Trinamic TMCM-1021 FIRMWARE MANUAL

1-axis Stepper Controller / Driver

Up to 0.7A RMS / 24V DC RS485 Interface sensOstep Encoder

MODULE FOR STEPPER MOTORS MODULE

Firmware Version V1.19

TMCL™ FIRMWARE MANUAL

+

+ +

+

TMCM-1021

UNIQUE FEATURES:

TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 2

Table of Contents

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

2 Putting the Module into Operation ........................................................................................................................ 6

2.1 Basic Set-Up .......................................................................................................................................................... 6

2.1.1 Connecting the Module ............................................................................................................................... 6

2.1.2 Start the TMCL-IDE Software Development Environment ................................................................. 7

2.2 Using TMCL Direct Mode .................................................................................................................................... 8

2.2.1 Important Motor Settings ........................................................................................................................... 9

2.3 Testing with a Simple TMCL Program ......................................................................................................... 10

3 TMCL and the TMCL-IDE: Introduction ................................................................................................................. 11

3.1 Binary Command Format ................................................................................................................................ 11

3.2 Reply Format ....................................................................................................................................................... 12

3.2.1 Status Codes ................................................................................................................................................. 13

3.3 Standalone Applications .................................................................................................................................. 13

3.4 TMCL Command Overview .............................................................................................................................. 13

3.4.1 TMCL Commands ......................................................................................................................................... 13

3.4.2 Commands Listed According to Subject Area .................................................................................... 14

3.5 Commands ........................................................................................................................................................... 18

3.5.1 ROR (rotate right) ........................................................................................................................................ 18

3.5.2 ROL (rotate left) ........................................................................................................................................... 19

3.5.3 MST (motor stop)......................................................................................................................................... 20

3.5.4 MVP (move to position) ............................................................................................................................ 21

3.5.5 SAP (set axis parameter) ........................................................................................................................... 23

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

3.5.7 STAP (store axis parameter) ..................................................................................................................... 25

3.5.8 RSAP (restore axis parameter) ................................................................................................................. 26

3.5.9 SGP (set global parameter) ...................................................................................................................... 27

3.5.10 GGP (get global parameter)...................................................................................................................... 28

3.5.11 STGP (store global parameter) ................................................................................................................ 29

3.5.12 RSGP (restore global parameter) ............................................................................................................ 30

3.5.13 RFS (reference search) ................................................................................................................................ 31

3.5.14 SIO (set output) ........................................................................................................................................... 32

3.5.15 GIO (get input/output) ............................................................................................................................... 34

3.5.16 CALC (calculate) ............................................................................................................................................ 36

3.5.17 COMP (compare)........................................................................................................................................... 37

3.5.18 JC (jump conditional) ................................................................................................................................. 38

3.5.19 JA (jump always) ......................................................................................................................................... 39

3.5.20 CSUB (call subroutine) ............................................................................................................................... 40

3.5.21 RSUB (return from subroutine) ................................................................................................................ 41

3.5.22 WAIT (wait for an event to occur) ......................................................................................................... 42

3.5.23 STOP (stop TMCL program execution) ................................................................................................... 43

3.5.24 SCO (set coordinate) ................................................................................................................................... 44

3.5.25 GCO (get coordinate) .................................................................................................................................. 45

3.5.26 CCO (capture coordinate) .......................................................................................................................... 46

3.5.27 ACO .................................................................................................................................................................. 47

3.5.28 CALCX (calculate using the X register) .................................................................................................. 48

3.5.29 AAP (accumulator to axis parameter) .................................................................................................... 49

3.5.30 AGP (accumulator to global parameter) ............................................................................................... 50

3.5.31 CLE (clear error flags) ................................................................................................................................. 51

3.5.32 VECT (set interrupt vector) ........................................................................................................................ 52

3.5.33 EI (enable interrupt) ................................................................................................................................... 53

3.5.34 DI (disable interrupt) .................................................................................................................................. 54

3.5.35 RETI (return from interrupt) ..................................................................................................................... 55

3.5.36 Customer Specific TMCL Command Extension (UF0… UF7/user function) ................................... 56

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

3.5.38 TMCL Control Functions ............................................................................................................................. 58

4 Axis Parameters .......................................................................................................................................................... 60

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 3

4.1 Velocity Calculation ........................................................................................................................................... 65

4.2 stallGuard2 ........................................................................................................................................................... 66

4.3 coolStep Related Axis Parameters ................................................................................................................ 66

5 Global parameters ...................................................................................................................................................... 68

5.1 Bank 0 ................................................................................................................................................................... 68

5.2 Bank 1 ................................................................................................................................................................... 69

5.3 Bank 2 ................................................................................................................................................................... 70

5.4 Bank 3 ................................................................................................................................................................... 71

6 Hints and Tips ............................................................................................................................................................. 72

6.1 Reference Search ............................................................................................................................................... 72

6.2 Changing the Prescaler Value of an Encoder ............................................................................................ 75

6.3 Using the RS485 Interface .............................................................................................................................. 75

7 Life Support Policy ..................................................................................................................................................... 77

8 Revision History .......................................................................................................................................................... 78

8.1 Document Revision ........................................................................................................................................... 78

8.2 Firmware Revision ............................................................................................................................................ 78

9 References .................................................................................................................................................................... 78

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 4

1 Features

The TMCM-1021 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of the art feature set. It is highly integrated, offers a convenient handling and can be used in many decentralized applications. The module can be mounted on the back of NEMA11 (28mm flange size) and has been designed for coil currents up to 0.7A RMS and 24V DC supply voltage. With its high energy

efficiency from TRINAMIC’s coolStep™ technology cost for power consumption is kept down. The TMCL

firmware allows for both, standalone operation and direct mode.

MAIN CHARACTERISTICS

Highlights

- Motion profile calculation in real-time

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

- High performance microcontroller for overall system control and serial communication protocol

handling

- For position movement applications, where larger motors do not fit and higher torques are not

required

Bipolar stepper motor driver

- Up to 256 microsteps per full step

- High-efficient operation, low power dissipation

- Dynamic current control

- Integrated protection

- stallGuard2 feature for stall detection

- coolStep feature for reduced power consumption and heat dissipation

Encoder

- sensOstep magnetic encoder (max. 1024 increments per rotation) e.g. for step-loss detection under

all operating conditions and positioning supervision

Interfaces

- Up to 4 multi-purpose inputs (2 shared with outputs)

- 2 general purpose outputs

- RS485 2-wire communication interface

Software

- TMCL: standalone operation or remote controlled operation,

program memory (non volatile) for up to 876 TMCL commands, and PC-based application development software TMCL-IDE available for free.

Electrical and mechanical data

- Supply voltage: +24V DC nominal (9… 28V DC)

- Motor current: up to 0.7A RMS (programmable)

Refer to separate Hardware Manual, too.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 5

Load [Nm]

stallGuard2

Initial stallGuard2 (SG) value: 100%

Max. load

stallGuard2 (SG) value: 0 Maximum load reached. Motor close to stall.

Motor stalls

0

0,1

0,2

0,3

0,4

0,5

0,6

0,7

0,8

0,9

0 50 100 150 200 250 300 350

Efficiency

Velocity [RPM]

Efficiency with coolStep

Efficiency with 50% torque reserve

TRINAMICS UNIQUE FEATURES – EASY TO USE WITH TMCL

stallGuard2™ stallGuard2 is a high-precision sensorless load measurement using the back EMF on the

coils. It can be used for stall detection as well as other uses at loads below those which stall the motor. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum motor load, the value goes to zero or near to zero. This is the most energy-efficient point of operation for the motor.

Figure 1.1 stallGuard2 load measurement SG as a function of load

coolStep™ coolStep is a load-adaptive automatic current scaling based on the load measurement via

stallGuard2 adapting the required current to the load. Energy consumption can be reduced by as much as 75%. coolStep allows substantial energy savings, especially for motors which see varying loads or operate at a high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to 50%, even a constant-load application allows significant energy savings because coolStep automatically enables torque reserve when required. Reducing power consumption keeps the system cooler, increases motor life, and allows reducing cost.

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Figure 1.2 Energy efficiency example with coolStep

TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 6

PRECAUTIONS

Do not connect or disconnect the TMCM-1021 while powered! Do not connect or disconnect the motor while powered! Do not exceed the maximum power supply voltage of 28V DC! Note, that the module is not protected against reverse polarity! START WITH POWER SUPPLY OFF!

Stepper

Motor

Pin 1 B2 Pin 2 B1 Pin 3 A2 Pin 4 A1

Converter

e.g. USB-2-485

1

RS485 Pin 1 GND Pin 3 RS485+ Pin 4 RS485-

Note, that the GND pin has to be used for the power supply and for the RS485 interface.

Power Supply Pin 1 GND Pin 2 9… 28V DC

Figure 2.1: Starting up

2. Connect RS485 interface and power supply

Label

Description

1

GND

2

VDD

VDD (+9V…+28V)

3

RS485+

RS485 interface, diff. signal (noninverting)

4

RS485-

RS485 interface, diff. signal (inverting)

5

IN_0 Digital input (+24V compatible)

Alternate function 1: step input

Alternate function 2: left stop switch

6

IN_1 Digital input (+24V compatible)

Alternate function 1: direction input

Alternate function 2: right stop switch

7

OUT_0 / IN_2 Open drain output with freewheeling diode (max. 100mA)

Alternate function 1: digital input (+24V compatible)

Alternate function 2:home switch

8

OUT_1 / IN_3 Open drain output with freewheeling

diode (max. 100mA)

Alternate function 1: digital input (+24V compatible)

Alternate function 2: analog input

2 Putting the Module into Operation

Here you can find basic information for putting your TMCM-1021 into operation. If you are already common with TRINAMICs modules you may skip this chapter.

The things you need:

- TMCM-1021 with fitting motor

- RS485 interface converter with cables

- Nominal supply voltage +24V DC for your module

- TMCL-IDE program and PC

2.1 Basic Set-Up

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

2.1.1 Connecting the Module

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 7

Label

Description

1

OB2

Pin 2 of motor coil B

2

OB1

Pin 1 of motor coil B

3

OA2

Pin 2 of motor coil A

4

OA1

Pin 1 of motor coil A

2. Connect motor

3. Switch ON the power supply

Turn power ON. The green LED for power lights up slowly and the motor is powered but in standstill now.

If this does not occur, switch power OFF and check your connections as well as the power supply.

2.1.2 Start the TMCL-IDE Software Development Environment

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

Installing the TMCL-IDE: Make sure the COM port you intend to use is not blocked by another program. Open TMCL-IDE by clicking TMCL.exe. Choose Setup and Options and thereafter the Connection tab. Choose COM port and type with the parameters shown in Figure 2.2 (baud rate 9600). Click OK.

Figure 2.2 Setup dialogue and connection tab of the TMCL-IDE.

Please refer to the TMCL-IDE User Manual for more information (see www.TRINAMIC.com).

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 8

Direct Mode

2.2 Using TMCL Direct Mode

1. Start TMCL Direct Mode.

2. If the communication is established the TMCM-1021 is automatically detected. If the module is

not detected, please check all points above (cables, interface, power supply, COM port, baud rate).

3. Issue a command by choosing Instruction, Type (if necessary), Motor, and Value and click

Execute to send it to the module.

Examples:

 ROR rotate right, motor 0, value 10000 -> Click Execute. The first motor is rotating now.  MST motor stop, motor 0 -> Click Execute. The first motor stops now.

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

NOTE Please mind chapter 3 (programming techniques) of the TMCL-IDE User Manual on www.trinamic.com. Here you will find information about creating general structures of TMCL programs. In particular initialization, main loop, symbolic constants, variables, and subroutines are described there. Further you can learn how to mix direct mode and stand alone mode.

Chapter 4.3 of this manual includes a diagram which points out the coolStep related axis parameters and their functions. This can help you configuring your module to meet your needs.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 9

Number

Axis Parameter

Description

Range [Unit]

4

Maximum positioning speed

Maximum feasible positioning speed. Has to be adapted to motor and application

0… +268.435.454 [pps/s]

5

Maximum acceleration

Limit for acceleration and deceleration. Has to be adapted to motor and application.

1… +33554431 [pps/s]

6

Absolute max. current (CS / Current Scale)

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

adjustment is within the range 0… 255 and can be

adjusted in 32 steps.

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

0… 7

79…87

160… 167

240… 247

8… 15

88… 95

168… 175

248… 255

16… 23

96… 103

176… 183

24… 31

104… 111

184… 191

32… 39

112… 119

192… 199

40… 47

120… 127

200… 207

48… 55

128… 135

208… 215

56… 63

136… 143

216… 223

64… 71

144… 151

224… 231

72… 79

152… 159

232… 239

0… 255

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7

Standby current

The current limit two seconds after the motor has stopped.

0… 255

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

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

  

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140

Microstep resolution

0

full step

1

half step

2

4 microsteps

3

8 microsteps

4

16 microsteps

5

32 microsteps

6

64 microsteps

7

128 microsteps

8

256 microsteps

0… 8

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

2.2.1 Important Motor Settings

There are some axis parameters which have to be adjusted right in the beginning after installing your module. Please set the upper limiting values for the speed (axis parameter 4), the acceleration (axis parameter 5), and the current (axis parameter 6). Further set the standby current (axis parameter 7) and choose your microstep resolution with axis parameter 140. Please use the SAP (Set Axis Parameter) command for adjusting these values. The SAP command is described in paragraph 3.5.5. You can use the TMCM-IDE direct mode for easily configuring your module.

IMPORTANT AXIS PARAMETERS FOR MOTOR SETTING

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 10

Assemble

Download Run

Stop

ROL 0, 50000 //Rotate motor 0 with speed 50000 WAIT TICKS, 0, 500 MST 0 ROR 0, 50000 //Rotate motor 0 with 50000 WAIT TICKS, 0, 500 MST 0

SAP 4, 0, 50000 //Set max. Velocity SAP 5, 0, 50000 //Set max. Acceleration Loop: MVP ABS, 0, 100000 //Move to Position 100000 WAIT POS, 0, 0 //Wait until position reached MVP ABS, 0, -100000 //Move to Position -100000 WAIT POS, 0, 0 //Wait until position reached JA Loop //Infinite Loop

2.3 Testing with a Simple TMCL Program

Type in the following program:

1. Click the Assemble icon to convert the TMCL into machine code.

2. Then download the program to the TMCM-1021 module by clicking the Download icon.

3. Press icon Run. The desired program will be executed.

4. Click the Stop button to stop the program.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 11

Bytes

Meaning

1

Module address

1

Command number

1

Type number

1

Motor or Bank number

4

Value (MSB first!)

1

Checksum

3 TMCL and the TMCL-IDE: Introduction

As with most TRINAMIC modules the software running on the microprocessor of the TMCM-1061 consists of two parts, a boot loader and the firmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC and remains untouched throughout the whole lifetime, the firmware can be updated by the user. New versions can be downloaded free of charge from the TRINAMIC website (http://www.trinamic.com).

The TMCM-1021 supports TMCL direct mode (binary commands) and standalone TMCL program execution. You can store up to 876 TMCL instructions on it.

In direct mode and most cases the TMCL communication over RS485 follows a strict master/slave relationship. That is, a host computer (e.g. PC/PLC) acting as the interface bus master will send a command to the TMCL-1021. The TMCL interpreter on the module will then interpret this command, do the initialization of the motion controller, read inputs and write outputs or whatever is necessary according to the specified command. As soon as this step has been done, the module will send a reply back over RS485 to the bus master. Only then should the master transfer the next command. Normally, the module will just switch to transmission and occupy the bus for a reply, otherwise it will stay in receive mode. It will not send any data over the interface without receiving a command first. This way, any collision on the bus will be avoided when there are more than two nodes connected to a single bus.

The Trinamic Motion Control Language [TMCL] provides a set of structured motion control commands. Every motion control command can be given by a host computer or can be stored in an EEPROM on the TMCM module to form programs that run standalone on the module. For this purpose there are not only motion control commands but also commands to control the program structure (like conditional jumps, compare and calculating).

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

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

3.1 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 onebyte type field, a one-byte motor/bank field and a four-byte value field. So the binary representation of a command always has seven bytes. When a command is to be sent via RS485 interface, it has to be enclosed by an address byte at the beginning and a checksum byte at the end. In this case it consists of nine bytes.

The binary command format for RS485 is as follows:

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

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 12

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

3.2 Reply Format

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

The reply format for RS485 is as follows:

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

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 13

Code

Meaning

100

Successfully executed, no error

101

Command loaded into TMCL program EEPROM

1

Wrong checksum

2

Invalid command

3

Wrong type

4

Invalid value

5

Configuration EEPROM locked

6

Command not available

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

3.2.1 Status Codes

The reply contains a status code.

The status code can have one of the following values:

3.3 Standalone Applications

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

3.4 TMCL Command Overview

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

3.4.1 TMCL Commands

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 14

Command

Number

Parameter

Description

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

EI

25

Enable interrupt

DI

26

Disable interrupt

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

VECT

37

Set interrupt vector

RETI

38 Return from interrupt

ACO

39

Accu to coordinate

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

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

3.4.2 Commands Listed According to Subject Area

3.4.2.1 Motion Commands

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

3.4.2.2 Parameter Commands

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

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 15

Mnemonic

Command number

Meaning

JA

22

Jump always

JC

21

Jump conditional

COMP

20

Compare accumulator with constant value

CSUB

23

Call subroutine

RSUB

24

Return from subroutine

WAIT

27

Wait for a specified event

STOP

28

End of a TMCL program

Mnemonic

Command number

Meaning

SIO

14

Set output

GIO

15

Get input

Mnemonic

Command number

Meaning

CALC

19

Calculate using the accumulator and a constant value

CALCX

33

Calculate using the accumulator and the X register

AAP

34

Copy accumulator to an axis parameter

AGP

35

Copy accumulator to a global parameter

ACO

39

Copy accu to coordinate

Mnemonic

Command number

Meaning

EI

25

Enable interrupt

DI

26

Disable interrupt

VECT

37

Set interrupt vector

RETI

38

Return from interrupt

3.4.2.3 Control Commands

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

3.4.2.4 I/O Port Commands

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

3.4.2.5 Calculation Commands

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

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

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

3.4.2.6 Interrupt Commands

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

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 16

Interrupt number

Interrupt type

0

Timer 0

1

Timer 1

2

Timer 2

3

Target position reached

15

stallGuard2

21

Deviation

27

Left stop switch

28

Right stop switch

39

Input change 0

40

Input change 1

255

Global interrupts

3.4.2.6.1 Interrupt Types

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

3.4.2.6.2 Interrupt Processing

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

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

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

3.4.2.6.3 Interrupt Vectors

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

3.4.2.6.4 Further Configuration of Interrupts

Some interrupts need further configuration (e.g. the timer interval of a timer interrupt). This can be done using SGP commands with parameter bank 3 (SGP <type>, 3, <value>). Please refer to the SGP command (paragraph 3.5.9) for further information about that.

3.4.2.6.5 Using Interrupts in TMCL

For using an interrupt proceed as follows:

- Define an interrupt handling routine using the VECT command.

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

- Enable the interrupt using an EI <interrupt> command.

- Globally enable interrupts using an EI 255 command.

- An interrupt handling routine must always end with a RETI command

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 17

The following example shows the use of a timer interrupt:

VECT 0, Timer0Irq //define the interrupt vector SGP 0, 3, 1000 //configure the interrupt: set its period to 1000ms EI 0 //enable this interrupt EI 255 //globally switch on interrupt processing

//Main program: toggles output 3, using a WAIT command for the delay Loop: SIO 1, 2, 1 WAIT TICKS, 0, 50 SIO 1, 2, 0 WAIT TICKS, 0, 50 JA Loop

//Here is the interrupt handling routine Timer0Irq: GIO 0, 2 //check if OUT0 is high JC NZ, Out0Off //jump if not SIO 0, 2, 1 //switch OUT0 high RETI //end of interrupt Out0Off: SIO 0, 2, 0 //switch OUT0 low RETI //end of interrupt

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

#include Interrupts.inc VECT TI_TIMER0, Timer0Irq SGP TI_TIMER0, 3, 1000 EI TI_TIMER0 EI TI_GLOBAL

Please also take a look at the other example programs.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 18

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

1

(don't care)

0*

-268.435.455… +268.435.454

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

$27

$10

$39

3.5 Commands

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

3.5.1 ROR (rotate right)

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

Like on all other TMCL modules, the motor will be accelerated or decelerated to the speed given with the command. The speed is given in microsteps per second (pps). For conversion of this value into rounds per minute etc. please refer to chapter 4.1, also.

The range is -268.435.455… +268.435.454.

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

Related commands: ROL, MST, SAP, GAP

Mnemonic: ROR 0, <velocity>

Binary representation:

*motor number is always O as the module supports just one axis

Reply in direct mode:

Example:

Rotate right, velocity = 10000

Mnemonic: ROR 0, 10000

Binary:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 19

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

2

(don't care)

0*

-268.435.455… +268.435.454

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

$27

$10

$3a

3.5.2 ROL (rotate left)

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

Like on all other TMCL modules, the motor will be accelerated or decelerated to the speed given with the command. The speed is given in microsteps per second (pps). For conversion of this value into rounds per minute etc. please refer to chapter 5.2, also.

The range is -268.435.455… +268.435.454.

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

Related commands: ROR, MST, SAP, GAP

Mnemonic: ROL 0, <velocity>

Binary representation:

* motor number is always O as the module supports just one axis

Reply in direct mode:

Example:

Rotate left, velocity = 10000

Mnemonic: ROL 0, 10000

Binary:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 20

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

$04

3.5.3 MST (motor stop)

With this command the motor will be instructed to stop. The command uses the normal acceleration parameter (soft stop / deceleration ramp possible).

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 the module support just one axis

Reply in direct mode:

Example:

Stop motor

Mnemonic: MST 0

Binary:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 21

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

4

0 ABS – absolute

0*

−2.147.483.648…

+2.147.483.647

1 REL – relative

0*

−2.147.483.648…

+2.147.483.647

2 COORD – coordinate

0*

0… 20

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

$f5

3.5.4 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.

The range of the MVP command is 32 bit signed (−2.147.483.648… +2.147.483.647). Positioning can be

interrupted using MST, ROL or ROR commands.

Attention:

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

than 2.147.483.647 (231-1) microsteps. Otherwise the motor will run in the opposite direction in order to take the shorter distance.

Two operation types are available:

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

- Starting a relative movement by means of an offset to the actual position. In this case, the new

resulting position value must not exceed the above mentioned limits, too.

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

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

Mnemonic: MVP <ABS|REL|COORD>, 0, <position|offset|coordinate number>

Binary representation:

31

… 231-1).

Reply in direct mode:

Example:

Binary:

Example:

Binary:

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

Move motor to (absolute) position 90000 Mnemonic: MVP ABS, 0, 90000

Move motor from current position 10000 steps backward (move relative –10000) Mnemonic: MVP REL, 0, -10000

TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 22

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

$d8

$f0

$cc

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

$0f

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.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 23

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

5

<parameter

number>

0*

<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

$05

$06

$00

$c8

$d4

3.5.5 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, will be 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 the module supports just one axis

Reply in direct mode:

For a table with parameters and values which can be used together with this command please refer to chapter 4.

Example:

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

Mnemonic: SAP 6, 0, 200

Binary:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 24

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

6

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

$06

$01

$00

$08

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

$07

$d0

$44

3.5.6 GAP (get axis parameter)

Most parameters of the TMCM-1021 can be adjusted individually for the axis. With this parameter they can be read out. In standalone mode the requested value is also transferred to the accumulator register for further processing purposes (such as conditioned jumps). In direct mode the value read is only output in the value field of the reply (without affecting the accumulator).

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

Related commands: SAP, STAP, AAP, RSAP

Mnemonic: GAP <parameter number>, 0

Binary representation:

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

Reply in direct mode:

For a table with parameters which can be used together with this command please refer to chapter 4.

Example:

Get actual position of motor

Mnemonic: GAP 1, 0

Binary:

Reply:

 Status = 100 (no error), position = 2000

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 25

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 4

0

s. chapter 4

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

$0c

3.5.7 STAP (store axis parameter)

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

Internal function: An axis parameter value stored in SRAM will be transferred to EEPROM and loaded from EEPORM after next power up.

Related commands: SAP, RSAP, GAP, AAP

Mnemonic: STAP <parameter number>, 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 current setting (e.g. previously set with SAP) is saved.

Reply in direct mode:

Parameter ranges:

For a table with parameters which can be used together with this command please refer to chapter 4.

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

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

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 26

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

8

0*

(don't care)

STATUS

VALUE

100 – OK

(don't care)

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

$0f

3.5.8 RSAP (restore axis parameter)

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

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

Relate commands: SAP, STAP, GAP, and AAP

Mnemonic: RSAP <parameter number>, 0

Binary representation:

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

Reply structure in direct mode:

For a table with parameters which can be used together with this command please refer to chapter 4.

Example:

Restore the maximum current of motor

Mnemonic: RSAP 6, 0

Binary:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 27

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

9

<value>

STATUS

VALUE

100 – OK

(don't care)

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

3.5.9 SGP (set global parameter)

With this command most of the module specific parameters not directly related to motion control can be specified and the TMCL user variables can be changed. Global parameters are related to the host interface, peripherals or application specific variables. The different groups of these parameters are organized in banks to allow a larger total number for future products. Currently, only bank 0 and 1 are used for global parameters, and bank 2 is used for user variables.

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

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

Related commands: GGP, STGP, RSGP, AGP

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

Binary representation:

Reply in direct mode:

For a table with parameters and bank numbers which can be used together with this command please refer to chapter 5.

Example:

Set the serial address of the target device (module) to 3

Mnemonic: SGP 66, 0, 3

Binary:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 28

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

10

(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

$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

3.5.10 GGP (get global parameter)

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

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:

For a table with parameters and bank numbers which can be used together with this command please refer to chapter 5.

Example:

Get the serial address of the target device

Mnemonic: GGP 66, 0

Binary:

Reply:

 Status = 100 (no error), Value = 1

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 29

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

11

(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

$0b

$2a

$02

$00

$38

3.5.11 STGP (store global parameter)

This command is used to store TMCL user variables permanently in the EEPROM of the module. Some global parameters are located in RAM memory, so without storing them any modification will be lost at power down. This instruction enables permanent storing. Most parameters are automatically restored after power up.

Internal function: the specified parameter will be 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:

For a table with parameters and bank numbers which can be used together with this command please refer to chapter 5.

Example:

Store user variable #42

Mnemonic: STGP 42, 2

Binary:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 30

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

12

(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

$0c

$2a

$02

$00

$39

3.5.12 RSGP (restore global parameter)

With this command the contents of a TMCL user variable can be restored from the EEPROM. By default, most parameters are automatically restored after power up. A single parameter that has been changed before can be reset by this instruction.

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

Relate commands: SGP, STGP, GGP, and AGP

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

Binary representation:

Reply structure in direct mode:

For a table with parameters and bank numbers which can be used together with this command please refer to chapter 5.

Example:

Restore user variable #42

Mnemonic: RSGP 42, 2

Binary:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 31

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

3.5.13 RFS (reference search)

The TMCL firmware 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. Please see the appropriate parameters in the axis parameter table to configure the reference search algorithm to meet your needs (chapter 4). 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:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 32

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

$01

$02

$00

$01

$13

Power, communication

and I/O

1

Please note, that the module has four I/O pins including two open drain outputs:

Pin 7: OUT_0 (open collector) Pin 8: OUT_1 (open collector)

Please refer to the Hardware Manual for further information.

3.5.14 SIO (set output)

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

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

Related commands: GIO, WAIT

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

Binary representation:

Reply structure:

Example:

Set OUT_1 to high (bank 2, output 1; general purpose output)

Mnemonic: SIO 1, 2, 1

Binary:

I/O pin definition

Figure 3.1: I/O connector of TMCM-1021

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 33

I/O port

Command

Range <n>

7

OUT_0

SIO 0, 2, <n>

1/0 8 OUT_1

SIO 1, 2, <n>

1/0

Available I/O ports of TMCM-1021:

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, 127

The following program will show the states of the input lines on the output lines:

Loop: GIO 255, 0

SIO 255, 2,-1

JA Loop

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 34

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

3.5.15 GIO (get input/output)

With this command the status of the available general purpose inputs of the module can be read out. The function reads a digital or analogue input port. Digital lines will be read as 0 or 1, while the ADC channels deliver their 12bit result in the range of 0… 4095. In standalone mode the requested value is copied to the accumulator (accu) for further processing purposes such as conditional 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 signal pin is read.

Related commands: SIO, WAIT

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

Binary representation:

Reply in direct mode:

Example:

Get the analogue value of IN_3

Mnemonic: GIO 3, 1

Binary:

Reply:

 value: 506

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 35

Power, communication

and multi-purpose I/O

1

I/O port

Command

Result range

5

IN_0

GIO 0, 0

0/1

6

IN_1

GIO 1, 0

0/1

7

IN_2 (same pin as OUT_0)

GIO 2, 0

0/1

8

IN_3 (same pin as OUT_1)

GIO 3, 0

0/1

I/O port

Command

Result range

8

IN_3 (same pin as OUT_1)

GIO 3, 1

0… 4095

I/O port

Command

Result range

7

OUT_0

GIO 0, 2

0/1 8 OUT_1

GIO 1, 2

0/1

Please note, that the module has four I/O pins including four input pins:

Pin 5: IN_O (digital) Pin 6: IN_1 (digital) Pin 7: IN_2 (digital) Pin 8: IN_3 (digital or analog)

Please refer to the Hardware Manual for further information.

I/O pin definition

Figure 3.2: I/O connector of TMCM-1021

3.5.15.1 I/O bank 0 – digital inputs:

IN_3 can be read as digital or analogue input. 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.

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

Loop: GIO 255, 0

SIO 255, 2,-1

JA Loop

3.5.15.2 I/O bank 1 – analogue input:

IN_3 can be read back as digital or analogue input. The digital states can be accessed in bank 0.

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

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

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 36

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

3.5.16 CALC (calculate)

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

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

Mnemonic: CALC <operation>, <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:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 37

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

3.5.17 COMP (compare)

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

The host address and the reply are only used to take the instruction to the TMCL program memory while the program is being downloaded. 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:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 38

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

(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

3.5.18 JC (jump conditional)

The JC instruction enables a conditional jump to a fixed address in the TMCL program memory, if the specified condition is met. The conditions refer to the result of a preceding comparison. Please refer to COMP instruction for examples. This function is for standalone operation only.

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

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

Related commands: JA, COMP, WAIT, CLE

Mnemonic: JC <condition>, <label>

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

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:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 39

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

3.5.19 JA (jump always)

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

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

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

Related commands: JC, WAIT, CSUB

Mnemonic: JA <Label>

Binary representation:

Example:

An infinite loop in TMCL™

Loop: MVP ABS, 0, 10000 WAIT POS, 0, 0 MVP ABS, 0, 0 WAIT POS, 0, 0 JA Loop //Jump to the label Loop

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

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 40

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

3.5.20 CSUB (call subroutine)

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

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

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

Related commands: RSUB, JA

Mnemonic: CSUB <Label>

Binary representation:

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:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 41

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

3.5.21 RSUB (return from subroutine)

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

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

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

Related command: CSUB

Mnemonic: RSUB

Binary representation:

Example: please see the CSUB example (section 3.5.20).

Binary format of RSUB:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 42

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

27

0 TICKS - timer ticks*1

don’t care

<no. of ticks*2>

1 POS - target position reached

0*1

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

2 REFSW – reference switch

0

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

3 LIMSW – limit switch

0

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

4 RFS – reference search completed

0

<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

3.5.22 WAIT (wait for an event to occur)

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

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

There are five different wait conditions that can be used:

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

reached.

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

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

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

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

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

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

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

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

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

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

Related commands: JC, CLE

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

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

Binary representation:

*1 motor number is always 0 as only one motor is involved *2 one tick is 10 milliseconds

Example:

Wait for motor to reach its target position, without timeout

Mnemonic: WAIT POS, 0, 0

Binary:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 43

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

3.5.23 STOP (stop TMCL program execution)

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

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

Internal function: TMCL instruction fetching is stopped.

Related commands: none Mnemonic: STOP

Binary representation:

Example:

Mnemonic: STOP

Binary:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 44

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

3.5.24 SCO (set coordinate)

Up to 20 position values (coordinates) can be stored for every axis for use with the MVP COORD command. This command sets a coordinate to a specified value. Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only).

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

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

Related commands: GCO, CCO, MVP

Mnemonic: SCO <coordinate number>, 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:

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.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 45

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

3.5.25 GCO (get coordinate)

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

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

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

Related commands: SCO, CCO, MVP

Mnemonic: GCO <coordinate number>, 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

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.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 46

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

3.5.26 CCO (capture coordinate)

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

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

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

Related commands: SCO, GCO, MVP

Mnemonic: CCO <coordinate number>, 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:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 47

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

3.5.27 ACO

With the ACO command the actual value of the accumulator is copied to a selected coordinate of the motor. Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only).

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

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

Related commands: GCO, CCO, MVP COORD, SCO

Mnemonic: ACO <coordinate number>, 0

Binary representation:

* 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:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 48

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

3.5.28 CALCX (calculate using the X register)

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

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

Mnemonic: CALCX <operation>

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:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 49

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

34

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

$22

$00

$23

3.5.29 AAP (accumulator to axis parameter)

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

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

Mnemonic: AAP <parameter number>, 0

Binary representation:

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

Reply in direct mode:

For a table with parameters and values which can be used together with this command please refer to chapter 5.

Example:

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

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

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:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 50

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

35

(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

$23

$03

$02

$00

$29

3.5.30 AGP (accumulator to global parameter)

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

Related commands: SGP, GGP, STGP, RSGP

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

Binary representation:

Reply in direct mode:

For a table with parameters and bank numbers which can be used together with this command please refer to chapter 5.

Example:

Copy accumulator to TMCL user variable #3

Mnemonic: AGP 3, 2

Binary:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 51

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

3.5.31 CLE (clear error flags)

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

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

 ALL: clear all error flags.

 ETO: clear the timeout flag.

 EAL: clear the external alarm flag

 EDV: clear the deviation flag

 EPO: clear the position error flag

Related commands: JC

Mnemonic: CLE <flags>

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

Binary representation:

Example:

Reset the timeout flag

Mnemonic: CLE ETO

Binary:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 52

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

37

(don't care)

<label>

Interrupt number

Interrupt type

0

Timer 0

1

Timer 1

2

Timer 2

3

(Target) position reached

15

Stall (stallGuard2™)

21

Deviation

27

Stop left

28

Stop right

39

IN_0 change

40

IN_1 change

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

$25

$03

$00

$01

$F4

$1E

3.5.32 VECT (set interrupt vector)

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

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

Related commands: EI, DI, RETI

Mnemonic: VECT <interrupt number>, <label>

Binary representation:

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

Example: Define interrupt vector at target position 500 VECT 3, 500

Binary format of VECT:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 53

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

25

(don't care)

Interrupt number

Interrupt type

0

Timer 0

1

Timer 1

2

Timer 2

3

(Target) position reached

15

Stall (stallGuard2™)

21

Deviation

27

Stop left

28

Stop right

39

IN_0 change

40

IN_1 change

255

Global interrupts

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

$19

$FF

$00

$19

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

$19

$03

$00

$1D

3.5.33 EI (enable interrupt)

The EI command enables an individual interrupt and activates interrupts in general (global interrupt enable). Please make sure to always issue a global interrupt enable in order to actually activate the interrupts individually enabled.

Related command: DI, VECT, RETI

Mnemonic: EI <interrupt number>

Binary representation:

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

Examples:

Enable interrupts globally EI, 255

Binary format of EI:

Enable interrupt when target position reached EI, 3

Binary format of EI:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 54

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

26

(don't care)

Interrupt number

Interrupt type

0

Timer 0

1

Timer 1

2

Timer 2

3

(Target) position reached

15

Stall (stallGuard2™)

21

Deviation

39

IN_0 change

40

IN_1 change

255

Global interrupts

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

$1A

$FF

$00

$1A

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

$1A

$03

$00

$1E

3.5.34 DI (disable interrupt)

The DI command disables an individual interrupt or using parameter 255 will de-activate any interrupt.

Related command: EI, VECT, RETI

Mnemonic: DI <interrupt number>

Binary representation:

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

Examples:

Disable interrupts globally DI, 255

Binary format of DI:

Disable interrupt when target position reached DI, 3

Binary format of DI:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 55

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

38

(don’t care)

(don't care)

(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

$26

$00

$27

3.5.35 RETI (return from interrupt)

This command terminates the interrupt handling routine, and the normal program execution continues. At the end of an interrupt handling routine the RETI command must be executed.

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

Related commands: EI, DI, VECT

Mnemonic: RETI

Binary representation:

Example: Terminate interrupt handling and continue with normal program execution

RETI

Binary format of RETI:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 56

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)

3.5.36 Customer Specific TMCL Command Extension (UF0… UF7/user

function)

The user definable functions UF0… UF7 are predefined functions 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:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 57

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

>

3.5.37 Request Target Position Reached Event

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

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

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

Mnemonic: ---

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):

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 58

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 – Request target position reached event

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

(don't care)

3.5.38 TMCL Control Functions

The following functions are for host control purposes only and are not allowed for standalone 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 TMCL programs. The Functions are to be used only by the TMCLIDE to communicate with the module, for example to download a TMCL 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,

described at the end of this section)

 run application (command 129)

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

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 59

Byte index

Contents

1

Host Address

2… 9

Version string (8 characters, e.g. 1021V120)

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!

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:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 60

Access

type

Description

R

GAP

Parameter readable

W

SAP, AAP

Parameter writable

E

STAP, RSAP

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

Number

Axis Parameter

Description

Range [Unit]

Acc.

0

Target (next) position

The desired position in position mode (see ramp mode, no. 128).

−2.147.483.648…

+2.147.483.647 [µsteps]

RW 1 Actual position

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

−2.147.483.648…

+2.147.483.647 [µsteps]

RW

2

Target (next) speed

The desired speed in velocity mode (see ramp mode, no. 128). In position mode, this parameter is set automatically: to the maximum speed during acceleration, and to zero during deceleration and rest.

-268.435.455… +268.435.454 [pps]

RW

3

Actual speed

The current rotation speed.

-268.435.455… +268.435.454 [pps]

RW

4

Maximum positioning speed

Maximum feasible positioning speed. Has to be adapted to motor and application

0… +268.435.454 [pps]

RWE 5

Maximum acceleration

Limit for acceleration and deceleration. Has to be adapted to motor and application.

1… +33554431 [pps/s]

RWE

6

Max. motor run current

Attention: setting motor current too high might permanently damage the motor! The maximum value is 255. This value means 100% of maximum programmable current of the module. Current can be adjusted / scaled down by specifying a lower value between 0 and 255. This value is transformed into 32 different internal current settings supported by the hardware (0… 255 divided by eight; e.g. 0… 7 -> 1/32 of max. current, 8… 15 -> 2/32 of max.

Current … 247…255 -> max. current).

0… 255

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RWE

7

Standby current

Current limit after the motor has stopped plus power down delay time (see parameter 214). Same range and meaning as for parameter 6

0… 255

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RWE

8

Position reached

1 when target position = actual position 0 otherwise

0/1 R 9

Home switch status

The logical state of the home switch.

0/1

R

4 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:

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

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

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 61

Number

Axis Parameter

Description

Range [Unit]

Acc.

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 (default: right limit switch disabled)

0/1

RWE

13

Left limit switch disable

Deactivates the stop function of the left switch resp. reference switch if set (default: left limit switch disabled).

0/1

RWE

128

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

0/1

RW

130

Minimum speed

Ramp generation for acceleration and deceleration begins and ends with this start and stop value.

0… +268.435.454 [pps] Default = 0

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

7

128 microsteps

8

256 microsteps (default)

0… 8

RWE

161

Double step enable

Every edge of the cycle releases a step/microstep. It does not make sense to activate this parameter for internal use. Double step enable can be used with step/dir interface. 0 – double step off 1 – double step on

0/1

RW

162

Chopper blank time

Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For low current drivers, a setting of 1 or 2 is good.

0… 3

RW

163

Chopper mode

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

0/1

RW

164

Chopper hysteresis decrement

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

0… 3

RW

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 62

Number

Axis Parameter

Description

Range [Unit]

Acc.

165

Chopper hysteresis end

Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by axis parameter

164.

-3… -1

negative hysteresis end setting

0

zero hysteresis end setting

1… 12

positive hysteresis end setting

-3… 12

RW

166

Chopper hysteresis start

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

0… 8

RW

167

Chopper off time

The off time setting controls the minimum chopper frequency. An off time within the range of 5µs to 20µs will fit. Off time setting for constant t

OFF

chopper:

N

CLK

= 12 + 32*t

OFF

(Minimum is 64 clocks) Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel.

0 / 2… 15

RW

168

smartEnergy current minimum

Sets the lower motor current limit for coolStep™ operation by scaling the max. motor run current value (parameter 6). minimum motor current: 0 – 1/2 of parameter 6 1 – 1/4 of parameter 6

0/1

RW

169

smartEnergy current down step

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

Number of stallGuard2 measurements per decrement:

Scaling: 0… 3: 32, 8, 2, 1 0: slow decrement 3: fast decrement

0… 3

RW

170

smartEnergy hysteresis

Sets the distance between the lower and the

upper threshold for stallGuard2™ reading.

Above the upper threshold the motor current becomes decreased.

0… 15

RW

Hysteresis: (smartEnergy hysteresis value + 1) * 32

Upper stallGuard threshold: (smartEnergy hysteresis start + smartEnergy

hysteresis + 1) * 32

171

smartEnergy current up step

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

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

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

1… 3

RW

172

smartEnergy hysteresis start

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

0… 15

RW

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 63

Number

Axis Parameter

Description

Range [Unit]

Acc.

173

stallGuard2™

filter enable

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

In most cases it is expedient to set the filtered mode before using coolStep™. Use the standard mode for step loss detection.

0 – standard mode 1 – filtered mode

0/1

RW

174

stallGuard2™

threshold

This signed value controls stallGuard2 threshold level for stall output and sets the optimum measurement range for readout. A lower value gives a higher sensitivity. Zero is the starting

value. A higher value makes stallGuard2™ less

sensitive and requires more torque to indicate a stall.

0

Indifferent value

1… 63

less sensitivity

-1… -64

higher sensitivity

-64… 63

RW

175

Slope control high side

Determines the slope of the motor driver outputs. Set to 2 or 3 for this module or rather use the default value. 0: lowest slope 3: fastest slope

0… 3

RW

176

Slope control low side

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

0… 3

RW

177

short protection disable

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

Use default value!

0/1

RW

178

Short detection timer

0: 3.2µs 1: 1.6µs 2: 1.2µs 3: 0.8µs

Use default value!

0..3

RW

180

smartEnergy actual current

This status value provides the actual motor current setting as controlled by coolStep. The value goes up to the max. internal motor run current scaling value (0..31) specified via parameter 6 and down to the smartEnergy current minimum (fraction of max. motor run current set via parameter 168).

motor current scaling factor: 0 … 31: 1/32, 2/32, … 32/32 (32/32: maximum current supported by module)

0… 31

RW

181

Stop on stall

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

0… +268.435.454 [pps]

RW 182

smartEnergy threshold speed

Above this speed coolStep will be enabled.

0… +268.435.454 [pps]

RW

183

smartEnergy slow run current

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

0… 255

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RW

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 64

Number

Axis Parameter

Description

Range [Unit]

Acc.

193

Ref. search mode

1

search left stop switch only

2

search right stop switch, then search left stop switch

3

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

4

search left stop switch from both sides

5

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

6

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

7

search home switch in positive direction, ignore end switches

8

search home switch in negative direction, ignore end switches

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

1… 8

RWE

194

Referencing search speed

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

-268.435.455… +268.435.454 [pps]

RWE 195

Referencing switch speed

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

-268.435.455… +268.435.454 [pps]

RWE

196

End switch distance

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

0… +268.435.454

R

200

Boost current

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

0… 255

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RWE 204

Freewheeling delay

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

0… 65535 0 = never [msec]

RWE 206

Actual load value

Readout of the actual load value used for stall detection.

0… 1023

R

208

TMC262 driver error flags

Bit 0

stallGuard™ status (1: threshold reached)

Bit 1

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

Bit 2

Pre-warning overtemperature (1: threshold is exceeded)

Bit 3

Short to ground A (1: short condition detected, driver currently shut dn)

Bi 4

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

Bit 5

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

Bit 6

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

Bit 7

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

Please refer to the TMC262 Datasheet for more information.

0/1

R

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 65

Number

Axis Parameter

Description

Range [Unit]

Acc.

209

Encoder position

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

[encoder steps] 32bit counter value

RW

210

Encoder prescaler

Prescaler for the encoder.

See paragraph 6.1

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

[encoder steps]

RWE

214

Power down delay

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

1… 65535 [10msec]

RWE 215

Absolute encoder value

Absolute value of the encoder.

0… 1023 [encoder steps]

R

254

Step/Dir mode

0

Turn OFF step/dir mode

1

Use of the ENABLE input on step/dir connector to switch between hold current and run current (no automatic switching)

2

Automatic switching between hold and run current: after the first step pulse the module automatically switches over to run current, and a configurable time after the last step pulse the module automatically switches back to hold current. The ENABLE input on the step/dir connector does not have any functionality.

3

Always use run current, never switch to hold current. The ENABLE input on the step/dir connector does not have any functionality.

4

Automatic current switching like (2), but the ENABLE input is used to switch the driver stage completely off or on.

5

Always use run current like (3), but the ENABLE pin is used to switch the driver stage completely off or on.

0… 5

RWE

4.1 Velocity Calculation

The axis parameters listed below are related to the speed of the motor. The table is an excerpt of the complete table of axis parameters in this chapter.

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

󰇛󰇜 

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

󰇛󰇜   

  

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 66

Velocity

Time

T214

coolStep™ area

I7

area without coolStep™

coolStep™ adjustment points and thresholds

SG170 SG181

V182

I6

I183 I183

Current

V123 Velocity and parameter

I123 Current and parameter

T123 Time parameter

I7

I6

I183

I6/2*

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

The current depends on the load of the motor.

SG123 stallGuard2™ parameter

4.2 stallGuard2

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

Stall detection means that the motor will be stopped when the load gets too high. It is configured by axis parameter #174.

Stall detection can also be used for finding the reference point. Do not use RFS in this case.

4.3 coolStep Related Axis Parameters

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

It is necessary to identify and configure the thresholds for current (I6, I7 and I183) and velocity (V182). Furthermore the stallGuard2 feature has to be adjusted and enabled (SG170 and SG181).

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

In this chapter only basic axis parameters are mentioned which concern coolStep and stallGuard2. The complete list of axis parameters in chapter 4 contains further parameters which offer more configuration possibilities.

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Figure 4.1: coolStep adjustment points and thresholds

TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 67

Number

Axis parameter

Description

I6

absolute max. current (CS / Current Scale)

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

within the range 0… 255 and can be adjusted in 32 steps (0… 255 divided by eight; e.g. step 0 = 0… 7, step 1 = 8… 15 and so

on).

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

I7

standby current

The current limit two seconds after the motor has stopped.

I168

smartEnergy current minimum (SEIMIN)

Sets the lower motor current limit for coolStep™ operation by

scaling the CS (Current Scale, see axis parameter 6) value. Minimum motor current: 0 – 1/2 of CS 1 – 1/4 of CS

I169

smartEnergy current down step

Sets the number of stallGuard2™ readings above the upper

threshold necessary for each current decrement of the motor current. Number of stallGuard2™ measurements per decrement: Scaling: 0… 3: 32, 8, 2, 1 0: slow decrement 3: fast decrement

I171

smartEnergy current up step

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

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

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

I183

smartEnergy slow run current

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

182.

SG170

smartEnergy hysteresis

Sets the distance between the lower and the upper threshold

for stallGuard2™ reading. Above the upper threshold the motor

current becomes decreased.

SG181

stop on stall

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

V182

smartEnergy threshold speed

Above this speed coolStep becomes enabled.

T214

power down delay

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

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

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 68

Access

type

Description

R

GGP

Parameter readable

W

SGP, AGP

Parameter writable

E

SGP, AGP

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

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 missconfiguration.

0… 255

RWE

65

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 RS485 (default: 1)

0… 255

RWE

5 Global parameters

Global parameters are grouped into 4 banks:

 bank 0 (global configuration of the module)  bank 1 (user C variables)  bank 2 (user TMCL variables)  bank 3 (interrupt configuration)

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

5.1 Bank 0

Parameters with numbers from 64 on configure parameters like the serial address of the module RS485 baud rate. Change these parameters in order to meet your requirements. 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:

Note: the TMCM-1021 does not support parameters 0… 38. They are used for modules which address

more than one motor.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 69

Number

Global parameter

Description

Range

Access

68

serial heartbeat

Serial heartbeat for the RS485 interface. If this time limit is up and no further command is noticed the motor will be stopped. 0 – parameter is disabled

[ms]

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 is sent. For RS485 it is often necessary to set it to 15 (for RS485 adapters controlled by the RTS pin).

0… 255

RWE 76

serial host address

Host address used in the reply telegrams sent back via RS485 (default: 2).

0… 255

RWE

77

auto start mode

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

0/1

RWE

79

End switch polarity

0: normal polarity 1: reverse polarity

0/1

RWE

81

TMCL code protection

Protect a TMCL program against disassembling or overwriting. 0 – no protection 1 – protection against disassembling 2 – protection against overwriting 3 – protection against disassembling and overwriting

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

0,1,2,3

RWE

84

coordinate storage

0 – coordinates are stored in the RAM only (but can be copied explicitly between RAM and EEPROM) 1 – coordinates are always stored in the EEPROM only

0 or 1

RWE

128

TMCL application status

0 – stop 1 – run 2 – step 3 – reset

0… 3

R

129

download mode

0 – normal mode 1 – download mode

0/1 R 130

TMCL program counter

The index of the currently executed TMCL instruction.

R

132

tick timer

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

RW

133

random number

Choose a random number.

0… 147483647

R

5.2 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 TMCL applications.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 70

Access

type

Description

R

GGP

Parameter readable

W

SGP, AGP

Parameter writable

E

STGP, RSGP

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

Number

Global parameter

Description

Range

Access

0

general purpose variable #0

for use in TMCL applications

-231… +2

31

RWE

1

general purpose variable #1

for use in TMCL applications

-231… +2

31

RWE

2

general purpose variable #2

for use in TMCL applications

-231… +2

31

RWE

3

general purpose variable #3

for use in TMCL applications

-231… +2

31

RWE

4

general purpose variable #4

for use in TMCL applications

-231… +2

31

RWE

5

general purpose variable #5

for use in TMCL applications

-231… +2

31

RWE

6

general purpose variable #6

for use in TMCL applications

-231… +2

31

RWE

7

general purpose variable #7

for use in TMCL applications

-231… +2

31

RWE

8

general purpose variable #8

for use in TMCL applications

-231… +2

31

RWE

9

general purpose variable #9

for use in TMCL applications

-231… +2

31

RWE

10

general purpose variable #10

for use in TMCL applications

-231… +2

31

RWE

11

general purpose variable #11

for use in TMCL applications

-231… +2

31

RWE

12

general purpose variable #12

for use in TMCL applications

-231… +2

31

RWE

13

general purpose variable #13

for use in TMCL applications

-231… +2

31

RWE

14

general purpose variable #14

for use in TMCL applications

-231… +2

31

RWE

15

general purpose variable #15

for use in TMCL applications

-231… +2

31

RWE

16

general purpose variable #16

for use in TMCL applications

-231… +2

31

RWE

17

general purpose variable #17

for use in TMCL applications

-231… +2

31

RWE

18

general purpose variable #18

for use in TMCL applications

-231… +2

31

RWE

19

general purpose variable #19

for use in TMCL applications

-231… +2

31

RWE

20… 55

general purpose variables #20…

#55

for use in TMCL applications

-231… +2

31

RWE

56… 255

general purpose variables #56… #255

for use in TMCL applications

-231… +2

31

RW

5.3 Bank 2

Bank 2 contains general purpose 32 bit variables for the use in TMCL applications. They are located in RAM and the first 56 variables can be stored permanently in EEPROM, also. After booting, their values are automatically restored to the RAM. Up to 256 user variables are available.

Meaning of the letters in column Access:

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 71

Access

type

Description

R

GGP

Parameter readable

W

SGP, AGP

Parameter writable

Number

Global parameter

Description

Range

Acce ss

0

Timer 0 period (ms)

Time between two interrupts (ms)

0… 4.294.967.295

[ms]

RW 1 Timer 1 period (ms)

Time between two interrupts (ms)

0… 4.294.967.295

[ms]

RW 2 Timer 2 period (ms)

Time between two interrupts (ms)

0… 4.294.967.295

[ms]

RW

27

Stop left 0 trigger transition

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

0… 3

RW

28

Stop right 0 trigger transition

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

0… 3

RW

39

Input 0 trigger transition

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

0… 3

RW

40

Input 1 trigger transition

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

0… 3

RW

5.4 Bank 3

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

have a higher priority.

Meaning of the letters in column Access:

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

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 72

Value

Description

1

search left stop switch only

2

search right stop switch, then search left stop switch

3

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

4

search left stop switch from both sides

5

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

6

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

7

search home switch in positive direction, ignore end switches

8

search home switch in negative direction, ignore end switches

6 Hints and Tips

This chapter gives some hints and tips on using the functionality of TMCL™, for example how to use and parameterize the built-in reference point search algorithm or the incremental sensOstep™ encoder. Further you will find basic information about stallGuard2™ and coolStep™.

6.1 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 a state machine that can be started, stopped and monitored (instruction RFS, no. 13, chapter 3.5.13). The settings of the automatic stop functions corresponding to the switches (axis parameters 12 and 13) have no influence on the reference search.

Please note:

 Until the reference switch is found for the first time, the searching speed is identical to the

maximum positioning speed (axis parameter 4), unless reduced by axis parameter 194.

 After hitting the reference switch, the motor slowly moves until the switch is released. Finally the

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

 The reference switch is connected in series with the left limit switch. The differentiation between the

left limit switch and the home switch is made through software. Switches with open contacts (normally closed) are used.

Choose one of these values for axis parameter 193:

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

The next two pages show all possible modes of reference search according to the specific commands on top of each drawing.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 73

SAP 193, 0, 3

negative limit switch

positive limit switch

SAP 193, 0, 4

negative limit switch

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

Search left stop switch from both sides.

SAP 193, 0, 1

negative limit switch

SAP 193, 0, 2

negative limit switch

positive limit switch

Search left stop switch only.

Search right stop switch, then search left stop switch.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 74

SAP 193, 0, 5

negative limit switch

positive limit switch

home switch

SAP 193, 0, 6

negative limit switch

positive limit switch

home switch

SAP 193, 0, 7

home switch

SAP 193, 0, 8

home switch

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

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

Search home switch in positive direction, ignore end switches.

Search home switch in negative direction, ignore end switches.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 75

Value for

Resulting prescaler

SAP command for motor 0

SAP 210, 0,

Microstep solution of

axis parameter 140

25600

50 (default)

SAP 210, 0, 25600

8 (256 micro steps)

12800

25

SAP 210, 0, 12800

7 (128 micro steps)

6400

12.5

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

 





6.2 Changing the Prescaler Value of an Encoder

The built-in encoder has 1024 steps per 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 prescaler 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.

6.3 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

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 76

more if needed) by issuing an SGP 75, 0, 15 command in direct mode. The parameter will automatically be stored in the configuration EEPROM.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 77

7 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.

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TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 78

Version

Date

Author

SD – Sonja Dwersteg GE – Göran Eggers

Description

0.90

2011-AUG-25

SD

Preliminary version

0.91

2011-AUG-31

GE

- Table with axis and global parameters now centralized in

dedicated chapters

- RFS function added

1.00

2012-MAR-09

SD

First complete version.

- Axis parameters 130 and 200 added.

- Axis parameter 254 updated

1.01

2012-MAR-13

SD

Axis parameter 254 corrected

1.02

2012-MAY-20

SD

Minor changes

1.03

2012-MAY-31

SD

JC instruction: type corrected

1.04

2012-JUL-30

SD

Global parameter 79 added

Version

Date

Author

Description

1.09

2011-AUG-08

OK

First version

1.10

2011-AUG-23

OK

Several enhancements

1.15

2012-MAR-09

OK

Several enhancements

1.18

2012-JUL-25

OK

Global parameter 79 added

8 Revision History

8.1 Document Revision

Figure 8.1: Document revision

8.2 Firmware Revision

Figure 8.2: Firmware revision

9 References

[TMC262] TMC262 Datasheet [TMCL-IDE] TMCL-IDE User Manual [QSH2818] QSH2818 Manual

Please refer to www.trinamic.com.

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Trinamic TMCM-1021 FIRMWARE MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual