Trinamic PD57-1060, PD60-1060, TMCM-1060 Firmware Manual

MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrives

V 1.04

TMCL™ FIRMWARE MANUAL

+ +

TMCM-1060

PD57-1060

PD60-1060

1-axis stepper

controller / driver

2.8A RMS/ 12, 24 or 48V DC USB (mini-USB), RS485, and CAN

step/dir interface integrated sensOstep™ encoder

+ +

TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany

www.trinamic.com

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 2

Table of contents

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

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

3 Overview ......................................................................................................................................................................... 6

4 Putting the PD57/60-1060 into operation .............................................................................................................. 7

4.1 Starting up ............................................................................................................................................................. 7

4.2 Testing with a simple TMCLTM program ...................................................................................................... 10

4.3 Operating the module in direct mode ........................................................................................................ 11

5 TMCL™ and TMCL-IDE ................................................................................................................................................ 12

5.1 Binary command format .................................................................................................................................. 12

5.2 Reply format ........................................................................................................................................................ 13

5.2.1 Status codes .................................................................................................................................................. 14

5.3 Stand-alone applications ................................................................................................................................. 14

5.4 TMCL™ command overview ........................................................................................................................... 14

5.4.1 Motion commands ...................................................................................................................................... 14

5.4.2 Parameter commands ................................................................................................................................ 15

5.4.3 I/O port commands..................................................................................................................................... 15

5.4.4 Control commands ...................................................................................................................................... 15

5.4.5 Calculation commands ............................................................................................................................... 15

5.4.6 Interrupt commands ................................................................................................................................... 16

5.5 TMCL™ list of commands................................................................................................................................ 18

5.6 The ASCII interface ........................................................................................................................................... 20

5.6.1 Format of the command line ................................................................................................................... 20

5.6.2 Format of a reply ......................................................................................................................................... 20

5.6.3 Commands that can be used in ASCII mode ..................................................................................... 20

5.6.4 Configuring the ASCII interface .............................................................................................................. 21

5.7 Commands ........................................................................................................................................................... 22

5.7.1 ROR (rotate right)......................................................................................................................................... 22

5.7.2 ROL (rotate left) ............................................................................................................................................ 23

5.7.3 MST (motor stop) ......................................................................................................................................... 24

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

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

5.7.6 GAP (get axis parameter) ........................................................................................................................... 33

5.7.7 STAP (store axis parameter) ..................................................................................................................... 39

5.7.8 RSAP (restore axis parameter) ................................................................................................................. 42

5.7.9 SGP (set global parameter) ....................................................................................................................... 44

5.7.10 GGP (get global parameter) ...................................................................................................................... 48

5.7.11 STGP (store global parameter) ................................................................................................................. 52

5.7.12 RSGP (restore global parameter) ............................................................................................................. 54

5.7.13 RFS (reference search) ................................................................................................................................ 56

5.7.14 SIO (set output) ........................................................................................................................................... 57

5.7.15 GIO (get input/output) ............................................................................................................................... 59

5.7.16 CALC (calculate) ............................................................................................................................................ 62

5.7.17 COMP (compare) ........................................................................................................................................... 63

5.7.18 JC (jump conditional).................................................................................................................................. 64

5.7.19 JA (jump always).......................................................................................................................................... 65

5.7.20 CSUB (call subroutine) ................................................................................................................................ 66

5.7.21 RSUB (return from subroutine) ................................................................................................................ 67

5.7.22 WAIT (wait for an event to occur) ......................................................................................................... 68

5.7.23 STOP (stop TMCL™ program execution) ............................................................................................... 69

5.7.24 SCO (set coordinate) ................................................................................................................................... 70

5.7.25 GCO (get coordinate) .................................................................................................................................. 71

5.7.26 CCO (capture coordinate) ........................................................................................................................... 72

5.7.27 ACO .................................................................................................................................................................. 73

5.7.28 CALCX (calculate using the X register) .................................................................................................. 74

5.7.29 AAP (accumulator to axis parameter) .................................................................................................... 75

5.7.30 AGP (accumulator to global parameter) ............................................................................................... 80

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 3

5.7.31 CLE (clear error flags) ................................................................................................................................. 84

5.7.32 VECT (set interrupt vector) ........................................................................................................................ 85

5.7.33 EI (enable interrupt) ................................................................................................................................... 86

5.7.34 DI (disable interrupt) .................................................................................................................................. 87

5.7.35 RETI (return from interrupt) ..................................................................................................................... 88

5.7.36 Customer specific TMCL™ command extension (UF0… UF7/user function) ................................ 89

5.7.37 Request target position reached event ................................................................................................. 90

5.7.38 BIN (return to binary mode) .................................................................................................................... 91

5.7.39 TMCL™ Control Functions ......................................................................................................................... 92

6 Axis parameters .......................................................................................................................................................... 94

7 Global parameters .................................................................................................................................................... 100

7.1 Bank 0 ................................................................................................................................................................. 100

7.2 Bank 1 ................................................................................................................................................................. 102

7.3 Bank 2 ................................................................................................................................................................. 102

7.4 Bank 3 ................................................................................................................................................................. 103

8 Hints and tips ............................................................................................................................................................ 104

8.1 Reference search .............................................................................................................................................. 104

8.2 Changing the prescaler value of an encoder .......................................................................................... 107

8.3 stallGuard2 ......................................................................................................................................................... 108

8.4 coolStep™ related axis parameters............................................................................................................ 108

8.5 Velocity calculation ......................................................................................................................................... 110

8.6 Using the RS485 interface ............................................................................................................................. 111

9 Revision history ........................................................................................................................................................ 112

9.1 Firmware revision ............................................................................................................................................ 112

9.2 Document revision .......................................................................................................................................... 112

10 References................................................................................................................................................................... 113

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 4

1 Life support policy

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

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

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

Specifications are subject to change without notice.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 5

2 Features

The PD57/60-1060 is a full mechatronic device consisting of a NEMA 23 (flange size 57mm) or NEMA 24 (flange size 60mm) stepper motor, controller/driver electronics and integrated encoder. The electronics itself is also available without the motor as TMCM-1060 module.

Applications

 Compact single-axis stepper motor solutions  Encoder feedback for high reliability operation

Electrical data

 Supply voltage: common supply voltages +12VDC / +24VDC / +48VDC supported (+9V… +51V DC)

(Please note: pre-series boards are limited to +40V max. supply voltage!)

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

Integrated motor (for PD57/60-1060 only)

 Two phase bipolar stepper motor with 2.8A RMS nom. coil current  Holding torque with 57mm motor: 0.55Nm, 1.01Nm, 1.26Nm or 1.89Nm  Holding torque with 60mm motor: 1.1Nm, 1.65Nm, 2.1Nm or 3.1Nm

Integrated encoder

 Integrated sensOstep™ magnetic encoder (max. 256 increments per rotation) for step-loss detection

under all operating conditions

Integrated motion controller

 High performance ARM7 microcontroller for overall system control and communication protocol handling

Integrated bipolar stepper motor driver (based on TMC262)

 Up to 256 microsteps per full step  High-efficient operation, low power dissipation (MOSFETs with low R  Dynamic current control  Integrated protection  High precision sensorless motor load measurement stallGuard2™  Automatic load dependent motor current adaptation for reduced power consumption and heat

dissipation (coolStep™)

Interfaces

 2 inputs for stop switches / 1 input for home switch (+24V compatible) with programmable pull-up  2 general purpose inputs (+24V compatible) and 2 general purpose outputs (open collector)  USB (mini-USB), RS485 and CAN (2.0B up-to 1Mbit/s) serial communication interfaces  Step/direction interface (optically isolated)

Safety features

 Shutdown input – driver will be disabled in hardware as long as this pin is left open or shorted to

ground

 Separate supply voltage inputs for driver and digital logic. The driver supply voltage may be switched

off externally while the supply for the digital logic and therefore the digital logic itself remains active

 On board 3A fuse

Software

 Available with TMCL™  Stand-alone operation or remote controlled operation  Program memory (non volatile) for up to 2048 TMCL™ commands  PC-based application development software TMCL-IDE available for free

Please refer to separate Hardware Manual for further information.

DS(ON)

)

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 6

3 Overview

As with most TRINAMIC modules the software running on the microprocessor of the TMCM-1060 consists of two parts, a boot loader and the firmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC and remains normally untouched throughout the whole lifetime, the firmware can be updated by the user. New versions can be downloaded free of charge from the TRINAMIC website

http://www.trinamic.com.

The firmware shipped with this module is related to the standard TMCL™ firmware shipped with most of TRINAMIC modules with regard to protocol and commands. On the TMCM-1060 module the Atmel

AT91SAM7X256 is used to run the TMCL™ operating system. The CPU has 256KB flash memory and a 64KB RAM. The microcontroller runs the TMCL™ (Trinamic Motion Control Language) operating system which makes it possible to execute TMCL™ commands that are sent to the module from the host via the RS485,

CAN, or USB. It is possible to use the step/dir interface, too.

The TMC262 on the module is an energy efficient high current high precision microstepping driver IC for

bipolar stepper motors. Its unique high resolution sensorless load detection stallGuard2™ is used for a special integrated load dependent current control feature called coolStep™. The ability to read out the load

and detect an overload makes the TMC262 an optimum choice for drives where a high reliability is desired. Please mind this technical innovation.

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 7

Motor

USB

Power

Serial

communication

GPIO

S/D

4

1

4

1

8

1

4

1

5

4 Putting the PD57/60-1060 into operation

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

If you ordered the module without motor, please connect it with a fitting one. You will find more information about the motor connector in the PD57/60-1060 Hardware Manual.

The things you need:

 PD57/60-1060  Interface (RS485, USB, CAN, step/dir) suitable to your PANdrive™ with cables  Nominal supply voltage +24V DC (12, 24 or 48V DC) for your module  TMCL-IDE program and PC

Precautions:

 Do not connect or disconnect the PANdrive™ while powered!  Do not connect or disconnect the motor while powered!  Do not exceed the maximum power supply of 51V DC.  Start with power supply OFF!

4.1 Starting up

Figure 4.1: Overview connectors

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 8

1

5

Label

Description

1

CAN_H

CAN bus signal (dominant high)

2

CAN_L

CAN bus signal (dominant low)

3

GND

Module ground (system and signal ground)

4

RS485+

RS485 bus signal (non inverted)

5

RS485-

RS485 bus signal (inverted)

Label

Description

1

VBUS

+5V power

2

D-

Data –

3

D+

Data +

4

ID

Not connected

5

GND

ground

4

1

Label

Description

1

+U

Driver

Module + driver stage power supply input

2

+U

Logic

(Optional) separate digital logic power supply input

3

/SHUTDOWN

Shutdown input. Connect this input to +U

Driver

or +U

Logic

in order to activate driver stage. Leaving this input open or connecting it to ground will disable the driver stage

4

GND

Module ground (power supply and signal ground)

1. Connect the interface

a) Connect the RS485 or the CAN interface

A 2mm pitch 5 pin JST B5B-PH-K connector is used for serial communication.

Please connect as follows:

Table 4.1: Connector for serial communication

b) Connect the USB interface

A 5-pin standard mini-USB connector is available on board.

Please connect as follows:

Table 4.2: Mini USB connector

2. Connect the power supply

A 4-pin JST EH series B4B-EH connector is used as power connector on-board.

Please connect as follows:

Table 4.3: Connector for power supply

Attention:

 In order to enable the motor driver stage connect /SHUTDOWN (pin 3) to power supply!  In case separate power supplies for driver and logic are not used pin 2 (logic supply) and

pin 3 (/SHUTDOWN input) of the power connector may be connected together in order to enable the driver stage.

 Please note, that there is no protection against reverse polarity or voltages above the upper

maximum limit. The power supply typically should be within a range of +9 to +51V. Preseries boards are limited to +40V max. power supply.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 9

Command

Description

SAP 254, o, 0

Normal mode (move motor using TMCL™ commands)

SAP 254, o, 1

Step/direction mode (move motor via step/direction inputs)

3. Switch ON the power supply

The LED for power should flash now. This indicates that the on-board +5V supply is available.

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

4. Start the TMCL-IDE software development environment

The TMCL-IDE is available on the TechLibCD and 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.

 For RS485 choose COM port and type with the parameters shown below (baud rate 9600).

Click OK.

Attention:

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

other interfaces (see www.TRINAMIC.com).

 If you prefer to work with step/dir interface please proceed by using axis parameter

254 for switching to step/direction or back to TMCL™ (paragraph 5.7.5):

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 10

Assemble

Download Run

Stop

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

SAP 4, 0, 50000 //Set max. Velocity SAP 5, 0, 5000 //Set max. Acceleration Loop: MVP ABS, 0, 100000 //Move to Position 10000 WAIT POS, 0, 0 //Wait until position reached MVP ABS, 0, -100000 //Move to Position -10000 WAIT POS, 0, 0 //Wait until position reached JA Loop //Infinite Loop

4.2 Testing with a simple TMCL

TM

program

Open the file test2.tmc. Change the motor number 2 in the second paragraph in motor number 0 (because there is only one motor involved). Now your test program looks as follows:

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

2. Then download the program to the TMCM-1060 module via the icon Download.

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

4. Click Stop button to stop the program.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 11

Direct Mode

Attention: Please mind the 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 Fehler! Verweisquelle konnte nicht gefunden werden. (axis

parameters) includes a diagram which points the coolStep™ related axis

parameters and their functions. This can help you configuring your module to

4.3 Operating the module in direct mode

1. Start TMCL™ Direct Mode.

2. If the communication is established the PD57/60-1060 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 50000 -> Click Execute. The first motor is rotating now.  MST motor stop, motor 0 -> Click Execute. The first motor stops now.

You will find a description of all TMCLTM commands in the following chapters.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 12

Bytes

Meaning

1

Module address

1

Command number

1

Type number

1

Motor or Bank number

4

Value (MSB first!)

1

Checksum

5 TMCL™ and TMCL-IDE

The TMCM-1060 supports TMCL™ direct mode (binary commands or ASCII interface) and stand-alone TMCL™ program execution. You can store up to 2048 TMCL™ instructions on it.

In direct mode and most cases the TMCL™ communication over RS485, USB, or CAN follows a strict master/slave relationship. That is, a host computer (e.g. PC/PLC) acting as the interface bus master will send a command to the TMCL-1060. The TMCL™ interpreter on the module will then interpret this command, do the initialization of the motion controller, read inputs and write outputs or whatever is necessary according to the specified command. As soon as this step has been done, the module will send a reply back over RS485/USB/CAN to the bus master. Only then should the master transfer the next command. Normally, the module will just switch to transmission and occupy the bus for a reply, otherwise it will stay in receive mode. It will not send any data over the interface without receiving a command first. This way, any collision on the bus will be avoided when there are more than two nodes connected to a single bus.

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

Every command has a binary representation and a mnemonic. The binary format is used to send commands from the host to a module in direct mode, whereas the mnemonic format is used for easy usage of the commands when developing stand-alone 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.

5.1 Binary command format

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

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

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 13

Bytes

Meaning

1

Reply address

1

Module address

1

Status (e.g. 100 means “no error”)

1

Command number

4

Value (MSB first!)

1

Checksum

Checksum calculation

As mentioned above, the checksum is calculated by adding up all bytes (including the module address byte) using 8-bit addition. Here are two examples to show how to do this:

 in C:

unsigned char i, Checksum; unsigned char Command[9];

//Set the “Command” array to the desired command Checksum = Command[0]; for(i=1; i<8; i++)

Checksum+=Command[i];

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

//Now, send it to the module

 in Delphi:

var i, Checksum: byte; Command: array[0..8] of byte;

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

//Calculate the Checksum: Checksum:=Command[0]; for i:=1 to 7 do Checksum:=Checksum+Command[i]; Command[8]:=Checksum; //Now, send the “Command” array (9 bytes) to the module

5.2 Reply format

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

The reply format for RS485 or USB is as follows:

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 14

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

Mnemonic

Command number

Meaning

ROL

2

Rotate left

ROR

1

Rotate right

MVP

4

Move to position

MST

3

Motor stop

RFS

13

Reference search

SCO

30

Store coordinate

CCO

32

Capture coordinate

GCO

31

Get coordinate

5.2.1 Status codes

The reply contains a status code.

The status code can have one of the following values:

5.3 Stand-alone applications

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

5.4 TMCL™ command overview

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

5.4.1 Motion commands

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 15

Mnemonic

Command number

Meaning

SAP

5

Set axis parameter

GAP

6

Get axis parameter

STAP

7

Store axis parameter into EEPROM

RSAP

8

Restore axis parameter from EEPROM

SGP

9

Set global parameter

GGP

10

Get global parameter

STGP

11

Store global parameter into EEPROM

RSGP

12

Restore global parameter from EEPROM

Mnemonic

Command number

Meaning

SIO

14

Set output

GIO

15

Get input

Mnemonic

Command number

Meaning

JA

22

Jump always

JC

21

Jump conditional

COMP

20

Compare accumulator with constant value

CLE

36

Clear error flags

CSUB

23

Call subroutine

RSUB

24

Return from subroutine

WAIT

27

Wait for a specified event

STOP

28

End of a TMCL™ program

Mnemonic

Command number

Meaning

CALC

19

Calculate using the accumulator and a constant value

CALCX

33

Calculate using the accumulator and the X register

AAP

34

Copy accumulator to an axis parameter

AGP

35

Copy accumulator to a global parameter

ACO

39

Copy accu to coordinate

5.4.2 Parameter commands

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

5.4.3 I/O port commands

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

5.4.4 Control commands

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

5.4.5 Calculation commands

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 16

Mnemonic

Command number

Meaning

EI

25

Enable interrupt

DI

26

Disable interrupt

VECT

37

Set interrupt vector

RETI

38

Return from interrupt

Interrupt number

Interrupt type

0

Timer 0

1

Timer 1

2

Timer 2

3

Target position reached

15

stallGuard™

21

Deviation

27

Left stop switch

28

Right stop switch

39

Input change 0

40

Input change 1

255

Global interrupts

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

5.4.6 Interrupt commands

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

based modules from revision 4.23 on. The TMCL-IDE supports the following commands from version 1.78 on.

5.4.6.1 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.

5.4.6.2 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 execution of the normal program will be continued.

5.4.6.3 Interrupt vectors

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 17

5.4.6.4 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 5.7.9) for further information about that.

5.4.6.5 Using interrupts in TMCL™

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

 Define an interrupt handling routine using the VECT command.  If necessary, configure the interrupt using an SGP <type>, 3, <value> command.  Enable the interrupt using an EI <interrupt> command.  Globally enable interrupts using an EI 255 command.  An interrupt handling routine must always end with a RETI command

The following example shows the use of a timer interrupt:

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

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

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

In the above example, the interrupt numbers are used directly. To make the program better readable please 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 above program 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.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 18

Command

Number

Parameter

Description

ROR

1

Rotate right with specified velocity

ROL

2

Rotate left with specified velocity

MST

3

Stop motor movement

MVP

4

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

Move to position (absolute or relative)

SAP

5

Set axis parameter (motion control specific settings)

GAP

6

Get axis parameter (read out motion control specific settings)

STAP

7

Store axis parameter permanently (non volatile)

RSAP

8

Restore axis parameter

SGP

9

<parameter>, <bank number>, value

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

GGP

10

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

STGP

11

Store global parameter (TMCL™ user

variables only)

RSGP

12

Restore global parameter (TMCL™ user

variable only)

RFS

13

START|STOP|STATUS, <motor number>

Reference search

SIO

14

Set digital output to specified value

GIO

15

Get value of analogue/digital input

CALC

19

Process accumulator & value

COMP

20

<value>

Compare accumulator <-> value

JC

21

Jump conditional

JA

22

Jump absolute

CSUB

23

Call subroutine

RSUB

24 Return from subroutine

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

5.5 TMCL™ list of commands

The following TMCL™ commands are currently supported:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 19

Instruction

Description

Type

Mot/Bank

Value

128 – stop application

a running TMCL™ standalone

application is stopped

don’t care

129 – run application

TMCL™ execution is started (or

continued)

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

don’t care

starting address

130 – step application

only the next command of a

TMCL™ application is executed

don’t care

131 – reset application

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

don’t care

132 – start download mode

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

the TMCL™ memory

don’t care

starting address of the application 133 – quit download mode

target command execution is resumed

don’t care

134 – read TMCL™ memory

the specified program memory location is read

don’t care

135 – get application status

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

don’t care

136 – get firmware version

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

0 – string 1 – binary

don’t care

137 – restore factory settings

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

don’t care

must be 1234

138 – reserved

139 – enter ASCII mode

Enter ASCII command line (see chapter 5.6)

don’t care

TMCL™ control commands:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 20

5.6 The ASCII interface

The ASCII interface can be used to communicate with the module and to send some commands as text strings.

 The ASCII command line interface is entered by sending the binary command 139 (enter ASCII

mode).

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

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

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

5.6.1 Format of the command line

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

Here are some examples for valid command lines:

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

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

5.6.2 Format of a reply

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

 the address character of the host (host address that can be set in the module)  the address character of the module  the status code as a decimal number  the return value of the command as a decimal number  a <CR> character

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

5.6.3 Commands that can be used in ASCII mode

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

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

 BIN: This command quits ASCII mode and returns to binary TMCL™ mode.  RUN: This command can be used to start a TMCL™ program in memory.  STOP: Stops a running TMCL™ application.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 21

5.6.4 Configuring the ASCII interface

The module can be configured so that it starts up either in binary mode or in ASCII mode. Global parameter 67 is used for this purpose (please see also chapter 7.1).

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

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

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 22

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

$02

$00

$01

$5e

$62

5.7 Commands

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

5.7.1 ROR (rotate right)

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

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).

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 only one motor is involved

Reply in direct mode:

Example:

Rotate right, velocity = 350

Mnemonic: ROR 0, 350

Binary:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 23

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

$04

$b0

$b8

5.7.2 ROL (rotate left)

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

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).

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 only one motor is involved

Reply in direct mode:

Example:

Rotate left, velocity = 1200

Mnemonic: ROL 0, 1200

Binary:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 24

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

3

don’t care

0*

don’t care

STATUS

VALUE

100 – OK

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$03

$00

$05

5.7.3 MST (motor stop)

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

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

Related commands: ROL, ROR, SAP, GAP

Mnemonic: MST 0

Binary representation:

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

Reply in direct mode:

Example:

Stop motor

Mnemonic: MST 0

Binary:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 25

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

5.7.4 MVP (move to position)

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

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 trajectory parameters (like maximum positioning speed and acceleration) cannot

be changed while positioning is in progress.

 Only the target position can be changed while positioning is in progress (with some restrictions).  Please note, that the distance between the actual position and the new one should not be more

than 2.147.483.647 microsteps. Otherwise the motor will run in the wrong direction for taking a shorter way. If the value is exactly 2.147.483.648 the motor maybe stops.

Three operation types are available:

 Moving to an absolute position in the range from −2.147.483.648… +2.147.483.647.  Starting a relative movement by means of an offset to the actual position. In this case, the new

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

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

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:

Reply in direct mode:

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 26

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$04

$00

$01

$5f

$90

$f6

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$04

$01

$00

$ff

$fc

$18

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$04

$02

$00

$08

$11

Example:

Move motor to (absolute) position 90000

Mnemonic: MVP ABS, 0, 9000

Binary:

Example:

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

Mnemonic: MVP REL, 0, -1000

Binary:

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.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 27

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

5

<parameter

number>

0*

<value>

STATUS

VALUE

100 – OK

don’t care

Number

Axis Parameter

Description

Range [Unit]

0

target (next) position

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

−2.147.483.648…

+2.147.483.647 [µsteps]

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]

2

target (next) speed

The desired speed in velocity mode (see ramp mode, no. 138). 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]

3

actual speed

The current rotation speed.

-268.435.455… +268.435.454 [pps]

4

maximum positioning speed

Should not exceed the physically highest possible value. Adjust the pulse divisor (no.

154), if the speed value is very low (<50) or above the upper limit.

0… +268.435.454 [pps]

5

maximum acceleration

The limit for acceleration (and deceleration). Changing this parameter requires recalculation of the acceleration factor (no. 146) and the acceleration divisor (no. 137), which is done automatically.

0… +268.435.454 [pps/s]

5.7.5 SAP (set axis parameter)

With this command most of the motion control parameters of the module can be specified. The settings will be stored in SRAM and therefore are volatile. That is, information will be lost after power off. Please use command STAP (store axis parameter) in order to store any setting permanently.

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

Related commands: GAP, STAP, RSAP, AAP

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

Binary representation:

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

Reply in direct mode:

List of parameters, which can be used for SAP:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 28

Number

Axis Parameter

Description

Range [Unit]

6

absolute max. current (CS / Current Scale)

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

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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12

right limit switch disable

1=right stop switch disabled 0=right stop switch enabled

0/1

13

left limit switch disable

1=left stop switch disabled 0=left stop switch enabled

0/1

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.

0/1 140

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

160

step interpolation enable

Step interpolation is supported with a 16 microstep setting only. In this setting, each step impulse at the input causes the execution of 16 times 1/256 microsteps. This way, a smooth motor movement like in 256 microstep resolution is achieved. 0 – step interpolation off 1 – step interpolation on

0/1 161

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 29

Number

Axis Parameter

Description

Range [Unit]

162

chopper blank time

Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For low current drivers, a setting of 1 or 2 is good. For higher current applications like the TMCM-1060 a setting of 2 or 3 will be required.

0… 3

163

chopper mode

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

0/1

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

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

166

chopper hysteresis start

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

0… 8

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

168

smartEnergy current minimum (SEIMIN)

Sets the lower motor current limit for

coolStep™ operation by scaling the CS

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

0/1

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

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

Hysteresis: (smartEnergy hysteresis value + 1) * 32

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 30

Number

Axis Parameter

Description

Range [Unit]

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

172

smartEnergy hysteresis start

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

0… 15

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

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

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

176

slope control low side

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

side.

0… 3

177

short protection disable

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

Use default value!

0/1

178

short detection timer

0: 3.2µs 1: 1.6µs 2: 1.2µs 3: 0.8µs

Use default value!

0… 3

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]

182

smartEnergy threshold speed

Above this speed coolStep™ becomes

enabled.

0… +268.435.454 [pps]

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 31

Number

Axis Parameter

Description

Range [Unit]

183

smartEnergy slow run current

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

0… 255

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193

ref. search mode

1

search left stop switch only

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

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

194

ref. search speed

Speed for searching the switch roughly

0… +268.435.454 [pps]

195

ref. switch speed

Speed for exact search of the switch

0… +268.435.454 [pps]

204

freewheeling

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

0… 65535 0 = never [msec]

209

encoder position

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

[encoder steps] 210

encoder prescaler

Prescaler for the encoder.

See paragraph 0

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]

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]

254

step/dir

0

normal mode (move motor using TMCL™ commands)

1

step/direction mode (move motor via step/direction inputs)

0/1

Hardware related parameters for the more experienced users. Do not change unless you are

absolutely sure!

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 32

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$05

$06

$00

$c8

$d5

Example:

Set the absolute maximum current of motor to 200mA

Mnemonic: SAP 6, 0, 200

Binary:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 33

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

6

0*

don’t care

STATUS

VALUE

100 – OK

don’t care

Number

Axis Parameter

Description

Range [Unit]

0

target (next) position

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

−2.147.483.648…

+2.147.483.647 [µsteps]

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]

2

target (next) speed

The desired speed in velocity mode (see ramp mode, no. 138). 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]

3

actual speed

The current rotation speed.

-268.435.455… +268.435.454 [pps]

4

maximum positioning speed

Should not exceed the physically highest possible value. Adjust the pulse divisor (no.

154), if the speed value is very low (<50) or above the upper limit.

-268.435.455… +268.435.454 [pps]

5

maximum acceleration

The limit for acceleration (and deceleration). Changing this parameter requires recalculation of the acceleration factor (no. 146) and the acceleration divisor (no. 137), which is done automatically.

0… +268.435.454 [pps/s]

5.7.6 GAP (get axis parameter)

Most parameters of the TMCM-1060 can be adjusted individually for the axis. With this parameter they can be read out. In stand-alone mode the requested value is also transferred to the accumulator register for further processing purposes (such as conditioned jumps). In direct mode the value read is only output in the value field of the reply (without affecting the accumulator).

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

Related commands: SAP, STAP, AAP, RSAP

Mnemonic: GAP <parameter number>, 0

Binary representation:

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

Reply in direct mode:

List of parameters, which can be used for GAP:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 34

Number

Axis Parameter

Description

Range [Unit]

6

absolute max. current (CS / Current Scale)

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

0… 255





  









  





7

standby current

The current limit two seconds after the motor has stopped.

0… 255





  









  





8

position reached

1 when target position = actual position

0/1

9

home switch

State of the home switch input

0/1

10

right stop sw.

State of the right stop switch input

0/1

11

left stop sw.

State of the left stop switch input

0/1

12

right limit switch disable

1=right stop switch disabled 0=right stop switch enabled

0/1

13

left limit switch disable

1=left stop switch disabled 0=left stop switch enabled

0/1

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.

0/1 140

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

160

step interpolation enable

Step interpolation is supported with a 16 microstep setting only. In this setting, each step impulse at the input causes the execution of 16 times 1/256 microsteps. This way, a smooth motor movement like in 256 microstep resolution is achieved. 0 – step interpolation off 1 – step interpolation on

0/1 161

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 35

Number

Axis Parameter

Description

Range [Unit]

162

chopper blank time

Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For low current drivers, a setting of 1 or 2 is good. For higher current applications like the TMCM-1060 a setting of 2 or 3 will be required.

0… 3

163

chopper mode

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

0/1

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

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

166

chopper hysteresis start

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

0… 8

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.

0 / 2… 15

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.

168

smartEnergy current minimum (SEIMIN)

Sets the lower motor current limit for

coolStep™ operation by scaling the CS

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

0/1

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

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

Hysteresis: (smartEnergy hysteresis value + 1) * 32

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 36

Number

Axis Parameter

Description

Range [Unit]

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

172

smartEnergy hysteresis start

The lower threshold for the stallGuard2™

value (see smart Energy current up step).

0… 15

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

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

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

176

slope control low side

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

side.

0… 3

177

short protection disable

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

Use default value!

0/1

178

short detection timer

0: 3.2µs 1: 1.6µs 2: 1.2µs 3: 0.8µs

Use default value!

0… 3

180

smartEnergy actual current

This status value provides the actual motor current setting as controlled by coolStep™. The value goes up to the CS value and down to the portion of CS as specified by SEIMIN.

actual motor current scaling factor:

0 … 31: 1/32, 2/32, … 32/32

0… 31

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 37

Number

Axis Parameter

Description

Range [Unit]

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]

182

smartEnergy threshold speed

Above this speed coolStep™ becomes

enabled.

0… +268.435.454 [pps]

183

smartEnergy slow run current

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

0… 255





  









  





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 sop 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

194

ref. search speed

Speed for searching the switch roughly

0… +268.435.454 [pps]

195

ref. switch speed

Speed for exact search of the switch

0… +268.435.454 [pps]

196

switch distance

Distance between left and right and switch in microsteps (mode 2 and 3 only).

0… +2.147.483.647 [µsteps]

204

freewheeling

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

0… 65535 0 = never [msec]

206

actual load value

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

0… 1023

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 38

Number

Axis Parameter

Description

Range [Unit]

208

TMC262 driver error flags

Bit 0

stallGuard™ status (1: threshold reached)

Bit 1

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

Bt 2

Pre-warning overtemperature (1: Threshold is exceeded)

Bit 3

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

Bit 4

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

Bit 5

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

Bit 6

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

Bit 7

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

Please refer to the TMC262 Datasheet for more information.

0/1

209

encoder position

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

[encoder steps] 210

encoder prescaler

Prescaler for the encoder.

See paragraph 0

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]

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]

215

absolute encoder value

Absolute value of the encoder.

0… 4095 [encoder steps]

254

step/dir

0

normal mode (move motor using TMCL™ commands)

1

step/direction mode (move motor via step/direction inputs)

0/1

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$06

$01

$00

$0a

Byte Index

0 1 2 3 4 5 6 7 8

Function

Host-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$02

$01

$64

$06

$00

$02

$c7

$36

Example:

Get the actual position of motor

Mnemonic: GAP 0, 1

Binary:

Reply:

 status=no error, position=711

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 39

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

7

0*1

don’t care*2

STATUS

VALUE

100 – OK

don’t care

Parameter number

Motor number

Value

s. chapter 6

0

s. chapter 6

Number

Axis Parameter

Description

4

maximum positioning speed

Should not exceed the physically highest possible value. Adjust the pulse divisor (no.

154), if the speed value is very low (<50) or above the upper limit.

5

maximum acceleration

The limit for acceleration (and deceleration). Changing this parameter requires recalculation of the acceleration factor (no. 146) and the acceleration divisor (no. 137), which is done automatically.

6

absolute max. current (CS / Current Scale)

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

7

standby current

The current limit two seconds after the motor has stopped.

12

right limit switch disable

1=right stop switch disabled 0=right stop switch enabled

13

left limit switch disable

1=left stop switch disabled 0=left stop switch enabled

5.7.7 STAP (store axis parameter)

An axis parameter previously set with a Set Axis Parameter command (SAP) will be stored permanent. Most parameters are automatically restored after power up (refer to axis parameter list in chapter 6).

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

Related commands: SAP, RSAP, GAP, AAP

Mnemonic: STAP <parameter number>, 0

Binary representation:

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

Reply in direct mode:

Parameter ranges:

List of parameters, which can be used for STAP:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 40

Number

Axis Parameter

Description

140

microstep resolution

0

full step

1

half step

2

4 microsteps

3

8 microsteps

4

16 microsteps

5

32 microsteps

6

64 microsteps

7

128 microsteps

8

256 microsteps

193

ref. search mode

1

search left stop switch only

2

search right stop switch, then search left stop switch

3

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

4

search left stop switch from both sides

5

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

6

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

7

search home switch in positive direction, ignore end switches

8

search home switch in negative direction, ignore end switches

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

194

ref search speed

Speed for searching the switch roughly

195

ref switch speed

Speed for exact search of the switch

204

freewheeling

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

210

encoder prescaler

Prescaler for the encoder.

212

maximum encoder deviation

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

214

power down delay

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

254

step/dir

0

normal mode (move motor using TMCL™ commands)

1

step/direction mode (move motor via step/direction inputs)

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 41

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$07

$04

$00

$0d

Example:

Store the maximum speed of motor

Mnemonic: STAP 4, 0

Binary:

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 42

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

8

0*

don’t care

STATUS

VALUE

100 – OK

don’t care

Number

Axis Parameter

Description

4

maximum positioning speed

Should not exceed the physically highest possible value. Adjust the pulse divisor (no.

154), if the speed value is very low (<50) or above the upper limit.

5

maximum acceleration

The limit for acceleration (and deceleration). Changing this parameter requires recalculation of the acceleration factor (no. 146) and the acceleration divisor (no. 137), which is done automatically.

6

absolute max. current (CS / Current Scale)

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

7

standby current

The current limit two seconds after the motor has stopped.

12

right limit switch disable

1=right stop switch disabled 0=right stop switch enabled

13

left limit switch disable

1=left stop switch disabled 0=left stop switch enabled

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

5.7.8 RSAP (restore axis parameter)

For all configuration-related axis parameters non-volatile memory locations are provided. By default, most parameters are automatically restored after power up (refer to axis parameter list in chapter 6). A single parameter that has been changed before can be reset by this instruction also.

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

Relate commands: SAP, STAP, GAP, and AAP

Mnemonic: RSAP <parameter number>, 0

Binary representation:

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

Reply structure in direct mode:

List of parameters, which can be used for RSAP:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 43

Number

Axis Parameter

Description

193

ref. search mode

1

search left stop switch only

2

search right stop switch, then search left stop switch

3

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

4

search left stop switch from both sides

5

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

6

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

7

search home switch in positive direction, ignore end switches

8

search home switch in negative direction, ignore end switches

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

194

ref. search speed

Speed for searching the switch roughly

195

ref. switch speed

Speed for exact search of the switch

204

freewheeling

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

210

encoder prescaler

Prescaler for the encoder.

212

maximum encoder deviation

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

214

power down delay

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

254

step/dir

0

normal mode (move motor using TMCL™ commands)

1

step/direction mode (move motor via step/direction inputs)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$08

$06

$00

$10

Example:

Restore the maximum current of motor

Mnemonic: RSAP 6, 0

Binary:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 44

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

9

<parameter

number>

<value>

STATUS

VALUE

100 – OK

don’t care

Number

Global parameter

Description

Range

64

EEPROM magic

Setting this parameter to a different value as $E4 will cause re-initialization of the axis and global parameters (to factory defaults) after the next power up. This is useful in case of miss-configuration.

0… 255

65

RS485 baud rate

0

9600 baud

Default

1

14400 baud

2 19200 baud

3

28800 baud

4

38400 baud

5 57600 baud

6

76800 baud

Not supported by Windows!

7

115200 baud

8 230400 baud

9

250000 baud

Not supported by Windows!

10

500000 baud

Not supported by Windows!

11

1000000 baud

Not supported by Windows!

0… 11

66

serial address

The module (target) address for RS-485.

0… 255

67

ASCII mode

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

5.7.9 SGP (set global parameter)

With this command most of the module specific parameters not directly related to motion control can be specified and the 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. Refer to chapter 0 for a complete parameter list.

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:

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 45

Number

Global parameter

Description

Range

68

serial heartbeat

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

[ms]

69

CAN bit rate

2

20kBit/s

3

50kBit/s

4

100kBit/s

5 125kBit/s

6

250kBit/s

7

500kBit/s

8 1000kBit/s

Default

2… 8

70

CAN reply ID

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

0… 7ff

71

CAN ID

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

0… 7ff

73

configuration EEPROM lock flag

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

0/1

75

telegram pause time

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

0… 255

76

serial host address

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

0… 255

77

auto start mode

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

0/1

80

shutdown pin functionality

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

0… 2

81

TMCL™ code protection

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

If you switch off the protection against disassembling, the program will be erased first! Changing this value from 1 or 3 to 0 or 2, the TMCL™ program will be wiped off.

0,1,2,3

82

CAN heartbeat

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

[ms]

83

CAN secondary address

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

0… 7ff

84

coordinate storage

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

0/1 132

tick timer

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

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

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 46

Number

Global parameter

Description

Range

0

general purpose variable #0

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

1

general purpose variable #1

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

2

general purpose variable #2

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

3

general purpose variable #3

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

4

general purpose variable #4

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

5

general purpose variable #5

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

6

general purpose variable #6

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

7

general purpose variable #7

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

8

general purpose variable #8

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

9

general purpose variable #9

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

10

general purpose variable #10

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

11

general purpose variable #11

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

12

general purpose variable #12

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

13

general purpose variable #13

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

14

general purpose variable #14

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

15

general purpose variable #15

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

16

general purpose variable #16

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

17

general purpose variable #17

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

18

general purpose variable #18

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

19

general purpose variable #19

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

20… 55

general purpose variables #20… #55

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

56… 255

general purpose variables #56… #255

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

Number

Global parameter

Description

Range

0

Timer 0 period (ms)

Time between two interrupts (ms)

0… 4.294.967.295 [ms]

1

Timer 1 period (ms)

Time between two interrupts (ms)

0… 4.294.967.295 [ms]

2

Timer 2 period (ms)

Time between two interrupts (ms)

0… 4.294.967.295 [ms]

39

Input 0 edge type

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

0… 3

40

Input 1 edge type

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

0… 3

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

Global parameters of bank 3, which can be used for SGP:

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

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 47

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

Example:

Set the serial address of the target device to 3

Mnemonic: SGP 66, 0, 3

Binary:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 48

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

10

don’t care

STATUS

VALUE

100 – OK

don’t care

Number

Global parameter

Description

Range

64

EEPROM magic

Setting this parameter to a different value as $E4 will cause re-initialization of the axis and global parameters (to factory defaults) after the next power up. This is useful in case of miss-configuration.

0… 255

65

RS485 baud rate

0

9600 baud (default)

1

14400 baud

2 19200 baud

3

28800 baud

4

38400 baud

5 57600 baud

6

76800 baud

Not supported by Windows!

7

115200 baud

8 230400 baud

9

250000 baud

Not supported by Windows!

10

500000 baud

Not supported by Windows!

11

1000000 baud

Not supported by Windows!

0… 11

66

serial address

The module (target) address for RS-485.

0… 255

67

ASCII mode

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

68

serial heartbeat

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

[ms]

5.7.10 GGP (get global parameter)

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

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

Related commands: SGP, STGP, RSGP, AGP

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

Binary representation:

Reply in direct mode:

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 49

Number

Global parameter

Description

Range

69

CAN bit rate

2

20kBit/s

3 50kBit/s

4

100kBit/s

5

125kBit/s

6 250kBit/s

7

500kBit/s

8

1000kBit/s

Default

2… 8

70

CAN reply ID

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

0… 7ff

71

CAN ID

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

0… 7ff

73

configuration EEPROM lock flag

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

0/1

75

telegram pause time

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

0… 255

76

serial host address

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

0… 255

77

auto start mode

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

0/1

80

shutdown pin functionality

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

0… 2

81

TMCL™ code protection

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

If you switch off the protection against disassembling, the program will be erased first! Changing this value from 1 or 3 to 0 or 2, the TMCL™ program will be wiped off.

0,1,2,3

82

CAN heartbeat

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

[ms]

83

CAN secondary address

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

0… 7ff

84

coordinate storage

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

0/1

128

TMCL™ application status

0 –stop 1 – run 2 – step 3 – reset

0… 3

129

download mode

0 – normal mode 1 – download mode

0/1

130

TMCL™ program counter

The index of the currently executed TMCL™ instruction.

132

tick timer

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

133

random number

Choose a random number. Read only!

0… 2147483 647

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 50

Number

Global parameter

Description

Range

0

general purpose variable #0

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

1

general purpose variable #1

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

2

general purpose variable #2

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

3

general purpose variable #3

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

4

general purpose variable #4

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

5

general purpose variable #5

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

6

general purpose variable #6

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

7

general purpose variable #7

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

8

general purpose variable #8

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

9

general purpose variable #9

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

10

general purpose variable #10

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

11

general purpose variable #11

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

12

general purpose variable #12

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

13

general purpose variable #13

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

14

general purpose variable #14

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

15

general purpose variable #15

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

16

general purpose variable #16

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

17

general purpose variable #17

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

18

general purpose variable #18

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

19

general purpose variable #19

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

20… 55

general purpose variables #20…

#55

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

56… 255

general purpose variables #56… #255

for use in TMCL™ applications

−2.147.483.648… +2.147.483.647

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

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

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 51

Number

Global parameter

Description

Range

0

Timer 0 period (ms)

Time between two interrupts (ms)

0… 4.294.967.295 [ms]

1

Timer 1 period (ms)

Time between two interrupts (ms)

0… 4.294.967.295 [ms]

2

Timer 2 period (ms)

Time between two interrupts (ms)

0… 4.294.967.295 [ms]

39

Input 0 edge type

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

0… 3

40

Input 1 edge type

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

0… 3

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$0a

$42

$00

$4d

Byte Index

0 1 2 3 4 5 6 7 8

Function

Host-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$02

$01

$64

$0a

$00

$01

$72

Global parameters of bank 3, which can be used for GGP:

Bank 3 contains interrupt parameters. The priority of an interrupt depends on its number. Interrupts with a lower number have a higher priority.

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

Example:

Get the serial address of the target device

Mnemonic: GGP 66, 0

Binary:

Reply:

 Status=no error, Value=1

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 52

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

11

don’t care

STATUS

VALUE

100 – OK

don’t care

Number

Global parameter

Description

0

general purpose variable #0

for use in TMCL™ applications

1

general purpose variable #1

for use in TMCL™ applications

2

general purpose variable #2

for use in TMCL™ applications

3

general purpose variable #3

for use in TMCL™ applications

4

general purpose variable #4

for use in TMCL™ applications

5

general purpose variable #5

for use in TMCL™ applications

6

general purpose variable #6

for use in TMCL™ applications

7

general purpose variable #7

for use in TMCL™ applications

8

general purpose variable #8

for use in TMCL™ applications

9

general purpose variable #9

for use in TMCL™ applications

10

general purpose variable #10

for use in TMCL™ applications

11

general purpose variable #11

for use in TMCL™ applications

12

general purpose variable #12

for use in TMCL™ applications

13

general purpose variable #13

for use in TMCL™ applications

14

general purpose variable #14

for use in TMCL™ applications

15

general purpose variable #15

for use in TMCL™ applications

16

general purpose variable #16

for use in TMCL™ applications

17

general purpose variable #17

for use in TMCL™ applications

18

general purpose variable #18

for use in TMCL™ applications

5.7.11 STGP (store global parameter)

This command is used to store TMCL™ user variables permanently in the EEPROM of the module. Some global parameters are located in RAM memory, so without storing modifications are lost at power down. This instruction enables enduring storing. Most parameters are automatically restored after power up (see the list of global parameters in chapter 0).

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

Related commands: SGP, GGP, RSGP, AGP

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

Binary representation:

Reply in direct mode:

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

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

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

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

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 53

Number

Global parameter

Description

19

general purpose variable #19

for use in TMCL™ applications

20… 55

general purpose variables #20… #55

for use in TMCL™ applications

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$0b

$2a

$02

$00

$38

Global parameters of bank 3, which can be used for STGP:

The global parameter bank 3 is not required for the STGP command.

Example:

Store the user variable #42

Mnemonic: STGP 42, 2

Binary:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 54

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

12

don’t care

STATUS

VALUE

100 – OK

don’t care

Number

Global parameter

Description

0

general purpose variable #0

for use in TMCL™ applications

1

general purpose variable #1

for use in TMCL™ applications

2

general purpose variable #2

for use in TMCL™ applications

3

general purpose variable #3

for use in TMCL™ applications

4

general purpose variable #4

for use in TMCL™ applications

5

general purpose variable #5

for use in TMCL™ applications

6

general purpose variable #6

for use in TMCL™ applications

7

general purpose variable #7

for use in TMCL™ applications

8

general purpose variable #8

for use in TMCL™ applications

9

general purpose variable #9

for use in TMCL™ applications

10

general purpose variable #10

for use in TMCL™ applications

11

general purpose variable #11

for use in TMCL™ applications

12

general purpose variable #12

for use in TMCL™ applications

13

general purpose variable #13

for use in TMCL™ applications

14

general purpose variable #14

for use in TMCL™ applications

15

general purpose variable #15

for use in TMCL™ applications

16

general purpose variable #16

for use in TMCL™ applications

17

general purpose variable #17

for use in TMCL™ applications

5.7.12 RSGP (restore global parameter)

With this command the contents of a TMCL™ user variable can be restored from the EEPROM. For all configuration-related axis parameters, non-volatile memory locations are provided. By default, most parameters are automatically restored after power up (see axis parameter list in chapter 0). A single parameter that has been changed before can be reset by this instruction.

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

Relate commands: SAP, STAP, GAP, and AAP

Mnemonic: RSAP <parameter number>, 0

Binary representation:

Reply structure in direct mode:

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

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

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

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

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 55

Number

Global parameter

Description

18

general purpose variable #18

for use in TMCL™ applications

19

general purpose variable #19

for use in TMCL™ applications

20… 55

general purpose variables #20… #55

for use in TMCL™ applications

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$0c

$2a

$02

$00

$39

Global parameters of bank 3, which can be used for RSGP:

The global parameter bank 3 is not required for the RSGP command.

Example:

Restore the maximum current of motor

Mnemonic: RSGP 6, 0

Binary:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 56

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

13

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

0*

don’t care

STATUS

VALUE

100 – OK

don’t care

STATUS

VALUE

100 – OK

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

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$0d

$00

$0f

5.7.13 RFS (reference search)

The TMCM-1060 has a built-in reference search algorithm which can be used. The reference search algorithm provides switching point calibration and three switch modes. The status of the reference search can also be queried to see if it has already finished. (In a TMCL™ program it is better to use the WAIT command to wait for the end of a reference search.) Please see the appropriate parameters 193… 196 in the axis parameter table to configure the reference search algorithm to meet your needs (chapter 6). The reference search can be started, stopped, and the actual status of the reference search can be checked.

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

Related commands: WAIT

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

Binary representation:

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

Reply in direct mode:

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

When using type 2 (STATUS):

Example:

Start reference search of motor

Mnemonic: RFS START, 0

Binary:

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

8.3 for details.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 57

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

Motor

USB

Power

Serial

communication

GPIO

S/D

4

1

4

1

8

1

4

1

5

5.7.14 SIO (set output)

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

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

Related commands: GIO, WAIT

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

Binary representation:

Reply structure:

Example:

Set OUT_1 to high (bank 2, output 7; general purpose output)

Mnemonic: SIO 1, 2, 1

Binary:

Figure 5.1: Connectors of TMCM-1060

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 58

1

8

I/O port

Command

Range

1

OUT_0

SIO 0, <bank number>, 1/0

1/0 2 OUT_1

SIO 1, <bank number>, 1/0

1/0

Available I/O ports of TMCM-1060:

Addressing both output lines with one SIO command:

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

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

output line.

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

the accumulator are copied to the output pins.

Example:

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

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

Loop: GIO 255, 0

SIO 255, 2,-1

JA Loop

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 59

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

5.7.15 GIO (get input/output)

With this command the status of the two available general purpose inputs of the module can be read out. The function reads a digital or analogue input port. Digital lines will read 0 and 1, while the ADC channels deliver their 10 bit result in the range of 0… 1023. In stand-alone mode the requested value is copied to the accumulator (accu) for further processing purposes such as conditioned jumps. In direct mode the value is only output in the value field of the reply, without affecting the accumulator. The actual status of a digital output line can also be read.

Internal function: The specified line is read.

Related commands: SIO, WAIT

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

Binary representation:

Reply in direct mode:

Example:

Get the analogue value of ADC channel 3

Mnemonic: GIO 3, 1

Binary:

Reply:

 value: 506

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 60

Motor

USB

Power

Serial

communication

GPIO

S/D

4

1

4

1

8

1

4

1

5

1

8

I/O port

Command

Range

3

IN_0

GIO 0, 0

0/1

4

IN_1

GIO 1, 0

0/1

Figure 5.2: Connectors of TMCM-1060

5.7.15.1 I/O bank 0 – digital inputs:

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

Reading both 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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 61

1

8

I/O port

Command

Range

3

IN_0

GIO 0, 1

0… 1023

4

IN_1

GIO 1, 1

0… 1023

1

8

I/O port

Command

Range

1

OUT_0

GIO 0, 2, <n>

1/0

2

OUT_1

GIO 1, 2, <n>

1/0

5.7.15.2 I/O bank 1 – analogue inputs:

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

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 62

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

19

0 ADD – add to accu 1 SUB – subtract from accu 2 MUL – multiply accu by 3 DIV – divide accu by 4 MOD – modulo divide by 5 AND – logical and accu with 6 OR – logical or accu with 7 XOR – logical exor accu with 8 NOT – logical invert accu 9 LOAD – load operand to accu

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$13

$02

$00

$FF

$EC

$78

5.7.16 CALC (calculate)

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

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

Mnemonic: CALC <operation>, <value>

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

Binary representation:

Example:

Multiply accu by -5000

Mnemonic: CALC MUL, -5000

Binary:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 63

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

20

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$14

$00

$03

$e8

$00

5.7.17 COMP (compare)

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

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

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

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

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

Mnemonic: COMP <value>

Binary representation:

Example:

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

GAP 1, 2, 0 //get axis parameter, type: no. 1 (actual position), motor: 0, value: 0 don’t care COMP 1000 //compare actual value to 1000 JC GE, Label //jump, type: 5 greater/equal, the label must be defined somewhere else in the

program

Binary format of the COMP 1000 command:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 64

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

21

0 ZE - zero 1 NZ - not zero 2 EQ - equal 3 NE - not equal 4 GT - greater 5 GE - greater/equal 6 LT - lower 7 LE - lower/equal 8 ETO - time out error 9 EAL – external alarm 12 ESD – shutdown error

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$15

$05

$00

$0a

$25

5.7.18 JC (jump conditional)

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

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

while the program loads down. It does not make sense to use this command in direct mode. See the host-only control functions for details.

Internal function: the 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:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 65

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

22

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$16

$00

$14

$2b

5.7.19 JA (jump always)

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

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

while the program loads down. This command cannot be used 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:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 66

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

23

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$17

$00

$64

$7c

5.7.20 CSUB (call subroutine)

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 67

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

24

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$18

$00

$19

5.7.21 RSUB (return from subroutine)

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

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

while the program loads down. This command cannot be used in direct mode.

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

Related command: CSUB

Mnemonic: RSUB

Binary representation:

Example: please see the CSUB example (section 5.7.20).

Binary format of RSUB:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 68

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

27

0 TICKS - timer ticks*1

don’t care

<no. of ticks*>

1 POS - target position reached

0*2

<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

5.7.22 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 stand-alone operation only.

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

while the program loads down. This command cannot be used in direct mode.

There are five different wait conditions that can be used:

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

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

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

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

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

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

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

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

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

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

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

Related commands: JC, CLE

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

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

Binary representation:

1

*

one tick is 10 milliseconds (in standard firmware)

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

Example:

Wait for motor to reach its target position, without timeout

Mnemonic: WAIT POS, 0, 0

Binary:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 69

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

28

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$1c

$00

$1d

5.7.23 STOP (stop TMCL™ 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 stand-alone 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:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 70

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

30

0… 20

0*

-223…+223

STATUS

VALUE

100 – OK

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$1e

$01

$00

$03

$e8

$0d

5.7.24 SCO (set coordinate)

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

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

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

Related commands: GCO, CCO, MVP

Mnemonic: SCO <coordinate number>, 0, <position>

Binary representation:

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

Reply in direct mode:

Example:

Set coordinate #1 of motor to 1000

Mnemonic: SCO 1, 0, 1000

Binary:

With TMCL™ version 4.18 and higher, two special functions of this command have been introduced that make it possible to copy all coordinates or one selected coordinate to the EEPROM.

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

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

EEPROM.

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 71

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

31

0… 20

0*

don’t care

STATUS

VALUE

100 – OK

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$1f

$01

$00

$23

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Target-

address

Status

Instruction

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$02

$01

$64

$0a

$00

$86

5.7.25 GCO (get coordinate)

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

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

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

Related commands: SCO, CCO, MVP

Mnemonic: GCO <coordinate number>, 0

Binary representation:

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

Reply in direct mode:

Example:

Get motor value of coordinate 1

Mnemonic: GCO 1, 0

Binary:

Reply:

 Value: 0

With TMCL™ version 4.18 and higher, two special functions of this command have been introduced that make it possible to copy all coordinates or one selected coordinate from the EEPROM to the RAM.

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

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

EEPROM to the RAM.

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 72

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

32

0… 20

0*

don’t care

STATUS

VALUE

100 – OK

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$20

$03

$00

$2b

5.7.26 CCO (capture coordinate)

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

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

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

Related commands: SCO, GCO, MVP

Mnemonic: CCO <coordinate number>, 0

Binary representation:

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

Reply in direct mode:

Example:

Store current position of the axe to coordinate 3

Mnemonic: CCO 3, 0

Binary:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 73

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

39

0… 20

0*

don’t care

STATUS

VALUE

100 – OK

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$27

$01

$00

$29

5.7.27 ACO

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:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 74

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

33

0 ADD – add X register to accu 1 SUB – subtract X register from accu 2 MUL – multiply accu by X register 3 DIV – divide accu by X-register 4 MOD – modulo divide accu by x-register 5 AND – logical and accu with X-register 6 OR – logical or accu with X-register 7 XOR – logical exor accu with X-register 8 NOT – logical invert X-register 9 LOAD – load accu to X-register 10 SWAP – swap accu with X-register

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$21

$02

$00

$24

5.7.28 CALCX (calculate using the X register)

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

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

Mnemonic: CALCX <operation>

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

Binary representation:

Example:

Multiply accu by X-register

Mnemonic: CALCX MUL Binary:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 75

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

34

0*

<don't care>

STATUS

VALUE

100 – OK

don’t care

Number

Axis Parameter

Description

0

target (next) position

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

1

actual position

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

2

target (next) speed

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

3

actual speed

The current rotation speed.

4

maximum positioning speed

Should not exceed the physically highest possible value. Adjust the pulse divisor (no.

154), if the speed value is very low (<50) or above the upper limit.

5

maximum acceleration

The limit for acceleration (and deceleration). Changing this parameter requires recalculation of the acceleration factor (no. 146) and the acceleration divisor (no. 137), which is done automatically.

6

absolute max. current (CS / Current Scale)

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

7

standby current

The current limit two seconds after the motor has stopped.

8

position reached

1 when target position = actual position

9

home switch

State of the home switch input

10

right stop sw.

State of the right stop switch input

11

left stop sw.

State of the left stop switch input

5.7.29 AAP (accumulator to axis parameter)

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

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

Mnemonic: AAP <parameter number>, 0

Binary representation:

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

Reply in direct mode:

List of parameters, which can be used for AAP:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 76

Number

Axis Parameter

Description

12

right limit switch disable

1=right stop switch disabled 0=right stop switch enabled

13

left limit switch disable

1=left stop switch disabled 0=left stop switch enabled

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.

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

160

step interpolation enable

Step interpolation is supported with a 16 microstep setting only. In this setting, each step impulse at the input causes the execution of 16 times 1/256 microsteps. This way, a smooth motor movement like in 256 microstep resolution is achieved. 0 – step interpolation off 1 – step interpolation on

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

162

chopper blank time

Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For low current drivers, a setting of 1 or 2 is good. For higher current applications like the TMCM-1060 a setting of 2 or 3 will be required.

163

chopper mode

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 77

Number

Axis Parameter

Description

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

166

chopper hysteresis start

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

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.

168

smartEnergy current minimum (SEIMIN)

Sets the lower motor current limit for

coolStep™ operation by scaling the CS

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

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

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.

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

172

smartEnergy hysteresis start

The lower threshold for the stallGuard2™

value (see smart Energy current up step).

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 78

Number

Axis Parameter

Description

173

stallGuard2™

filter enable

Enables the stallGuard2™ filter for more

precision of the measurement. If set, reduces the measurement frequency to one measurement per four fullsteps.

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

0 – standard mode 1 – filtered mode

174

stallGuard2™

threshold

This signed value controls stallGuard2™ threshold level for stall output and sets the

optimum measurement range for readout. A lower value gives a higher sensitivity. Zero is the starting value. A higher value makes

stallGuard2™ less sensitive and requires more

torque to indicate a stall.

0

Indifferent value

1… 63

less sensitivity

-1… -64

higher sensitivity

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

176

slope control low side

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

side.

177

short protection disable

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

Use default value!

178

short detection timer

0: 3.2µs 1: 1.6µs 2: 1.2µs 3: 0.8µs

Use default value!

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.

182

smartEnergy threshold speed

Above this speed coolStep™ becomes

enabled.

183

smartEnergy slow run current

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 79

Number

Axis Parameter

Description

193

ref. search mode

1

search left stop switch only

2

search right stop switch, then search left stop switch

3

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

4

search left stop switch from both sides

5

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

6

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

7

search home switch in positive direction, ignore end switches

8

search home switch in negative direction, ignore end switches

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

194

ref. search speed

Speed for searching the switch roughly

195

ref. switch speed

Speed for exact search of the switch

204

freewheeling

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

209

encoder position

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

210

encoder prescaler

Prescaler for the encoder.

212

maximum encoder deviation

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

214

power down delay

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

254

step/dir

0

normal mode (move motor using TMCL™ commands)

1

step/direction mode (move motor via step/direction inputs)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$22

$00

$23

Example:

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

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

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

Binary format of the AAP 0,0 command:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 80

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

35

don’t care

STATUS

VALUE

100 – OK

don’t care

Number

Global parameter

Description

64

EEPROM magic

Setting this parameter to a different value as $E4 will cause re-initialization of the axis and global parameters (to factory defaults) after the next power up. This is useful in case of miss-configuration.

65

RS485 baud rate

0

9600 baud

Default

1

14400 baud

2 19200 baud

3

28800 baud

4

38400 baud

5 57600 baud

6

76800 baud

Not supported by Windows!

7

115200 baud

8 230400 baud

9

250000 baud

Not supported by Windows!

10

500000 baud

Not supported by Windows!

11

1000000 baud

Not supported by Windows!

66

serial address

The module (target) address for RS-485.

67

ASCII mode

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

68

serial heartbeat

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

5.7.30 AGP (accumulator to global parameter)

The content of the accumulator register is transferred to the specified global parameter. For practical usage, the accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have been modified by the CALC or CALCX (calculate) instruction. Note that the global parameters in bank 0 are EEPROM-only and thus should not be modified automatically by a stand-alone application. (See chapter 0 for a complete list of global parameters).

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

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

Binary representation:

Reply in direct mode:

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 81

Number

Global parameter

Description

69

CAN bit rate

2

20kBit/s

3 50kBit/s

4

100kBit/s

5

125kBit/s

6 250kBit/s

7

500kBit/s

8

1000kBit/s

Default

70

CAN reply ID

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

71

CAN ID

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

73

configuration EEPROM lock flag

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

75

telegram pause time

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

76

serial host address

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

77

auto start mode

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

80

shutdown pin functionality

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

81

TMCL™ code protection

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

If you switch off the protection against disassembling, the program will be erased first! Changing this value from 1 or 3 to 0 or 2, the TMCL™ program will be wiped off.

82

CAN heartbeat

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

83

CAN secondary address

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

84

coordinate storage

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

132

tick timer

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 82

Number

Global parameter

Description

0

general purpose variable #0

for use in TMCL™ applications

1

general purpose variable #1

for use in TMCL™ applications

2

general purpose variable #2

for use in TMCL™ applications

3

general purpose variable #3

for use in TMCL™ applications

4

general purpose variable #4

for use in TMCL™ applications

5

general purpose variable #5

for use in TMCL™ applications

6

general purpose variable #6

for use in TMCL™ applications

7

general purpose variable #7

for use in TMCL™ applications

8

general purpose variable #8

for use in TMCL™ applications

9

general purpose variable #9

for use in TMCL™ applications

10

general purpose variable #10

for use in TMCL™ applications

11

general purpose variable #11

for use in TMCL™ applications

12

general purpose variable #12

for use in TMCL™ applications

13

general purpose variable #13

for use in TMCL™ applications

14

general purpose variable #14

for use in TMCL™ applications

15

general purpose variable #15

for use in TMCL™ applications

16

general purpose variable #16

for use in TMCL™ applications

17

general purpose variable #17

for use in TMCL™ applications

18

general purpose variable #18

for use in TMCL™ applications

19

general purpose variable #19

for use in TMCL™ applications

20… 55

general purpose variables #20…

#55

for use in TMCL™ applications

56… 255

general purpose variables #56… #255

for use in TMCL™ applications

Number

Global parameter

Description

0

Timer 0 period (ms)

Time between two interrupts (ms)

1

Timer 1 period (ms)

Time between two interrupts (ms)

2

Timer 2 period (ms)

Time between two interrupts (ms)

39

Input 0 edge type

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

40

Input 1 edge type

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

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

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

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

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

Global parameters of bank 3, which can be used for AGP:

Bank 3 contains interrupt parameters. Some interrupts need configuration (e.g. the timer interval of a timer interrupt). The priority of an interrupt depends on its number. Interrupts with a lower number have a

higher priority.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 83

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

Example:

Copy accumulator to TMCL™ user variable #3

Mnemonic: AGP 3, 2

Binary:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 84

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

36

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

don’t care

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$24

$01

$00

$26

5.7.31 CLE (clear error flags)

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

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

 ALL: clear all error flags.

 ETO: clear the timeout flag.

 EAL: clear the external alarm flag

 EDV: clear the deviation flag

 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:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 85

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

stallGuard2™

21

Deviation

27

Left stop switch

28

Right stop switch

39

Input change 0

40

Input change 1

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

5.7.32 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:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 86

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

stallGuard2™

21

Deviation

27

Left stop switch

28

Right stop switch

39

Input change 0

40

Input change 1

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

5.7.33 EI (enable interrupt)

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

Related command: DI, VECT, RETI

Mnemonic: EI <interrupt number>

Binary representation:

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:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 87

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

stallGuard2™

21

Deviation

27

Left stop switch

28

Right stop switch

39

Input change 0

40

Input change 1

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

5.7.34 DI (disable interrupt)

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

Related command: EI, VECT, RETI

Mnemonic: DI <interrupt number>

Binary representation:

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:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 88

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

38

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

$01

$00

$27

5.7.35 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:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 89

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

5.7.36 Customer specific TMCL™ command extension (UF0… UF7/user

function)

The user definable functions UF0…UF7 are predefined, functions without topic for user specific purposes. 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:

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 90

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

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

5.7.37 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

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

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

Mnemonic: ---

Binary representation:

* Motor number

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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 91

5.7.38 BIN (return to binary mode)

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

Related Commands: none

Mnemonic: BIN

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

mode.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 92

Instruction

Description

Type

Mot/Bank

Value

128 – stop application

a running TMCL™ stand-alone 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 stand-alone application is stopped (when running or stepped)

don’t care

132 – start download mode

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

don’t care

starting address of the application 133 – quit download mode

target command execution is resumed

don’t care

134 – read TMCL™ memory

the specified program memory location is read

don’t care

135 – get application status

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

don’t care

136 – get firmware version

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

0 – string 1 – binary

don’t care

137 – restore factory settings

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

don’t care

must be 1234

138 – reserved

139 – enter ASCII mode

Enter ASCII command line (see chapter 5.6)

don’t care

5.7.39 TMCL™ Control Functions

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

They are mentioned here only for reasons of completeness. These commands have no mnemonics, as they cannot be used in TMCL™ programs. The Functions are to be used only by the TMCL-IDE 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.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 93

Byte index

Contents

1

Host Address

2… 9

Version string (8 characters, e.g. 1060V.104

Byte index in value field

Contents

1

Version number, low byte

2

Version number, high byte

3

Type number, low byte (currently not used)

4

Type number, high byte (currently not used)

Special reply format of command 136:

Type set to 0 - reply as a string:

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

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

characters of the version string.

Type set to 1 - version number in binary format:

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 94

Number

Axis Parameter

Description

Range [Unit]

Acc.

0

target (next) position

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

−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. 138). 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

Should not exceed the physically highest possible value. Adjust the pulse divisor (no.

154), if the speed value is very low (<50) or above the upper limit.

0… +268.435.454 [pps]

RWE

5

maximum acceleration

The limit for acceleration (and deceleration). Changing this parameter requires recalculation of the acceleration factor (no. 146) and the acceleration divisor (no. 137), which is done automatically.

0… +268.435.454 [pps/s]

RWE

6

absolute max. current (CS / Current Scale)

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

0… 255





  









  





RWE

7

standby current

The current limit two seconds after the motor has stopped.

0… 255

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RWE

8

position reached

1 when target position = actual position

0/1

R

9

home switch

State of the home switch input

0/1 R 10

right stop sw.

State of the right stop switch input

0/1

R

11

left stop sw.

State of the left stop switch input

0/1

R

12

right limit switch disable

1=right stop switch disabled 0=right stop switch enabled

0/1

RWE

13

left limit switch disable

1=left stop switch disabled 0=left stop switch enabled

0/1

RWE

6 Axis parameters

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

Meaning of the letters in column Access:

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 95

Number

Axis Parameter

Description

Range [Unit]

Acc.

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 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

RWE

160

step interpolation enable

Step interpolation is supported with a 16 microstep setting only. In this setting, each step impulse at the input causes the execution of 16 times 1/256 microsteps. This way, a smooth motor movement like in 256 microstep resolution is achieved. 0 – step interpolation off 1 – step interpolation on

0/1

RW 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. For higher current applications like the TMCM-1060 a setting of 2 or 3 will be required.

0… 3

RW

163

chopper mode

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

0/1

RW

164

chopper hysteresis decrement

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

0… 3

RW

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 96

Number

Axis Parameter

Description

Range [Unit]

Acc.

166

chopper hysteresis start

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

0… 8

RW

167

chopper off time

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

OFF

chopper:

N

CLK

= 12 + 32*t

OFF

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

0 / 2… 15

RW

168

smartEnergy current minimum (SEIMIN)

Sets the lower motor current limit for

coolStep™ operation by scaling the CS

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

0/1

RW

169

smartEnergy current down step

Sets the number of stallGuard2™ readings

above the upper threshold necessary for each current decrement of the motor current.

Number of stallGuard2™ measurements per

decrement: Scaling: 0… 3: 32, 8, 2, 1

0: slow decrement 3: fast decrement

0… 3

RW

170

smartEnergy hysteresis

Sets the distance between the lower and the

upper threshold for stallGuard2™ reading.

Above the upper threshold the motor current becomes decreased.

0… 15

RW

Hysteresis: (smartEnergy hysteresis value + 1) * 32

Upper 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

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 97

Number

Axis Parameter

Description

Range [Unit]

Acc.

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

actual motor current scaling factor:

0 … 31: 1/32, 2/32, … 32/32

0… 31

RW

181

stop on stall

Below this speed motor will not be stopped. Above this speed motor will stop in case

stallGuard2™ load value reaches zero.

0… +268.435.454

[pps]

RW 182

smartEnergy threshold speed

Above this speed coolStep™ becomes

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

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 98

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 sop 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

ref. search speed

Speed for searching the switch roughly

0… +268.435.454 [pps]

RWE

195

ref. switch speed

Speed for exact search of the switch

0… +268.435.454 [pps]

RWE

196

switch distance

Distance between left and right and switch in microsteps (mode 2 and 3 only).

0… +2.147.483.647 [µsteps]

R

204

freewheeling

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 (stallGuard2™).

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)

Bit 4

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

Bit 5

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

Bit 6

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

Bit 7

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

Please refer to the TMC262 Datasheet for more information.

0/1

R

209

encoder position

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

[encoder steps]

RW

210

Encoder prescaler

Prescaler for the encoder.

See paragraph 0

RWE

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 99

Number

Axis Parameter

Description

Range [Unit]

Acc.

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… 4095 [encoder steps]

R

254

step/dir

0

normal mode (move motor using TMCL™ commands)

1

step/direction mode (move motor via step/direction inputs)

0/1

RWE

Hardware related parameters for the more experienced users. Do not change unless you are

absolutely sure

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 100

Number

Global parameter

Description

Range

Access

64

EEPROM magic

Setting this parameter to a different value as $E4 will cause re-initialization of the axis and global parameters (to factory defaults) after the next power up. This is useful in case of miss-configuration.

0… 255

RWE

65

RS485 baud rate

0

9600 baud (default)

1

14400 baud

2

19200 baud

3 28800 baud

4

38400 baud

5

57600 baud

6 76800 baud

Not supported by Windows!

7

115200 baud

8

230400 baud

9 250000 baud

Not supported by Windows!

10

500000 baud

Not supported by Windows!

11

1000000 baud

Not supported by Windows!

0… 11

RWE

66

serial address

The module (target) address for RS-485.

0… 255

RWE

7 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.

7.1 Bank 0

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

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

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

Meaning of the letters in column Access:

 R = readable (GGP)

 W = writeable (SGP)

 E = automatically restored from EEPROM after reset or power-on.

Note: The TMCM-1060 does not have the parameters 0…38. They are used for modules which address more

than one motor.

Trinamic PD57-1060, PD60-1060, TMCM-1060 Firmware Manual

Specifications and Main Features

Frequently Asked Questions

User Manual