use in TMCLTM applications

11

general purpose variable #11

for use in TMCLTM applications

12

general purpose variable #12

for use in TMCLTM applications

13

general purpose variable #13

for use in TMCLTM applications

14

general purpose variable #14

for use in TMCLTM applications

15

general purpose variable #15

for use in TMCLTM applications

16

general purpose variable #16

for use in TMCLTM applications

17

general purpose variable #17

for use in TMCLTM applications

5.7.12 RSGP (restore global parameter)

With this command the contents of a TMCLTM 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 (see axis parameter list in chapter 7). A single parameter that has been changed before can be reset by this instruction.

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

Relate commands: SAP, STAP, GAP, and AAP

Mnemonic: RSAP <parameter number>, 0

Binary representation:

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

Reply structure in direct mode:

Global parameters of bank 0, which can be used for RSGP:

The global parameter bank 0 is not required for the RSGP command, because these parameters are automatically stored with the SGP command in EEPROM.

Global parameters of bank 1, which can be used for RSGP:

The global parameter bank 1 is normally not available, but can be used in customer specific extensions of the firmware.

Global parameters of bank 2, which can be used for RSGP:

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

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 44

Number

Global parameter

Description

18

general purpose variable #18

for use in TMCLTM applications

19

general purpose variable #19

for use in TMCLTM applications

20..55

general purpose variables #20..#55

for use in TMCLTM applications

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$0c

$2a

$02

$00

$39

Please refer to chapter 7 for more information about bank 0 to 2.

Example:

Restore the maximum current of motor

Mnemonic: RSGP 6, 0

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 45

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

13

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

0*

(don't care)

STATUS

VALUE

100 – OK

(don't care)

STATUS

VALUE

100 – OK

0 – no ref. search active other values – ref. search is active

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$0d

$00

$0f

5.7.13 RFS (reference search)

The PD-140-42-SE 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 TMCLTM 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 (chapter6). The reference search can be started, stopped, and the actual status of the reference search can be checked.

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

Related commands: WAIT

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

Binary representation:

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

Reply in direct mode:

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

When using type 2 (STATUS):

Example:

Start reference search of motor

Mnemonic: RFS START, 0

Binary:

With this PANdrive it is possible to use stall detection instead of a reference search. Please see section 8 for details.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 46

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

14

<value>

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$0e

$07

$02

$00

$01

$19

I/O port

Command

Range

5

OUT_0

SIO 0, 2, <n>, (n=0/1)

1/0

6

OUT_1

SIO 1, 2, <n>, (n=0/1)

1/0

5.7.14 SIO (set output)

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

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

Related commands: GIO, WAIT

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

Binary representation:

Reply structure:

Example:

Set OUT_7 to high (bank 2, output 7; general purpose output)

Mnemonic: SIO 7, 2, 1

Binary:

Available I/O ports of PD-140-42-SE:

Addressing both 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 both 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

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 47

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

15

(don't care)

STATUS

VALUE

100 – OK

<status of the

port>

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$0f

$03

$01

$00

$14

Byte Index

0 1 2 3 4 5 6 7 8

Function

Host-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$02

$01

$64

$0f

$00

$01

$fa

$72

I/O port

Command

Range

7

IN_0

GIO 0, 0

0/1 8 IN_1

GIO 1, 0

0/1

5.7.15 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 10 bit result in the range of 0…1023. In stand-alone mode the requested value is copied to the "accumulator" (accu) for further processing purposes such as conditioned jumps. In direct mode the value is only output in the “value” field of the reply, without affecting the accumulator. The actual status of a digital output line can also be read.

Internal function: The specified line is read.

Related commands: SIO, WAIT

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

Binary representation:

Reply in direct mode:

Example:

Get the analogue value of ADC channel 3

Mnemonic: GIO 3, 1

Binary:

Reply:

 value: 506

5.7.15.1 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.

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.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 48

I/O port

Command

Range

7

IN_0

GIO 0, 1

0…1023

8

IN_1

GIO 1, 1

0…1023

I/O port

Command

Range

5

OUT_0

GIO 0, 2, <n>

1/0 6 OUT_1

GIO 1, 2, <n>

1/0

Use following program to represent the states of the input lines on the eight output lines:

Loop: GIO 255, 0

SIO 255, 2,-1

JA Loop

5.7.15.2 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.

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

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

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 49

INSTRUCTION NO.

TYPE

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)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$13

$02

$00

$FF

$EC

$78

5.7.16 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>

where <op> is ADD, SUB, MUL, DIV, MOD, AND, OR, XOR, NOT or LOAD

Binary representation:

Example:

Multiply accu by -5000

Mnemonic: CALC MUL, -5000

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 50

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

20

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$14

$00

$03

$e8

$00

5.7.17 COMP (compare)

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

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

while the program loads down. It does not make sense to use this command in direct mode.

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:

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:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 51

INSTRUCTION NO.

TYPE

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 9 EAL – external alarm 12 ESD – shutdown error

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$15

$05

$00

$0a

$25

5.7.18 JC (jump conditional)

The JC instruction enables a conditional jump to a fixed address in the TMCLTM 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 stand-alone operation only.

The host address and the reply are only used to take the instruction to the TMCL™ program memory while the program loads down. It does not make sense to use this command in direct mode. See the host-only control functions for details.

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

Related commands: JA, COMP, WAIT, CLE

Mnemonic: JC <condition>, <label>

where <condition>=ZE|NZ|EQ|NE|GT|GE|LT|LE|ETO|EAL|EDV|EPO

Binary representation:

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:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 52

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

22

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$16

$00

$14

$2b

5.7.19 JA (jump always)

Jump to a fixed address in the TMCLTM program memory. This command is intended for stand-alone operation only.

Note that the host address and the reply is only used to transfer this instruction to the TMCLTM program memory. This command cannot be used in direct mode.

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

Related commands: JC, WAIT, CSUB

Mnemonic: JA <Label>

Binary representation:

Example: An infinite loop in TMCLTM

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:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 53

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

23

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$17

$00

$64

$7c

5.7.20 CSUB (call subroutine)

This function calls a subroutine in the TMCLTM program memory. It is intended for stand-alone operation only.

The host address and the reply are only used to take the instruction to the TMCL™ program memory . It does not make sense to use this command in direct mode.

Internal function: The actual TMCLTM 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:

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:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 54

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

24

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$18

$00

$19

5.7.21 RSUB (return from subroutine)

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

Note that the host address and the reply is only used to transfer this instruction to the TMCLTM program memory. This command cannot be used in direct mode.

Internal function: The TMCLTM 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:

Example: please see the CSUB example (section Fehler! Verweisquelle konnte nicht gefunden werden.).

Binary format of RSUB:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 55

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

27

0 TICKS - timer ticks*1

(don't care)

<no. of ticks*>

1 POS - target position reached

0*2

0..2 resp. 0..5

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

2 REFSW – reference switch

0

0..2 resp. 0..5

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

3 LIMSW – limit switch

0

0..2 resp. 0..5

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

4 RFS – reference search completed

0

0..2 resp. 0..5

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

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$1b

$01

$00

$1e

5.7.22 WAIT (wait for an event to occur)

This instruction interrupts the execution of the TMCLTM program until the specified condition is met. This command is intended for stand-alone operation only.

Note that the host address and the reply is only used to transfer this instruction to the TMCLTM program memory. This command is not to be used in direct mode.

There are five different wait conditions that can be used:

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

 POS: Wait until the target position of the motor specified by the <motor> parameter has been

reached. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.

 REFSW: Wait until the reference switch of the motor specified by the <motor> parameter has

been triggered. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.

 LIMSW: Wait until a limit switch of the motor specified by the <motor> parameter has been

triggered. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.

 RFS: Wait until the reference search of the motor specified by the <motor> field has been

reached. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.

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

Internal function: The TMCLTM program counter is held until the specified condition is met.

Related commands: JC, CLE

Mnemonic: WAIT <condition>, 0, <ticks>

where <condition> is TICKS|POS|REFSW|LIMSW|RFS

Binary representation:

1

*

one tick is 10 milliseconds (in standard firmware)

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

Example:

Wait for motor to reach its target position, without timeout

Mnemonic: WAIT POS, 0, 0

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 56

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

28

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$1c

$00

$1d

5.7.23 STOP (stop TMCL

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

This command should be placed at the end of every stand-alone TMCLTM program. It is not to be used in direct mode.

Internal function: TMCLTM instruction fetching is stopped.

Related commands: none Mnemonic: STOP

Binary representation:

Example:

Mnemonic: STOP

Binary:

TM

program execution)

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 57

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

30

(0…20)

0*

(-223…+223)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$1e

$01

$00

$03

$e8

$0d

5.7.24 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:

* Motor number is always 0 as only one motor is involved

Reply in direct mode:

Example:

Set coordinate #1 of motor to 1000

Mnemonic: SCO 1, 0, 1000

Binary:

With TMCLTM version 4.18 and higher, 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 special 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.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 58

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

31

(0…20)

0*

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$1f

$01

$00

$23

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$02

$01

$64

$0a

$00

$86

5.7.25 GCO (get coordinate)

This command makes possible to read out a previously stored coordinate. In stand-alone 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:

* Motor number is always 0 as only one motor is involved

Reply in direct mode:

Example:

Get motor value of coordinate 1

Mnemonic: GCO 1, 0

Binary:

Reply:

 Value: 0

With TMCLTM version 4.18 and higher, 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 special 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.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 59

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

32

(0…20)

0*

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$20

$03

$00

$2b

5.7.26 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>, 0

Binary representation:

* Motor number is always 0 as only one motor is involved

Reply in direct mode:

Example:

Store current position of the axe to coordinate 3

Mnemonic: CCO 3, 0

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 60

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

39

(0…20)

0*

(don’t care)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$27

$01

$00

$29

5.7.27 ACO (accu to coordinate; valid from TMCL

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, that this command is valid from TMCLTM version 4.18 and TMCL-IDE version 1.77 on.

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:

TM

version 4.18 on)

* Motor number is always 0 as only one motor is involved

Reply in direct mode:

Example:

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

Mnemonic: ACO 1, 0

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 61

INSTRUCTION NO.

TYPE

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)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$21

$02

$00

$24

5.7.28 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>

with <operation>=ADD|SUB|MUL|DIV|MOD|AND|OR|XOR|NOT|LOAD|SWAP

Binary representation:

Example:

Multiply accu by X-register

Mnemonic: CALCX MUL Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 62

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

34

<parameter

number>

0*

<don't care>

STATUS

VALUE

100 – OK

(don't care)

Number

Axis Parameter

Description

0

target (next) position

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

1

actual position

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

2

target (next) speed

The desired speed in velocity mode (see ramp mode, no.

138). In position mode, this parameter is set by hardware: to the maximum speed during acceleration, and to zero during deceleration and rest.

3

actual speed

The current rotation speed.

4

maximum positioning speed

Should not exceed the physically highest possible value. Adjust the pulse divisor (no. 154), if the speed value is very low (<50) or above the upper limit. See TMC 428 datasheet for calculation of physical units.

5

maximum acceleration

The limit for acceleration (and deceleration). 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 for calculation of physical units.

6

absolute max. current

The most important motor setting, since too high values might cause motor damage! The maximum value is 255 (which mean 100% of the maximum current of the module).

7

standby current

The current limit two seconds after the motor has stopped. The value range of this parameter is the same as with parameter 6.

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.

130

minimum speed

Should always be set 1 to ensure exact reaching of the target position. Normally no need to change.

5.7.29 AAP (accumulator to axis parameter)

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

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

Mnemonic: AAP <parameter number>, 0

Binary representation:

* Motor number is always 0 as only one motor is involved

Reply in direct mode:

List of parameters, which can be used for AAP:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 63

Number

Axis Parameter

Description

138

ramp mode

Automatically set when using ROR, ROL, MST and MVP. 0: position mode. Steps are generated, when the parameters actual position and target position differ. Trapezoidal speed ramps are provided. 2: velocity mode. The motor will run continuously and the speed will be changed 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 *) 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.

149

soft stop flag

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

153

ramp divisor

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

154

pulse divisor

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

193

referencing mode

1 – Only the left reference switch is searched. 2 – The right switch is searched and afterwards the left switch is searched. 3 – Three-switch-mode: the right switch is searched first and afterwards the reference switch will be searched. Please see chapter 5.7.13 for details on reference search.

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.

203

mixed decay threshold

If the actual velocity is above this threshold, mixed decay will be used. Since V3.13, this can also be set to –1 which turns on mixed decay permanently also in the rising part of the microstep wave. This can be used to fix microstep errors.

204

freewheeling

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

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Number

Axis Parameter

Description

205

stall detection threshold

Stall detection threshold. Set it to 0 for no stall detection or to a value between 1 (low threshold) and 7 (high threshold). The motor will be stopped if the load value exceeds the stall detection threshold. Switch off mixed decay to get usable results.

209

encoder position

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

210

encoder prescaler

Prescaler for the encoder.

211

fullstep threshold

When exceeding this speed the driver will switch to real full step mode. To disable this feature set this parameter to zero or to a value greater than 2047. Setting a full step threshold allows higher motor torque of the motor at higher velocity. When experimenting with this in a given application, try to reduce the motor current in order to be able to reach a higher motor velocity!

212

maximum encoder deviation

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

214

power down delay

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

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$22

$00

$23

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:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 65

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

35

<parameter

number>

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Number

Global parameter

Description

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.

65

RS232/RS485 baud rate

0

9600 baud

Default

1

14400 baud

2 19200 baud

3

28800 baud

4

38400 baud

5 57600 baud

6

76800 baud

Not supported by Windows!

7

115200 baud

8 230400 baud

9

250000 baud

Not supported by Windows!

10

500000 baud

Not supported by Windows!

11

1000000 baud

Not supported by Windows!

66

serial address

The module (target) address for RS-232/RS-485.

67

ASCII mode

Configure the TMCLTM 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

69

CAN bit rate

1

10kBit/s

2

20kBit/s

3

50kBit/s

4 100kBit/s

5

125kBit/s

6

250kBit/s

7

500kBit/s

8

1000kBit/s

Default

5.7.30 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 stand-alone application. (See chapter 7 for a complete list of global parameters).

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

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

Binary representation:

Reply in direct mode:

Global parameters of bank 0, which can be used for AGP:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 66

Number

Global parameter

Description

70

CAN reply ID

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

71

CAN ID

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

73

configuration EEPROM lock flag

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

75

telegram pause time

Pause time before the reply via RS232 or RS485 is sent. For RS232 set to 0. For RS485 it is often necessary to set it to 15 (for RS485 adapters controlled by the RTS pin). For CAN interface this parameter has no effect!

76

serial host address

Host address used in the reply telegrams sent back via RS232 or RS485.

77

auto start mode

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

80

shutdown pin functionality

Select the functionality of the SHUTDOWN pin 0 – no function 1 – high active 2 – low active

81

TMCLTM code protection

Protect a TMCLTM 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 TMCLTM program will be wiped off.

83

CAN secondary address

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

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

132

tick timer

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

Number

Global parameter

Description

0

general purpose variable #0

for use in TMCLTM applications

1

general purpose variable #1

for use in TMCLTM applications

2

general purpose variable #2

for use in TMCLTM applications

3

general purpose variable #3

for use in TMCLTM applications

4

general purpose variable #4

for use in TMCLTM applications

5

general purpose variable #5

for use in TMCLTM applications

6

general purpose variable #6

for use in TMCLTM applications

7

general purpose variable #7

for use in TMCLTM applications

8

general purpose variable #8

for use in TMCLTM applications

Global parameters of bank 1, which can be used for AGP:

The global parameter bank 1 is normally not available, but can be used in customer specific extensions of the firmware.

Global parameters of bank 2, which can be used for AGP:

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

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 67

Number

Global parameter

Description

9

general purpose variable #9

for use in TMCLTM applications

10

general purpose variable #10

for use in TMCLTM applications

11

general purpose variable #11

for use in TMCLTM applications

12

general purpose variable #12

for use in TMCLTM applications

13

general purpose variable #13

for use in TMCLTM applications

14

general purpose variable #14

for use in TMCLTM applications

15

general purpose variable #15

for use in TMCLTM applications

16

general purpose variable #16

for use in TMCLTM applications

17

general purpose variable #17

for use in TMCLTM applications

18

general purpose variable #18

for use in TMCLTM applications

19

general purpose variable #19

for use in TMCLTM applications

20..55

general purpose variables #20..#55

for use in TMCLTM applications

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$23

$03

$02

$00

$29

Please refer to chapter 7 for more information about bank 0 to 2.

Example:

Copy accumulator to TMCLTM user variable #3

Mnemonic: AGP 3, 2

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 68

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

36

0 – (ALL) all flags 1 – (ETO) timeout flag 2 – (EAL) alarm flag 3 – (EDV) deviation flag 4 – (EPO) position flag 5 – (ESD) shutdown flag

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$24

$01

$00

$26

5.7.31 CLE (clear error flags)

This command clears the internal error flags. It is intended for use in stand-alone mode only and must not be used in direct mode.

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

 ALL: clear all error flags.

 ETO: clear the timeout flag.

 EAL: clear the external alarm flag

 EDV: clear the deviation flag (modules with encoder feedback only, e.g. TMCM-100)

 EPO: clear the position error flag (modules with encoder feedback only, e.g. TMCM-100)

Related commands: JC

Mnemonic: CLE <flags>

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

Binary representation:

Example:

Reset the timeout flag

Mnemonic: CLE ETO

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 69

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

64…71

(user defined)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$02

$01

(user

defined)

64…71

(user

defined)

(user

defined)

(user

defined)

(user

defined)

<checksum

>

5.7.32 Customer specific TMCL

TM

command extension (UF0…UF7/user

function)

The user definable functions UF0…UF7 are predefined, functions without topic for user specific purposes. Contact TRINAMIC for the customer specific programming of these functions.

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

Related commands: none

Mnemonic: UF0…UF7

Binary representation:

Reply in direct mode:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 70

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

138

(don’t care)

0*

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$02

$01

100

138

$00

Motor bit

mask

<checksum

>

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$02

$01

128

138

$00

Motor bit

mask

<checksum

>

5.7.33 Request target position reached event

This command is the only exception to the TMCLTM 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

stand alone 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:

* Motor number

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

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

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 71

5.7.34 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.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 72

Instruction

Description

Type

Mot/Bank

Value

128 – stop application

a running TMCLTM stand-alone application is stopped

(don't care)

129 – run application

TMCLTM execution is started (or continued)

0 - run from current address 1 - run from specified address

(don't care)

starting address

130 – step application

only the next command of a TMCLTM application is executed

(don't care)

131 – reset application

the program counter is set to zero, and the stand-alone application is stopped (when running or stepped)

(don't care)

132 – start download mode

target command execution is stopped and all following commands are transferred to the TMCLTM memory

(don't care)

starting address of the application 133 – quit download mode

target command execution is resumed

(don't care)

134 – read TMCLTM memory

the specified program memory location is read

(don't care)

135 – get application status

one of these values is returned: 0 – stop 1 – run 2 – step 3 – reset

(don't care)

136 – get firmware version

return the module type and firmware revision either as a string or in binary format

0 – string 1 – binary

(don’t care)

137 – restore factory settings

reset all settings stored in the EEPROM to their factory defaults This command does not send back a reply.

(don’t care)

must be 1234

138 – reserved

139 – enter ASCII mode

Enter ASCII command line (see chapter 5.6)

(don’t care)

5.7.35 TMCL

The following functions are for host control purposes only and are not allowed for stand-alone mode. In most cases, there is no need for the customer to use one of those functions (except command 139).

They are mentioned here only for reasons of completeness. These commands have no mnemonics, as they cannot be used in TMCLTM programs. The Functions are to be used only by the TMCL-IDE to communicate with the module, for example to download a TMCLTM application into the module.

The only control commands that could be useful for a user host application are:

 get firmware revision (command 136, please note the special reply format of this command,

 run application (command 129)

All other functions can be achieved by using the appropriate functions of the TMCL-IDE.

TM

Control Functions

described at the end of this section)

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 73

Byte index

Contents

1

Host Address

2..9

Version string (8 characters, e.g. 140V2.50

Byte index in value field

Contents

1

Version number, low byte

2

Version number, high byte

3

Type number, low byte (currently not used)

4

Type number, high byte (currently not used)

Special reply format of command 136:

Type set to 0 - reply as a string:

 There is no checksum in this reply format!  To get also the last byte when using the CAN bus interface, just send this command in an eight

byte frame instead of a seven byte frame. Then, eight bytes will be sent back, so you will get all

characters of the version string.

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:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 74

Number

Axis Parameter

Description

Range

Access

0

target (next) position

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

 2

23

RW 1 actual position

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

 223

RW

2

target (next) speed

The desired speed in velocity mode (see ramp mode, no.

138). In position mode, this parameter is set by hardware: to the maximum speed during acceleration, and to zero during deceleration and rest.

2047

RW

3

actual speed

The current rotation speed.

2047

RW

4

maximum positioning speed

Should not exceed the physically highest possible value. Adjust the pulse divisor (no. 154), if the speed value is very low (<50) or above the upper limit. See TMC 428 datasheet for calculation of physical units.

0...2047

RWE

5

maximum acceleration

The limit for acceleration (and deceleration). 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 for calculation of physical units.

0... 2047

RWE 6

absolute max. current

The most important motor setting, since too high values might cause motor damage! The maximum value is 255 (which means 100% of the maximum current of the module).

0..255

RWE

7

standby current

The current limit two seconds after the motor has stopped. The value range of this parameter is the same as with parameter 6.

0..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. See the TMC 428 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.

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 (in three switch mode)

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

130

minimum speed

Should always be set 1 to ensure exact reaching of the target position. Normally no need to change.

0... 2047

RWE 135

actual acceleration

The current acceleration. Read only!

0... 2047

R

6 Axis parameters

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

Meaning of the letters in column “Access”:

R = readable (GAP) W = writable (SAP) E = automatically restored from EEPROM after reset or power-on

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 75

Number

Axis Parameter

Description

Range

Access

138

ramp mode

Automatically set when using ROR, ROL, MST and MVP. 0: position mode. Steps are generated, when the parameters actual position and target position differ. Trapezoidal speed ramps are provided. 2: velocity mode. The motor will run continuously and the speed will be changed with constant (maximum) acceleration, if the parameter "target speed" is changed. For special purposes, the soft mode (value 1) with exponential decrease of speed can be selected.

0/1/2

RWE

140

microstep resolution

0 – full step*) 1 – half step*) 2 – 4 microsteps 3 – 8 microsteps 4 – 16 microsteps 5 – 32 microsteps**) 6 – 64 microsteps**) Note that modifying this parameter will affect 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.

0…6

RWE

149

soft stop flag

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

0/1

RWE

153

ramp divisor

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

0…13

RWE

154

pulse divisor

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

0…13

RWE

193

referencing mode

1 – Only the left reference switch is searched. 2 – The right switch is searched and afterwards the left switch is searched. 3 – Three-switch-mode: the right switch is searched first and afterwards the reference switch will be searched. Please see chapter 5.7.13 for details on reference search.

1/2/3

RWE

194

referencing search speed

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

0…2047

RWE 195

referencing switch speed

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

0..2047

RWE

196

distance end switches

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

0… 8388307

R

203

mixed decay threshold

If the actual velocity is above this threshold, mixed decay will be used. Since V3.13, this can also be set to –1 which turns on mixed decay permanently also in the rising part of the microstep wave. This can be used to fix microstep errors.

0..2048 or -1

RWE

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 76

Number

Axis Parameter

Description

Range

Access

204

freewheeling

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

0…65535 0 = never

RWE

205

stall detection threshold

Stall detection threshold. Set it to 0 for no stall detection or to a value between 1 (low threshold) and 7 (high threshold). The motor will be stopped if the load value exceeds the stall detection threshold. Switch off mixed decay to get usable results.

0..7

RWE

206

actual load value

Readout of the actual load value used for stall detection.

0..7

R

208

Driver Error flags

TMC236 error flags. Read only!

R

209

encoder position

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

RW 210

encoder prescaler

Prescaler for the encoder.

RWE

211

fullstep threshold

When exceeding this speed the driver will switch to real full step mode. To disable this feature set this parameter to zero or to a value greater than 2047. Setting a full step threshold allows higher motor torque of the motor at higher velocity. When experimenting with this in a given application, try to reduce the motor current in order to be able to reach a higher motor velocity!

0..2048

RWE

212

maximum encoder deviation

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

0…65535

RWE 214

power down delay

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

from 10msec on

RWE

215

absolute encoder value

Absolute value of the encoder. Read only!

0…4095

R

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 77

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

65

RS232/RS485 baud rate

0

9600 baud (default)

1

14400 baud

2 19200 baud

3

28800 baud

4

38400 baud

5 57600 baud

6

76800 baud

Not supported by Windows!

7

115200 baud

8 230400 baud

9

250000 baud

Not supported by Windows!

10

500000 baud

Not supported by Windows!

11

1000000 baud

Not supported by Windows!

0…11

RWE

66

serial address

The module (target) address for RS-232/RS-485.

0…255

RWE

67

ASCII mode

Configure the TMCLTM 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

7 Global parameters

The global parameters apply for all types of TMCM modules.

They are grouped into 3 banks:

 bank 0 (global configuration of the module)  bank 1 (user C variables)  bank 2 (user TMCL

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

7.1 Bank 0

Parameters with numbers from 64 on configure stuff like the serial address of the module RS232/RS485 baud rate or the CAN bit rate. Change these parameters to meet your needs. The best and easiest way to do this is to use the appropriate functions of the TMCL-IDE. The parameters with numbers between 64 and 128 are stored in EEPROM only.

An SGP command on such a parameter will always store it permanently and no extra STGP command is needed.

Take care when changing these parameters, and use the appropriate functions of the TMCL-IDE to do it in an interactive way.

Meaning of the letters in column “Access”:

 R = readable (GGP)  W = writeable (SGP)  E = automatically restored from EEPROM after reset or power-on.

Note: The PDx-140-42-SE does not have the parameters 0…38. They are used for modules which address

more than one motor.

TM

variables)

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 78

Number

Global parameter

Description

Range

Access

69

CAN bit rate

1

10kBit/s

2 20kBit/s

3

50kBit/s

4

100kBit/s

5 125kBit/s

6

250kBit/s

7

500kBit/s

8 1000kBit/s

Default

1..7

RWE

70

CAN reply ID

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

0..7ff

RWE

71

CAN ID

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

0..7ff

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

75

telegram pause time

Pause time before the reply via RS232 or RS485 is sent. For RS232 set to 0. For RS485 it is often necessary to set it to 15 (for RS485 adapters controlled by the RTS pin). For CAN interface this parameter has no effect!

0…255

RWE

76

serial host address

Host address used in the reply telegrams sent back via RS232 or RS485.

0..255

RWE

77

auto start mode

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

0/1

RWE

80

shutdown pin functionality

Select the functionality of the SHUTDOWN pin 0 – no function 1 – high active 2 – low active

0..2

RWE

81

TMCLTM code protection

Protect a TMCLTM 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 TMCLTM program will be wiped off.

0,1,2,3

RWE

83

CAN secondary address

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

0..7ff

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

128

TMCLTM 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

TMCLTM program counter

The index of the currently executed TMCLTM 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…21474

83647

R

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 79

7.2 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 7.3) these variables form the interface between extensions of the firmware (written in C) and TMCLTM applications.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 80

Number

Global parameter

Description

Range

Access

0

general purpose variable #0

for use in TMCLTM applications

-231…+2

31

RWE

1

general purpose variable #1

for use in TMCLTM applications

-231…+231

RWE

2

general purpose variable #2

for use in TMCLTM applications

-231…+231

RWE

3

general purpose variable #3

for use in TMCLTM applications

-231…+2

31

RWE

4

general purpose variable #4

for use in TMCLTM applications

-231…+231

RWE

5

general purpose variable #5

for use in TMCLTM applications

-231…+231

RWE

6

general purpose variable #6

for use in TMCLTM applications

-231…+2

31

RWE

7

general purpose variable #7

for use in TMCLTM applications

-231…+231

RWE

8

general purpose variable #8

for use in TMCLTM applications

-231…+231

RWE

9

general purpose variable #9

for use in TMCLTM applications

-231…+2

31

RWE

10

general purpose variable #10

for use in TMCLTM applications

-231…+231

RWE

11

general purpose variable #11

for use in TMCLTM applications

-231…+231

RWE

12

general purpose variable #12

for use in TMCLTM applications

-231…+2

31

RWE

13

general purpose variable #13

for use in TMCLTM applications

-231…+231

RWE

14

general purpose variable #14

for use in TMCLTM applications

-231…+231

RWE

15

general purpose variable #15

for use in TMCLTM applications

-231…+2

31

RWE

16

general purpose variable #16

for use in TMCLTM applications

-231…+231

RWE

17

general purpose variable #17

for use in TMCLTM applications

-231…+231

RWE

18

general purpose variable #18

for use in TMCLTM applications

-231…+2

31

RWE

19

general purpose variable #19

for use in TMCLTM applications

-231…+231

RWE

20..55

general purpose variables #20..#55

for use in TMCLTM applications

-231…+231

RWE

7.3 Bank 2

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

Up to 56 user variables are available.

Meaning of the letters in column “Access”:

 R = readable (GGP)  W = writeable (SGP)  E = automatically restored from EEPROM after reset or power-on.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 81

Right Stop

Switch

Traveller

Left Stop

Switch

Reference

Switch

Negative Direction

Positive

Direction

left stop

sw itch

right stop

sw itch

REF_L_x REF_R_x

motor

traveller

Two limit switches

left stop

switch

reference

switch

right stop

switch

REF_L_x REF_R_x

motor

travel ler

Limit switches with extra reference switch

motor

ref sw itch

eccentric

REF_L_x

Circular system

8 Hints and tips

This chapter gives some hints and tips on using the functionality of TMCLTM, for example how to use and parameterize the built-in reference point search algorithm or the incremental encoder interface.

8.1 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 three individual state machines (one per axis) that can be started, stopped and monitored (instruction RFS, no. 13). The settings of the automatic stop functions corresponding to the switches (axis parameters 12 and 13) have no influence on the reference search.

Definition of the switches

 Selecting the referencing mode (axis parameter 193): in modes 1 and 2, the motor will start by moving

"left" (negative position counts). In mode 3 (three-switch mode), the right stop switch is searched first to distinguish the left stop switch from the reference switch by the order of activation when moving left (reference switch and left limit switch share the same electrical function).

 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 right until the switch is released. Finally the

switch is re-entered in left 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).

 In the drawings shown here the connection of the left and the right limit switch can be seen. Also the

connection of three switches as left and right limit switch and a reference switch for the reference point are shown. The reference switch is connected in series with the left limit switch. The differentiation between the left limit switch and the reference switch is made through software. Switches with open contacts (normally closed) are used.

 In circular systems there are no end points and thus only one reference switch is used for finding the

reference point.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 82

Value for

Resulting

prescaler

SAP command for motor 0 SAP 210, 0,

Suggestion for micro step solution (setting of parameter 140)

6400

12.5 (default)

SAP 210, 0, 6400

6 (64 micro steps)

3200

6.25

SAP 210, 0, 3200

5 (32 micro steps)

1600

3.125

SAP 210, 0, 1600

4 (16 micro steps)

800

1.5625

SAP 210, 0, 800

3 (8 micro steps)

400

0.78125

SAP 210, 0, 400

2 (4 micro steps)

200

0.390625

SAP 210, 0, 200

1 (2 micro steps)

Adder for

SAP command for motor 0 SAP 210, M0,

4

Clear encoder with next null channel event

Prescaler = _p_

512

8.2 Changing the prescaler value of an encoder

The PD-140-42-SE PANdrive™ is a full mechatronic solution including a 42mm flange high torque motor, a motion controller/driver and a integrated sensOstep™ encoder. The built-in encoder has 1024 steps/rotation.

For the operation with encoder please consider the following hints:

 The encoder counter can be read by software and can be used to control the exact position of the

motor. This also makes closed loop operation possible.

 To read out or to change the position value of the encoder, axis parameter #209 is used.

So, to read out the position of your encoder 0 use GAP 209, 0. The position values can also be

changed using command SAP 209, 0, <n>, with n = ± 0,1,2,…

 To change the encoder settings, axis parameter #210 is used. For changing the prescaler of the

encoder 0 use SAP 210, 0, .

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

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

To select a prescaler, the following values can be used for :

The table above just shows a subset of those prescalers that can be selected. Also other values between those given in the table can be used. Only the values 1, 2, 4, and 16 must not be used for (because they are needed to select the special encoder function below or rather are reserved for intern usage).

Consider the following formula for your calculation:

Example: = 6400 6400/512 = 12.5 (prescaler)

There is one special function that can also be configured using . To select it just add the following value to :

Add up both values from these tables to get the required value for the SAP 210 command. The resulting prescaler is Value/512.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 83

8.3 Stall detection

The module is equipped with TMC249 motor driver chips. These chips feature load measurement that can be used for stall detection. Stall detection means that the motor will be stopped when the load gets too high. It is controlled by axis parameter #205. If this parameter is set to a value between 1 and 7 the stall detection will be activated. Setting it to 0 means that stall detection is turned off. A greater value means a higher threshold. This also depends on the motor and on the velocity. There is no stall detection while the motor is being accelerated or decelerated.

Stall detection can also be used for finding the reference point. You can do this by using the following TMCLTM code:

SAP 205, 0, 5 //Turn on Stall Detection (use other threshold if needed) ROL 0, 500 //Let the motor run (or use ROR or other velocity) Loop: GAP 3, 0 COMP 0 JC NE, Loop //Wait until the motor has stopped SAP 1, 0, 0 //Set this position as the zero position

Do not use RFS in this case. Mixed decay should be switched off when StallGuard operational in order to get usable results.

8.4 Fixing microstep errors

Due to the “zero crossing problem” of the TMC249 stepper motor drivers, microstep errors may occur with some motors as the minimum motor current that can be reached is slightly higher than zero (depending on the inductivity, resistance and supply voltage of the motor).

This can be solved by setting the “mixed decay threshold” parameter (axis parameter number 203) to the

value –1. This switches on mixed decay permanently, in every part of the microstepping waveform. Now the minimum reachable motor current is always near zero which gives better microstepping results. A further optimization is possible by adapting the motor current shape. (For further information about TMCLIDE please refer to the TMCLTM reference and programming manual.)

Use SAP 203, <motor number>, -1 to turn on this feature.

8.5 Using the RS485 interface

With most RS485 converters that can be attached to the COM port of a PC the data direction is controlled by the RTS pin of the COM port. Please note that this will only work with Windows 2000, Windows XP or Windows NT4, not with Windows 95, Windows 98 or Windows ME (due to a bug in these operating systems). Another problem is that Windows 2000/XP/NT4 switches the direction back to “receive” too late. To

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

stored in the configuration EEPROM.

For RS232 set the “telegram pause time” to zero for maximum data throughput

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 84

Version

Date

Description

4.17

2009-02-28

First version supporting all TMCL

TM

features

Version

Date

Author

Description

1.00

2009-APR-24

SD

Initial version

1.02

2009-JUN-26

OK

Description of axis parameter 194 corrected

1.03

2009-JUL-17

OK

MVP COORD command corrected

1.04

2009-JUL-29

SD

Description of encoder prescaler added, minor changes

1.05

2009-OCT-21

GE

Pictures and order codes updated

9 Revision history

9.1 Firmware revision

9.2 Document revision

10 References

[TMCLTM] TMCLTM reference and programming manual (see http://www.trinamic.com)

Trinamic PD3-140-42-SE, TMCM-140-42-SE User guide

Specifications and Main Features

Frequently Asked Questions

User Manual