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

PDx-140-42-SE

TMCM-140-42-SE

TMCL™ Firmware Manual

Version: 1.05

2009-OCT-21

Trinamic Motion Control GmbH & Co KG

Sternstraße 67

D - 20 357 Hamburg, Germany

Phone +49-40-51 48 06 - 0

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

http://www.trinamic.com

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

Table of contents

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 3

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

1 Life support policy

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

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

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

Specifications are subject to change without notice.

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

2 Features

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

Applications

 Very compact single-axis stepper motor solutions  Encoder feedback for high reliability operation (-SE option)

Electrical data

 Supply voltage: +24V DC nominal (+7V .. +28.5V DC)  Motor current: up-to 2.0A RMS (programmable)

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

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

Integrated encoder (for –SE option only)

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

under all operating conditions and positioning

Integrated motion controller

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

handling

Integrated bipolar stepper motor driver

 Up-to 16 microsteps per full step  High-efficient operation, low power dissipation (TMC249 stepper driver with external MOSFETs)  Dynamic current control  Integrated protection  Integrated stallGuard™ for motor stall detection (e.g. elimination of end switches)  Integrated chopSync™ for high velocity operation

Interfaces

 2 inputs for reference switches, 2 general purpose inputs and 2 general purpose outputs  USB and either RS-232, RS-485 or CAN (2.0B up-to 1Mbit/s) communication interfaces

Software

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

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

Order code

Description

Dimensions [mm3]

PD1-140-42-SE-option

PANdrive with 0.22Nm max./holding torque

42x42x72

PD2-140-42-SE-option

PANdrive with 0.36Nm max./holding torque

42x42x76,5

PD3-140-42-SE-option

PANdrive with 0.44Nm max./holding torque

42x42x85,5

PD4-140-42-SE-option

PANdrive with 0.70Nm max./holding torque

42x42x98,5

Order code

Description

Dimensions [mm3]

TMCM-140-42-SE-option

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

board size: 42x42

Option

Communication interface + firmware

232

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

485

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

CAN

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

CANopen

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

3 Order codes

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

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

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

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

Both versions offer the following options:

Table 3.3: Options

For cost critical applications and applications with reduced requirements with regard to position feedback both versions - with and without motor - are also available without sensOstep™ encoder as PDx-140-42 and TMCM-140-42 on request.

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

4 Overview

As with most TRINAMIC modules the software running on the microprocessor of the PDx-140-42-SE consists of two parts, a boot loader and the firmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC and remains – normally – untouched throughout the whole lifetime, the firmware can be updated by the user. New versions can be downloaded free of charge from the TRINAMIC website (http://www.trinamic.com).

The firmware shipped with this module is related to the standard TMCLTM firmware [TMCLTM] shipped with most of TRINAMIC modules with regard to protocol and commands. Corresponding, this module is based on the TMC428-I stepper motor controller and the TMC249A-LA power driver and supports the standard TMCLTM with a special range of values. All commands and parameters available with this unit are explained on the following pages.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 8

Bytes

Meaning

1

Module address

1

Command number

1

Type number

1

Motor or Bank number

4

Value (MSB first!)

1

Checksum

5 TMCL

The PDx-140-42-SE supports TMCLTM direct mode (binary commands or ASCII interface) and stand-alone TMCLTM program execution. You can store up to 2048 TMCLTM instructions on it.

In direct mode and most cases the TMCLTM communication over RS485, RS232, USB or CAN follows a strict master/slave relationship. That is, a host computer (e.g. PC/PLC) acting as the interface bus master will send a command to the PDx-140-42-SE. The TMCLTM interpreter on the module will then interpret this command, do the initialization of the motion controller, read inputs and write outputs or whatever is necessary according to the specified command. As soon as this step has been done, the module will send a reply back over RS485/RS232/USB/CAN to the bus master. Only then should the master transfer the next command. Normally, the module will just switch to transmission and occupy the bus for a reply, otherwise it will stay in receive mode. It will not send any data over the interface without receiving a command first. This way, any collision on the bus will be avoided when there are more than two nodes connected to a single bus.

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

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

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

TM

and TMCL-IDE

5.1 Binary command format

Every command has a mnemonic and a binary representation. When commands are sent from a host to a module, the binary format has to be used. Every command consists of a one-byte command field, a one-byte type field, a one-byte motor/bank field and a four-byte value field. So the binary representation of a command always has seven bytes. When a command is to be sent via RS232, RS485 or USB interface, it has to be enclosed by an address byte at the beginning and a checksum byte at the end. In this case it consists of nine bytes.

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

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

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

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 9

Bytes

Meaning

1

Reply address

1

Module address

1

Status (e.g. 100 means “no error”)

1

Command number

4

Value (MSB first!)

1

Checksum

Checksum calculation

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

 in C:

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

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

Checksum+=Command[i];

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

//Now, send it to the module

 in Delphi:

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

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

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

5.2 Reply format

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

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

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

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 10

Code

Meaning

100

Successfully executed, no error

101

Command loaded into TMCLTM program EEPROM

1

Wrong checksum

2

Invalid command

3

Wrong type

4

Invalid value

5

Configuration EEPROM locked

6

Command not available

Mnemonic

Command number

Meaning

ROL

2

Rotate left

ROR

1

Rotate right

MVP

4

Move to position

MST

3

Motor stop

RFS

13

Reference search

SCO

30

Store coordinate

CCO

32

Capture coordinate

GCO

31

Get coordinate

5.2.1 Status codes

The reply contains a status code.

The status code can have one of the following values:

5.3 Stand-alone applications

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

5.4 TMCL

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

TM

command overview

5.4.1 Motion commands

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

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 11

Mnemonic

Command number

Meaning

SAP

5

Set axis parameter

GAP

6

Get axis parameter

STAP

7

Store axis parameter into EEPROM

RSAP

8

Restore axis parameter from EEPROM

SGP

9

Set global parameter

GGP

10

Get global parameter

STGP

11

Store global parameter into EEPROM

RSGP

12

Restore global parameter from EEPROM

Mnemonic

Command number

Meaning

SIO

14

Set output

GIO

15

Get input

SAC

29

Access to external SPI device

Mnemonic

Command number

Meaning

JA

22

Jump always

JC

21

Jump conditional

COMP

20

Compare accumulator with constant value

CLE

36

Clear error flags

CSUB

23

Call subroutine

RSUB

24

Return from subroutine

WAIT

27

Wait for a specified event

STOP

28

End of a TMCLTM program

Mnemonic

Command number

Meaning

CALC

19

Calculate using the accumulator and a constant value

CALCX

33

Calculate using the accumulator and the X register

AAP

34

Copy accumulator to an axis parameter

AGP

35

Copy accumulator to a global parameter

5.4.2 Parameter commands

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

5.4.3 I/O port commands

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

5.4.4 Control commands

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

5.4.5 Calculation commands

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

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 12

Command

Number

Parameter

Description

ROR

1

Rotate right with specified velocity

ROL

2

Rotate left with specified velocity

MST

3

Stop motor movement

MVP

4

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

Move to position (absolute or relative)

SAP

5

Set axis parameter (motion control specific settings)

GAP

6

Get axis parameter (read out motion control specific settings)

STAP

7

Store axis parameter permanently (non volatile)

RSAP

8

Restore axis parameter

SGP

9

<parameter>, <bank number>, value

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

GGP

10

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

STGP

11

Store global parameter (TMCL™ user

variables only)

RSGP

12

Restore global parameter (TMCL™ user variable only)

RFS

13

START|STOP|STATUS, <motor number>

Reference search

SIO

14

Set digital output to specified value

GIO

15

Get value of analogue/digital input

CALC

19

Process accumulator & value

COMP

20

<value>

Compare accumulator <-> value

JC

21

Jump conditional

JA

22

Jump absolute

CSUB

23

Call subroutine

RSUB

24 Return from subroutine

WAIT

27

Wait with further program execution

STOP

28 Stop program execution

SCO

30

Set coordinate GCO

31

Get coordinate

CCO

32

Capture coordinate

CALCX

33

Process accumulator & X-register

AAP

34

Accumulator to axis parameter

AGP

35

Accumulator to global parameter

ACO

39

Accu to coordinate

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

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

5.5 TMCL

The following TMCLTM commands are currently supported:

TM

list of commands

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 13

Instruction

Description

Type

Mot/Bank

Value

128 – stop application

a running TMCL™ standalone application is stopped

(don't care)

129 – run application

TMCL™ execution is started (or continued)

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

(don't care)

starting address

130 – step application

only the next command of a TMCL™ application is executed

(don't care)

131 – reset application

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

(don't care)

132 – start download mode

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

(don't care)

starting address of the application 133 – quit download mode

target command execution is resumed

(don't care)

134 – read TMCL™ memory

the specified program memory location is read

(don't care)

135 – get application status

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

(don't care)

136 – get firmware version

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

0 – string 1 – binary

(don’t care)

137 – restore factory settings

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

(don’t care)

must be 1234

138 – reserved

139 – enter ASCII mode

Enter ASCII command line (see chapter 5.6)

(don’t care)

TMCLTM control commands:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 14

5.6 The ASCII interface

Since TMCLTM V3.21 there is also an ASCII interface that can be used to communicate with the module and to send some commands as text strings.

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

mode).

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

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

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

5.6.1 Format of the command line

As the first character, the address character has to be sent. The address character is “A” when the module address is 1, “B” for modules with address 2 and so on. After the address character there may be spaces

(but this is not necessary). Then, send the command with its parameters. At the end of a command line a <CR> character has to be sent.

Here are some examples for valid command lines:

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

These command lines would address the module with address 1. To address e.g. module 3, use address

character “C” instead of “A”. The last command line shown above will make the module return to binary

mode.

5.6.2 Format of a reply

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

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

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

5.6.3 Commands that can be used in ASCII mode

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

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

 BIN: This command quits ASCII mode and returns to binary TMCL  RUN: This command can be used to start a TMCL  STOP: Stops a running TMCL

TM

application.

TM

program in memory.

TM

mode.

5.6.4 Configuring the ASCII interface

The module can be configured so that it starts up either in binary mode or in ASCII mode. Global parameter 67 is used for this purpose (please see also chapter 7.1). Bit 0 determines the startup mode: if

this bit is set, the module starts up in ASCII mode, else it will start up in binary mode (default). Bit 4 and Bit 5 determine how the characters that are entered are echoed back. Normally, both bits are set to zero. In

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 15

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.

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 16

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

1

(don't care)

0*

0… 2047

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$00

$02

$00

$01

$5e

$62

5.7 Commands

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

5.7.1 ROR (rotate right)

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

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

The module is based on the TMC428-I stepper motor controller and the TMC249A-LA power driver. This makes possible choosing a velocity between 0 and 2047.

Related commands: ROL, MST, SAP, GAP

Mnemonic: ROR 0, <velocity>

Binary representation:

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

Reply in direct mode:

Example:

Rotate right, velocity = 350

Mnemonic: ROR 0, 350

Binary:

PDx-140-42-SE / TMCM-140-42-SE TMCL™ Firmware Manual (V1.05 / 2009-OCT-21) 17

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

2

(don't care)

0*

0… 2047

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$02

$00

$04

$b0

$b8

5.7.2 ROL (rotate left)

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

Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter #0 ("target velocity"). The module is based on the TMC428-I stepper motor controller and the TMC249A-LA power driver. This makes possible choosing a velocity between 0 and 2047.

Related commands: ROR, MST, SAP, GAP

Mnemonic: ROL 0, <velocity>

Binary representation:

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

Reply in direct mode:

Example:

Rotate left, velocity = 1200

Mnemonic: ROL 0, 1200

Binary:

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

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

3

(don't care)

0*

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$03

$00

$05

5.7.3 MST (motor stop)

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

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

Related commands: ROL, ROR, SAP, GAP

Mnemonic: MST 0

Binary representation:

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

Reply in direct mode:

Example:

Stop motor

Mnemonic: MST 0

Binary:

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

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

4

0 ABS – absolute

0*

1 REL – relative

0

2 COORD –

coordinate

0

<coordinate number

(0..56)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$04

$00

$01

$5f

$90

$f6

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$04

$01

$00

$ff

$fc

$18

5.7.4 MVP (move to position)

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

Three operation types are available:

 Moving to an absolute position in the range from - 8388608 to +8388607 (-2  Starting a relative movement by means of an offset to the actual position. In this case, the new

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

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

Please note, that the distance between the actual position and the new one should not be more than 8388607 microsteps. Otherwise the motor will run in the wrong direction for taking a shorter way. If the value is exactly 8388608 the motor maybe stops.

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

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

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

Binary representation:

23

to+223-1).

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

Reply in direct mode:

Example:

Move motor to (absolute) position 90000

Mnemonic: MVP ABS, 0, 9000

Binary:

Example:

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

Mnemonic: MVP REL, 0, -1000

Binary:

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

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$04

$02

$00

$08

$11

Example:

Move motor to previously stored coordinate #8

Mnemonic: MVP COORD, 0, 8

Binary:

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

of the SCO, CCO or ACO command.

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

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

5

<parameter

number>

0*

<value>

STATUS

VALUE

100 – OK

(don't care)

Number

Axis Parameter

Description

Range

0

target (next) position

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

 2

23

1

actual position

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

 223

2

target (next) speed

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

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

2047

3

actual speed

The current rotation speed.

2047

4

maximum positioning speed

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

0...2047

5

maximum acceleration

The limit for acceleration (and deceleration). Changing this parameter requires re-calculation of the acceleration factor (no. 146) and the acceleration divisor (no. 137), which is done automatically. See TMC 428 datasheet for calculation of physical units.

0... 2047 6

absolute max. current

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

0..255

7

standby current

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

0..255

12

right limit switch disable

If set, deactivates the stop function of the right switch

0/1

13

left limit switch disable

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

0/1

130

minimum speed

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

0... 2047

5.7.5 SAP (set axis parameter)

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

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

Related commands: GAP, STAP, RSAP, AAP

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

Binary representation:

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

Reply in direct mode:

List of parameters, which can be used for SAP:

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

Number

Axis Parameter

Description

Range

138

ramp mode

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

0/1/2

140

microstep resolution

0 – full step *) 1 – half step *) 2 – 4 microsteps 3 – 8 microsteps 4 – 16 microsteps 5 - 32 microsteps**) 6 – 64 microsteps**) Modifying this parameter effects the rotation speed in the same relation: *) The full-step setting and the half-step setting are not optimized for use without an adapted microstepping table. These settings just step through the microstep table in steps of 64 respectively 32. To get real full stepping use axis parameter 211 or load an adapted microstepping table. **) If the module is specified for 16 microsteps only, switching to 32 or 64 microsteps brings an enhancement in resolution and smoothness. The position counter will use the full resolution, but, however, the motor will resolve a maximum of 24 different microsteps only for the 32 or 64 microstep units.

0…6

149

soft stop flag

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

0/1

153

ramp divisor

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

0…13

154

pulse divisor

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

0…13

193

referencing mode

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

1/2/3

194

referencing search speed

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

0…2047 195

referencing switch speed

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

0..2047

203

mixed decay threshold

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

0..2048 or -1

204

freewheeling

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

0…65535 0 = never

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

Number

Axis Parameter

Description

Range

205

stall detection threshold

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

0..7

209

encoder position

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

210

encoder prescaler

Prescaler for the encoder.

211

fullstep threshold

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

0..2048

212

maximum encoder deviation

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

0…65535 214

power down delay

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

from 10msec on

Byte Index

0 1 2 3 4 5 6 7 8

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$05

$06

$00

$c8

$d5

Example:

Set the absolute maximum current of motor to 200mA

Mnemonic: SAP 6, 0, 200

Binary:

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

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

6

0*

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Number

Axis Parameter

Description

Range

0

target (next) position

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

 2

23

1

actual position

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

 223

2

target (next) speed

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

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

2047

3

actual speed

The current rotation speed.

2047

4

maximum positioning speed

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

0...2047

5

maximum acceleration

The limit for acceleration (and deceleration). Changing this parameter requires re-calculation of the acceleration factor (no. 146) and the acceleration divisor (no. 137), which is done automatically. See TMC 428 datasheet for calculation of physical units.

0... 2047 6

absolute max. current

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

0..255

7

standby current

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

0..255

8

target pos. reached

Indicates that the actual position equals the target position.

0/1

5.7.6 GAP (get axis parameter)

Most parameters of the PDx-140-42-SE can be adjusted individually for the axis. With this parameter they can be read out. In stand-alone mode the requested value is also transferred to the accumulator register for further processing purposes (such as conditioned jumps). In direct mode the value read is only output in the “value” field of the reply (without affecting the accumulator).

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

Related commands: SAP, STAP, AAP, RSAP

Mnemonic: GAP <parameter number>, 0

Binary representation:

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

Reply in direct mode:

List of parameters, which can be used for GAP:

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

Number

Axis Parameter

Description

Range

9

ref. switch status

The logical state of the reference (left) switch. See the TMC 428 data sheet for the different switch modes. The default has two switch modes: the left switch as the reference switch, the right switch as a limit (stop) switch.

0/1

10

right limit switch status

The logical state of the (right) limit switch.

0/1

11

left limit switch status

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

0/1 12

right limit switch disable

If set, deactivates the stop function of the right switch

0/1

13

left limit switch disable

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

0/1

130

minimum speed

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

0... 2047 135

actual acceleration

The current acceleration. Read only!

0... 2047

138

ramp mode

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

0/1/2

140

microstep resolution

0 – full step*) 1 – half step*) 2 – 4 microsteps 3 – 8 microsteps 4 – 16 microsteps 5 – 32 microsteps**) 6 – 64 microsteps**) Note that modifying this parameter will affect the rotation speed in the same relation: *) The full-step setting and the half-step setting are not optimized for use without an adapted microstepping table. These settings just step through the microstep table in steps of 64 respectively 32. To get real full stepping use axis parameter 211 or load an adapted microstepping table. **) If the module is specified for 16 microsteps only, switching to 32 or 64 microsteps brings an enhancement in resolution and smoothness. The position counter will use the full resolution, but, however, the motor will resolve a maximum of 24 different microsteps only for the 32 or 64 microstep units.

0…6

149

soft stop flag

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

0/1

153

ramp divisor

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

0…13

154

pulse divisor

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

0…13

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

Number

Axis Parameter

Description

Range

193

referencing mode

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

1/2/3

194

referencing search speed

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

0…2047 195

referencing switch speed

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

0..2047

196

distance end switches

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

0… 8388307

203

mixed decay threshold

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

0..2048 or -1

204

freewheeling

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

0…65535 0 = never

205

stall detection threshold

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

0..7

206

actual load value

Readout of the actual load value used for stall detection.

0..7

208

driver error flags

TMC236 error flags. Read only!

209

encoder position

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

210

encoder prescaler

Prescaler for the encoder.

211

fullstep threshold

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

0..2048

212

maximum encoder deviation

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

0…65535 214

power down delay

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

from 10msec on

215

absolute encoder value

Absolute value of the encoder. Read only!

0…4095

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

Specifications and Main Features

Frequently Asked Questions

User Manual