Trinamic TMCM-171 HARDWARE MANUAL

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TMCM-171 module

Hardware Manual

BLDC servo motor controller 20A/48V

with RS485 and CAN interface

Trinamic Motion Control GmbH & Co. KG

D – 20357 Hamburg, Germany

http://www.trinamic.com

Sternstraße 67

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 2

Contents

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

2 Life support policy .......................................................................................................................................................5

3 Electrical Description ...................................................................................................................................................6

3.1 Pinning...................................................................................................................................................................6

3.1.1 Power supply ............................................................................................................................................. 6

3.1.2 Motor ............................................................................................................................................................ 6

3.1.3 CAN and RS485 ..........................................................................................................................................6

3.1.4 Step / Dir.....................................................................................................................................................7

3.1.5 Encoder, Hall, Temperature....................................................................................................................7

3.1.6 I / O ..............................................................................................................................................................8

3.1.7 Programming connector.........................................................................................................................8

3.2 Jumper “Select Opto In”....................................................................................................................................8

3.3 Application circuit ...............................................................................................................................................9

3.4 Dimensions .........................................................................................................................................................10

3.5 Connectors...........................................................................................................................................................11

4 Operational / Limiting Ratings ...............................................................................................................................12

4.1 Power supply requirements...........................................................................................................................14

4.2 Bus Interface.......................................................................................................................................................14

4.2.1 Terminating the RS485 network.........................................................................................................14

5 Functional description...............................................................................................................................................15

5.1 Setting the basic values for operation (using the demonstration application).............................15

5.2 Start up for encoder based commutation .................................................................................................15

5.3 Encoder setting ..................................................................................................................................................16

5.4 Hall sensor only operation w/o encoder ...................................................................................................17

5.5 Stop switch .........................................................................................................................................................17

5.6 General Functions (explore using the Windows based demo software).........................................17

5.7 Temperature, Current and Voltage monitoring functions.....................................................................17

5.8 Programmable motor current limit..............................................................................................................18

6 Revision History ..........................................................................................................................................................19

6.1 Documentation Revision .................................................................................................................................19

6.2 Firmware Revision ............................................................................................................................................19

7 References.....................................................................................................................................................................19

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 3

List of Figures

Figure 3.1: Pinning of TMCM-171 ......................................................................................................................................6

Figure 3.2: Application circuit ............................................................................................................................................ 9

Figure 3.3: Circuit board dimensions.............................................................................................................................10

Figure 3.4: Housing dimensions .....................................................................................................................................11

List of Tables

Table 1.1: Order codes .........................................................................................................................................................4

Table 3.1: Pinning of power supply connector ............................................................................................................ 6

Table 3.2: Pinning of motor connector........................................................................................................................... 6

Table 3.3: Pinning of CAN and RS485 connector ......................................................................................................... 6

Table 3.4: Pinning of step / dir connector.....................................................................................................................7

Table 3.5: Pinning of Encoder, Hall, Temperature connector ...................................................................................7

Table 3.6: Pinning of I / O connector.............................................................................................................................. 8

Table 3.7: Programming connector (to be used by Trinamic only)........................................................................8

Table 3.8: Connectors.........................................................................................................................................................11

Table 4.1: Operational ratings..........................................................................................................................................13

Table 5.1: Temperature, Current and Voltage monitoring functions (LEDs) ......................................................17

Table 6.1: Documentation Revisions..............................................................................................................................19

Table 6.2: Firmware Revision...........................................................................................................................................19

Table 7.1: References..........................................................................................................................................................19

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 4

1 Features

The TMCM-171 is a controller / driver module for high performance servo drives based on brushless DC motors. It gives a high resolution like a stepper motor coupled with the high dynamic, high velocity and high reliability of a BLDC drive. The motors and switches can be connected easily with screw terminals. A build-in ramp generator allows parameterized smooth positioning. The TMCM-171 supports BLDC motors with nearly any number of poles and incremental encoders with nearly any resolution.

The TMCM-171 integrates a position regulator and a ramp generator, to allow for velocity modes.

The module can be remote controlled via a CAN or RS485 interface. Additionally the TMCM-171 is equipped with a step direction interface. Stand alone operation is also possible.

Its integration into the TRINAMIC family of motor control modules makes it easy to choose either a stepper motor or a BLDC motor or any combination for an application.

Applications

• Replacement of servo drive by high reliability / low cost BLDC drive

• Fast and precise positioning

• Smooth very low to very high constant / variable velocity drives

• Very high velocity stability drives

Motor / Encoder type

• Sine (or block) commutated BLDC motors with encoder and with / without additional hall sensors

• Hall sensor based motors can be operated without encoder

• Motor power from a few watts to 800W

• Motor velocity up to 100,000 RPM (electrical field)

• Incremental encoder (2 channel with option for N-channel) with resolution from 256 to 30000 /

motor rotation (opt. per electrical field rotation)

• 12V to 48V nominal motor voltage

• RMS motor current up to 20A (sine commutation)

Highlights

• High-efficiency operation, low power-dissipation

• Motor RMS current measurement in sine commutation mode

• Very fast response time leads to dynamic motor behavior

• CAN interface and RS485 integrated

• Step direction interface

• Stand alone capability

• Typical Supply voltage 14V – 48V

• Integrated Protection: Reverse polarity and overload / overtemperature / overvoltage

• Supports the TRINAMIC TMCL protocol and the TMCL software environment for parameterizing and

for update

• Integrated 1024 entry 10 bit motor sine commutation table

• External (stop) switch or encoder N channel can be used for absolute position reference

• Different start up modes for automatic commutation calibration

Order code Description

TMCM-171 BLDC servo module

Table 1.1: Order codes

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 5

2 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 no responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result form its use.

Specifications subject to change without notice.

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 6

3 Electrical Description

3.1 Pinning

Pin1

CAN and

RS485

Pin1

Step / Dir

Pin1

I / O

Pin1

Programming

Figure 3.1: Pinning of TMCM-171

3.1.1 Power supply

Pin Name Function

1 U+ Positive power supply voltage 2 GND GND, power

Pin1

Power supply

Motor

Encoder, Hall,

Temperature

Pin1

Table 3.1: Pinning of power supply connector

3.1.2 Motor

Pin Name Function

1 U 2 V 3 W

BLDC motor coil connection

Table 3.2: Pinning of motor connector

3.1.3 CAN and RS485

Connector 1 (screw) and 2 (JST)

Pin Name Function

1 CANH CAN high signal 2 CANL CAN low signal 3 GND GND 4 RS485 + Non inverting rs485 signal 5 RS485 - Inverting RS485 signal

Table 3.3: Pinning of CAN and RS485 connector

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 7

3.1.4 Step / Dir

Connector 1 (screw) Connector 2 (JST)

Pin Name Function Pin Name Function

1 Step +

2 Step -

3 Dir +

4 Dir -

-- -- -- 5 D - inverted direction input

Opto-decoupled non inverted step input Opto-decoupled inverted step input Opto-decoupled non inverted direction input Opto-decoupled inverted direction input

Table 3.4: Pinning of step / dir connector

1 S + non inverted step input

2 S - inverted step input

3 GND GND

4 D + non inverted direction input

3.1.5 Encoder, Hall, Temperature1

Pin Name Function Pin Name Function

Connector 1 (screw) Connector 3 (JST 1x8)

1 +5V 5V supply for encoder 1 +5V 5V supply for encoder 2 GND GND 2 GND GND 3 E I Encoder indexer 3 E I Non inverted encoder indexer 4 E A Encoder channel A 4 E I - Inverted encoder indexer 5 E B Encoder channel B 5 E A Non inverted encoder channel A 6 +5V 5V supply for hall sensors 6 E A - Inverted encoder channel A 7 GND GND 7 E B Non inverted encoder channel B 8 H1 Hall sensor signal 1 8 E B - Inverted encoder channel B

9 H2 Hall sensor signal 2 10 H3 Hall sensor signal 3 1 +5V 5V supply for hall sensors 11 +5V 5V supply (reference) 2 GND GND 12 TEMP Temperature input 3 H1 Hall sensor signal 1

Connector 2 (JST 2x3 pin)2

1 5 H3 Hall sensor signal 3

Close to use differential encoder ( B ) of connector 3. Leave open otherwise.

3 7 +5V +5V

Close to use differential encoder ( A ) of connector 3. Leave open otherwise.

5 -- -- --

Close to use differential encoder ( I ) of connector 3. Leave open otherwise.

4 H2 Hall sensor signal 2

6 GND GND

8 TEMP Temperature input

-- -- --

Connector 4 (JST 1x8)

Table 3.5: Pinning of Encoder, Hall, Temperature connector

Signals with identical names are electrically identical.

This connector serves as three jumpers to enable or disable the differential encoder of connector 3. The inputs “E I”, “E A” and “E B” of connector 1 or 3 are for single ended encoders, if the jumpers of connector 2 are open.

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 8

3.1.6 I / O

Connector 1 (screw) and 2 (JST)

Pin Name Function

1 +5V Constant +5V output 2 GND GND 3 OUT1 Digital output 1 4 OUT2 Digital output 2 5 AIN3 Analog input 3, 0-5V (free usage in TMCL) 6 AIN2 Analog input 2, 0-5V (free usage in TMCL) 7 GND GND 8 DIRIN Analog input 0, 0-5V (free usage in TMCL), has 10k pull up resistor to +5V 9

10 /STOP Reference switch input

The analog inputs can also be used as digital inputs. Threshold is ½ of maximum input voltage.

AIN1

Analog input 1 0-10V (free usage in TMCL or special function for stand alone operation)

Table 3.6: Pinning of I / O connector

3.1.7 Programming connector

Pin Name Function Pin Name Function

1,3,4 Not connected 6 GND GND

2 /MCLR To be used by Trinamic only 7 PGD To be used by Trinamic only 5 PGC To be used by Trinamic only 8 +5V Constant +5V output

Table 3.7: Programming connector (to be used by Trinamic only)

3.2 Jumper “Select Opto In”

An open jumper deactivates the opto-decoupled step / direction inputs at the screw terminal and activates inputs at the JST connector. Closing the jumper the screw terminal gets active and JST connector inactive.

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 9

3.3 Application circuit

The schematic shows a typical application circuit using CAN bus interface. Optionally the unit allows connection of motor hall sensors and encoder I- (N-)channel as well as further digital / analog pins and different interface options.

System's CAN bus

48V system

power

supply

keep distance

short for CAN

optional

capacitor if > 2m

4700µ, 63V

GND

CANL

CANH

TMCM-171

Encoder

E A

E B

E I

Termination

resistor at bus end

GND

/STOP

I/OInterface

GND

+5V

110R

Reference

Sw.

BLDC-

Motor

Mech. Axis

optional overvoltage

suppressor:

high power zener /

zener transistor

circuit

Encoder

Place unit near

encoder / motor

Figure 3.2: Application circuit

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 10

3.4 Dimensions

Height 31mm, hole diameter is 4.2mm

135,00

130,00

102,00

67,50

33,00

5,00

All dimensions are in millimeter

Figure 3.3: Circuit board dimensions

5,00

47,50

18,00

89,00

76,00

94,00

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 11

Figure 3.4: Housing dimensions

3.5 Connectors

Name N0. On TMCM-171

Power supply - RIA type 320, RM5, 2 pin RIA type 349, RM5, 2 pin www.riaconnect.com Motor - RIA type 320, RM5, 3 pin RIA type 349, RM5, 3 pin www.riaconnect.com

CAN, RS485

Step / Dir

Encoder, Hall, Temperature

I / O

1 RIA type 183, RM3.5, 5 pin RIA type 169,RM3.5, 5 pin www.riaconnect.com 2 JST B5B-PH-K, RM2 www.farnell.com 1 RIA type 183, RM3.5, 4 pin RIA type 169,RM3.5, 4 pin www.riaconnect.com 2 JST B5B-PH-K, RM2 www.farnell.com 1 RIA type 183, RM3.5, 12 pin RIA type 169,RM3.5, 12 pin www.riaconnect.com 2 2x3 industry standard Jumper RM2.54 3 JST B8B-PH-K, RM2 www.farnell.com 4 JST B8B-PH-K, RM2 www.farnell.com 1 RIA type 183, RM3.5, 10 pin RIA type 169,RM3.5, 10 pin www.riaconnect.com 2 JST B10B-PH-K, RM2 www.farnell.com

Table 3.8: Connectors

Mate

Site

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 12

4 Operational / Limiting Ratings

The operational ratings show the intended / the characteristic range for the values and should be used as design values. An operation within the limiting values is possible, but shall not be used for extended periods, because the unit life time may be shortened. In no case shall the limiting values be exceeded.

Symbol Parameter Min Typ Max Unit

VS Power supply voltage for operation 12.5 14 - 48 52 V

Maximum power supply voltage (for surge) 60 V

SMAX

Under voltage switch off trip point 9.5 10 10.5 V

SLOOFF

Under voltage switch on trip point 10.5 12 12.5 V

SON

VSD

SOFF

Over voltage switch off trip point (Feature can be switched off, then V

limit applies)

SMAX

Power supply voltage for module operation with motor disabled

Power supply current

* maximum rating due to connector limitations when using screw terminal connectors

PID

CHOP

MCB

MCS

MPB

MPS

Module idle power consumption without encoder / hall sensor

5 Volt (+-4%) output external load (encoder plus hall sensors plus other load)

Continuous Motor RMS current in block commutation mode (module surface at maximum 85°C)

Continuous Motor RMS current in sine commutation mode (module surface at maximum 85°C)

Short time Motor current in acceleration periods

It is not recommended to set motor current above I

Short time Motor current in acceleration periods

It is not recommended to set motor current above I

Chopper frequency 20 kHz

52 55 58 V

7 8 9.5 V

0.04 (P

Motor

+3..10W)

/ V

MOT

16A*

2.4 W

0 200 mA

16 A

20 A

24 A

Motor output slope (U, V, W) 100 ns

Logic input voltage on digital inputs, encoder and hall

-0.3 V

sensor inputs

0.3

IIH Pull-up resistor current for hall inputs 50 250 400 µA

IIE Pull-up resistor current for encoder inputs (1kOhm) 5 mA

Logic output current on digital outputs (open drain output with integrated 1k pullup resistor to +5V)

2 A

VO Output voltage on digital outputs with external load 55 V

Analog input voltage on input 1 -24 0 – 10 24 V

IA1

Analog input voltage on input 0, 2, 3 -24 0 – 5 24 V

IA023

EV Exactness of voltage measurement -5 +5 %

Exactness of current measurement (the measured coil current value might not correspond to the RMS current,

-10 +10 %

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 13

but is repeatable within the given exactness)

Encoder count rate (signals 50% duty cycle) 13.3 MHz

ENC

Step pulse length on (opto coupler on time) 0.7 µs

STEPON

Step pulse length off (opto coupler off time) 2.0 µs

STEPOFF

Direction valid setup time before next step 0 µs

DIRSETUP

ZEROCROSS

Zero crossing step frequency (also defines Direction hold time after Step impulse)

1 kHz

TO Environment temperature operating -25 +85 °C

board

Temperature of the PCB, as measured by the integrated sensor.

<105 115 °C

Table 4.1: Operational ratings

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 14

4.1 Power supply requirements

The power supply should be designed in a way, that it supplies the nominal motor voltage at the desired maximum motor power. In no case shall the supply value exceed the upper / lower voltage limit. The BLDC motor unit uses a chopper principle, i.e. the power supply to the motor is pulsed at a frequency of 20kHz. To ensure reliable operation of the unit, the power supply has to have a sufficient output capacitor and the supply cables should have a low resistance, so that the chopper operation does not lead to an increased power supply ripple directly at the unit. Power supply ripple due to the chopper operation should be kept at a maximum of a few 100mV.

Therefore we recommend to

a) keep power supply cables as short as possible b) use large diameter for power supply cables c) if the distance to the power supply is large (i.e. more than 2-3m), use a robust 4700µF or

larger additional filtering capacitor located near to the motor driver unit.

An effect the power supply has to cope with, is, that the motor can feed back substantial current into the power supply whenever it is actively braked! While this generally is a positive effect (because it saves energy), precautions have to be taken, to limit the supply voltage to within the operational limits. The TMCM-171 contains an overvoltage protection circuit, which disables braking whenever the upper supply voltage limit is exceeded. This automatic function may lead to an unwanted behavior, i.e. overshooting the target position, and thus can be disabled. Disabling the overvoltage protection should only be done, provided that the user takes additional precautions to limit the voltage:

It is recommended to use

a) a large capacitor on the power supply lines able to store substantial part of feed back energy b) a zener / suppressor diode circuitry, limiting the power supply voltage to a maximum of 52-

60V

4.2 Bus Interface

The TMCM-171 can be operated via CAN or RS485 in the same way. CAN bus and RS485 require a termination resistor at both ends of the cable (but not at every unit).

4.2.1 Terminating the RS485 network

For RS485 in addition to the termination resistor a termination network is required, which forces an “inactive” level to the line, when no driver is on. Typically, use a 1K resistor to + 5V for RS485+ line and a 1K resistor to GND for the RS485- line at some point of the network.

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 15

5 Functional description

5.1 Setting the basic values for operation (using the

demonstration application)

The TMCM-171 can use nearly any BLDC motor and encoder type. However, care has to be taken to correctly set the motor pole count (default: 8) and encoder resolution (default: 4096) and direction (default: Encoder gives same direction as motor) before trying to operate the motor! If a hall sensor is used, please check if the hall sensor polarity is to be reversed (try operating the motor in block commutation mode, first). Also choose a fitting initialization mode (2 is most universal) and set the corresponding parameters (please see chapter on start up). The motor behavior afterwards may still give unsatisfactory results: The next step is to tune the PID parameters. For these basic settings, the Windows based demonstration application can be used. It requires connection to the CAN or the RS485 interface. As a first step use the TMCL-IDE to set the parameter “Telegram pause time” to a value of about 20. Further basic settings are required for motor start up (see next chapter).

To avoid motor operation or damage, before the unit is completely parameterized, use a

Hint:

supply voltage of only 8V! This disables the motor.

5.2 Start up for encoder based commutation

The TMCM-171 uses an incremental encoder for motor commutation. Incremental means, that the encoder does not give an absolute position reference. Thus, the unit needs an internal start up procedure, which determines the encoder position with respect to the actual pole motor orientation.

The TMCM-170 provides basically two modes for encoder initialization:

Mode 0 uses additional motor hall sensors for the start up phase. Therefore, the motor can not do a

precise positioning until it has done at least one electrical rotation. This can be perceived by a somehow rough behavior on the first positioning run. We recommend using this mode, when the motor has hall sensors and mode 1 does not give reliable results. However, the motor hall sensors typically are not as precise, as this would be desired for sine commutation. To accomplish with the hall sensor error and hysteresis, you can set the corresponding parameters “Init Sine Block Offset CW” and CCW.

Mode 1 drives the motor field into a known position and then evaluates the encoder position.

While this is a very precise scheme, it is susceptible to external force applied to the rotor: The rotor is not to be blocked in any direction. Additionally external mechanical torque applied to the axis should be kept low. To use this mode, it is important to set the “Sine Initialization Current A” as high as possible (within the 20A limit). Default value is 10A. You can set Sine Initialization Current B to a somewhat lower value (at least ½ of Current A) to give optimum results. The best setting has do be determined for a given motor. To allow for minimum motor movement upon initialization, this mode also checks the hall sensor positions.

Mode 2 is the same as mode 1, but does not check if the motor has hall sensors.

Mode 3 is the most precise and reliable initialization mode: It uses the encoder N-channel for

initialization. To first find the N-channel reference position, the motor is turned by up to one rotation, until the N-channel is found positive. The velocity and direction can be specified using the parameter “Sine Init Velocity”. After finding the reference position, the “Actual Commutation Offset” gives the angular relationship between motor and encoder.

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 16

Therefore this parameter has to be stored correctly in EEPROM before power on! Do not enable this mode, before the parameter has been set correctly. Mode 4 helps for the very first initialization of this mode.

Mode 4 helps to do a first initialization and tuning of mode 3. It searches for the N-channel

reference point first, and then does a mode 2 initialization to determine the correct setting for the “Actual Commutation Offset”. The encoder N-channel polarity has to be high active for this mode (the actual setting of the encoder null polarity has no influence in this mode), and, additionally, you have to specify the polarity of the encoder A- and B-channel upon Nchannel activity using the setting “Encoder Null Polarity”, bits 1 and 2. The correct setting of this depends on the encoder. If the N-channel referencing fails, the motor does two full rotations and then stops. Try again with reversing the “Encoder Null Polarity”. After successfully initializing the “Actual Commutation Offset”, you can try moving the motor and tune the offset, if desired. Then store the offset and switch to mode 3. If any encoder errors are flagged during operation of the motor, retry with a modified setting for A- and Bchannel polarity.

Attention:

The quality of the initialization phase result can be checked by rotating the motor left and right at the maximum velocity (use a velocity setting slightly higher than the motor can follow). Maximum velocity for left and right direction shall not differ by more than a few percent. Also make some checks if results are reproducible. Whenever changing one of these parameters, re-power the unit to restart initialization phase!

Initialization modes 1 to 4 apply a high current to the motor for a few seconds. Be sure

to parameterize the initialization current correctly (i.e. not more than 2* the maximum rated motor current) before first powering on the unit.

5.3 Encoder setting

The N-channel (index channel) of the encoder is not required for motor operation, but it is very good for motor initialization, because it gives an absolute and exact reference point. So, the motor initialization modes 3 and 4 use the N-channel for motor initialization. Behavior of the N-channel signal is very dependent on the encoder type and has to be taken into account for the setting of the TMCM171 encoder interface. Please refer to the following figure for correct setting of the Encoder Null Polarity flag. A wrong setting may either hinder the module from initializing the sine mode, or might lead to the Encoder Error flag being set, in spite of correct encoder function.

Set Encoder Null

Polarity to

binary 011

Enc-A

Enc-B

Enc-N

(index)

CW turn CCW turn CW turn CCW turn

zero event

Set Encoder Null

Polarity to

binary 001

zero event

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 17

5.4 Hall sensor only operation w/o encoder

The module can be used without an encoder. In this case, set the encoder resolution parameter (SGP

250) to the hall sensor resolution, i.e. 3 times the number of motor poles. Example: For a 4 pole motor set the encoder resolution to 12. To avoid oscillations in positioning mode, the algorithm in this mode stops regulation, as soon as the target distance is below the setting as determined by “MVP target reached distance”. Adapt this setting to your needs. Switch the module to hall sensor based commutation permanently in order to skip encoder initialization procedure in this configuration. Please be aware, that the hall sensor resolution is very low, when compared to an encoder, and thus, the PID regulator parameterization values have to be set much higher than the default setting. Without encoder, the velocity measurement is not available. You may want to set a lower value than the default for the “PWM Hysteresis” setting to get a softer response upon target reaching.

5.5 Stop switch

For positioning applications, typically some kind of global initialization is required. This can either be done via a central unit operating the motor via its bus interface, or a reference switch can be connected to the stop input (pull down to 0V at reference point). The position counter can be automatically cleared when this point is reached. Be careful not to apply a voltage different from GND to this digital input!

5.6 General Functions (explore using the Windows based

demo software)

The TMCM-171 module can either be remote controlled via the PC demonstration software or a user specific program. The function of the stand alone mode can be modified by the user by writing initialization values to the on-board EEPROM, e.g. a maximum rotation velocity, motor current limit and rotation direction. For more detailed software information refer to the TMCM-170 Module –

Reference and Programming Manual (see 7: References).

5.7 Temperature, Current and Voltage monitoring functions

Name LED / Output Action Meaning

PWR Power On At least +5V power supply

The current limit LED blinks upon under voltage switch off

Motor PWM is reduced due to exceeding the set motor current limit or overvoltage threshold is exceeded

The power stage on the module has exceeded a critical temperature of 85°C. (Pre-warning)

The power stage on the module has exceeded a critical temperature of 115°C. The motor becomes switched off, until temperature falls below 105°C. The measurement is correct to about +/-10°C

TEMP

Current Limit Blink

Current Limit On / Flicker

Temperature

Warning

Temperature

Warning

Blink

Table 5.1: Temperature, Current and Voltage monitoring functions (LEDs)

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 18

5.8 Programmable motor current limit

The motor current limiting function is meant as a function for torque limiting, and for protection of motor, power supply and mechanical load.

Whenever the pre-programmed motor current is exceeded in a chopper cycle, the TMCM-171 calculates a reduced PWM value for the next chopper cycle. New values are calculated 1000 times a second. The response time of the current regulation can be set using the parameter “current regulation loop delay”:

A value of zero means, that in every 1kHz period, the current correction calculation is directly executed and the resulting PWM value is taken. A higher current loop delay acts like a filter for the current. The higher the delay value, the slower the current loop response time. A value of 10 (default) leads to a current regulation response time of about 10 ms for an 1/e response. On the mechanical side, a higher value simulates a higher dynamic mass of the motor.

The actual current regulation time may differ, depending on the PID settings.

Attention:

The unit has a short circuit protection circuit, which limits coil current to about 40A.

There is a number of aspects when using the current limiting function:

• The current measurement is done at a point of the chopper cycle, where just one coil is switched

• The current measurement can not detect currents below about 200-300mA. If the current limit is

• The current limiting function is not meant as a protection against a hard short circuit.

• The performance of the current limiting depends on the motor and on the commutation mode.

• Operation of the current limiter and the PID regulator may result in instable behavior, if the

• If the motor is blocked and the ramp generator is not stopped, the motor will speed up and try

Please refer to the programming manual for the required current settings.

Please be careful, when programming a high value into the current regulation loop delay

register: The motor current could reach a very high peak value upon mechanical blocking of the motor. The same goes for the motor current limit value: do not set higher than 16A if you are not sure about this. Please remark, that the current measurement gives different results in block and in sine commutation mode, due to the different driving scheme.

However, this function should not be relied on in normal operating conditions.

on. When using sine commutation, the effective motor current is calculated from a measurement of all three coils.

set to a too low value, the motor may operate spuriously or become continuously switched off.

The current limit should be programmed to a value high enough, in order to achieve good positioning and acceleration performance.

motor gets into a resonance area. Try adapting the current regulation loop delay parameter.

to catch up with the ramp generator position after removal of the blocking. To control this effect, you can set the parameter “Clear Target Distance” in order to stop the ramp generator, when the deviation between the positions become to large. The effect of this may look somehow weird if the user does not expect it.

TMCM-171 Manual (V0.92 / Nov 7th, 2007) 19

6 Revision History

6.1 Documentation Revision

Version Date Author Description

0.90 22-Aug-07 HC Preliminary version

0.91 18-Okt-07 Dw div. tech data

0.92 07-Nov-07 Dw div. tech data + picture of module

Table 6.1: Documentation Revisions

6.2 Firmware Revision

Version Comment Description

0.90 Initial Version Attention: Use Documentation V0.90 or later for connector pinning!!!

0.92 First release Added encoder N-channel initialization

0.93 Added encoder N-channel for automatic correction and encoder error

flag

0.94 Allows specifying of CHA and CHB polarity for nulling of encoder –

uses higher bits of Encoder Null Polarity

1.00 Release 1.0 Added operation mode with hall sensors only.

1.01 Corrected RS485 behavior

1.02 Added stand alone mode feature

1.03 Fixed RS485 delay problem (master had to wait for timeout time before

sending new command), when multiple units share a bus

1.06 First version with Step-/Direction and with TMCL stand alone feature

Table 6.2: Firmware Revision

7 References

[TMCL] TMCL Manual, www.trinamic.com TMCM–17X Programming Reference and Programming Manual for TMCM-170 and TMCM-171,

www.trinamic.com

Table 7.1: References

TMCL

Reference and Programming

Manual

Version: 2.22

May 15th, 2008

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Version

Date

Author

Comment

2.11

22-Dec-04

Corrections for SCO/GCO/CCO, Code protection feature

2.12

21-Feb-05

ASCII interface included

2.13

22-Mar-05

Minor error corrections

2.14

3-Jun-05

New features of TMCL V3.23 included

2.15

11-Nov-05

TMCM-109 and TMCM-111 added

2.16

20-Dec-05

Features of version TMCL V3.26 and V3.27 included

2.17

22-Jun-06

Error with CCO command corrected

2.18

20-Nov-06

GAP/GGP/GIO/SIO command descriptions extended

2.20

23-Aug-07

Command 138 added, Chapter 8 added

2.21

5-Dec-07

TMCL Debugger added

2.22

5-Jun-08

MVP COORD with TMCM-61x and TMCM-34x added

Version

Contents

1 Introduction ................................................................................................................................................................... 5

2 Basic TMCL Concepts ................................................................................................................................................... 6

2.1 Binary command format ................................................................................................................................... 6

2.1.1 Checksum calculation .............................................................................................................................. 6

2.2 The reply format .................................................................................................................................................. 7

2.2.1 Status codes ............................................................................................................................................... 7

2.3 Stand-alone applications ................................................................................................................................... 7

2.4 TMCL command overview ................................................................................................................................. 7

2.4.1 Motion commands ................................................................................................................................... 7

2.4.2 Parameter commands.............................................................................................................................. 8

2.4.3 I/O port commands .................................................................................................................................. 8

2.4.4 Control commands ................................................................................................................................... 8

2.4.5 Calculation commands ............................................................................................................................ 9

2.5 The ASCII interface ............................................................................................................................................. 9

2.5.1 Format of the command line ................................................................................................................ 9

2.5.2 Format of a reply ...................................................................................................................................... 9

2.5.3 Commands that can be used in ASCII mode ................................................................................ 10

2.5.4 Configuring the ASCII interface ......................................................................................................... 10

3 TMCL Command Dictionary ...................................................................................................................................... 11

3.1 ROR – Rotate Right ........................................................................................................................................... 12

3.2 ROL – Rotate Left ............................................................................................................................................... 13

3.3 MST – Motor Stop ............................................................................................................................................. 14

3.4 MVP – Move to Position .................................................................................................................................. 15

3.5 SAP – Set Axis Parameter ............................................................................................................................... 17

3.6 GAP – Get Axis Parameter .............................................................................................................................. 18

3.7 STAP – Store Axis Parameter ......................................................................................................................... 19

3.8 RSAP – Restore Axis Parameter ..................................................................................................................... 20

3.9 SGP – Set Global Parameter ........................................................................................................................... 21

3.10 GGP – Get Global Parameter .......................................................................................................................... 22

3.11 STGP – Store Global Parameter ..................................................................................................................... 23

3.12 RSGP – Restore Global Parameter ................................................................................................................ 24

3.13 RFS – Reference Search ................................................................................................................................... 25

3.14 SIO – Set Output ............................................................................................................................................... 26

3.15 GIO – Get Input / Output ................................................................................................................................ 28

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3.16 CALC – Calculate ................................................................................................................................................ 30

3.17 COMP – Compare ............................................................................................................................................... 31

3.18 JC – Jump Conditional ..................................................................................................................................... 32

3.19 JA – Jump Always.............................................................................................................................................. 33

3.20 CSUB – Call Subroutine ................................................................................................................................... 34

3.21 RSUB – Return from Subroutine ................................................................................................................... 35

3.22 WAIT – Wait for an event to occur ............................................................................................................. 36

3.23 STOP – Stop TMCL program execution ....................................................................................................... 38

3.24 SAC – SPI Bus Access....................................................................................................................................... 39

3.25 SCO – Set Coordinate ....................................................................................................................................... 40

3.26 GCO – Get Coordinate ...................................................................................................................................... 41

3.27 CCO – Capture Coordinate .............................................................................................................................. 42

3.28 CALCX – Calculate using the X register ...................................................................................................... 43

3.29 AAP – Accumulator to Axis Parameter ........................................................................................................ 44

3.30 AGP – Accumulator to Global Parameter ................................................................................................... 45

3.31 CLE – Clear Error Flags ..................................................................................................................................... 46

3.32 User definable commands (UF0..UF7) .......................................................................................................... 47

3.33 Request target position reached event ...................................................................................................... 48

3.34 BIN – Return to Binary Mode ........................................................................................................................ 49

3.35 TMCL Control Functions ................................................................................................................................... 50

4 Axis Parameters .......................................................................................................................................................... 52

4.1 Basic axis parameters (all TMCL stepper motor modules except the TMCM-100 module and the Monopack

2) ............................................................................................................................................................................ 52

4.2 Advanced axis parameters (all TMCL stepper motor modules except the TMCM-100) .................. 53

4.3 Axis parameters on the TMCM-100 and on the Monopack 2................................................................ 56

5 Global Parameters ...................................................................................................................................................... 59

5.1 Bank 0 ................................................................................................................................................................... 59

5.2 Bank 1 ................................................................................................................................................................... 62

5.3 Bank 2 ................................................................................................................................................................... 63

6 Hints and Tips ............................................................................................................................................................. 64

6.1 Reference search with TMCM-3xx / 10x / 11x / 61x modules ................................................................ 64

6.2 Reference search with TMCM-100 modules ............................................................................................... 65

6.3 Using an incremental encoder with TMCM-100 modules ...................................................................... 65

6.3.1 Setting the resolution ........................................................................................................................... 65

6.3.2 Deviation detection ................................................................................................................................ 66

6.3.3 Position correction ................................................................................................................................. 66

6.4 Stall Detection (TMCL Version 3.06 or higher) .......................................................................................... 66

6.5 Fixing microstep errors (TMCL V3.13 or higher) ....................................................................................... 67

6.6 Using the RS485 interface ............................................................................................................................... 67

7 The TMCL IDE ............................................................................................................................................................... 68

7.1 Installation .......................................................................................................................................................... 68

7.2 Getting started ................................................................................................................................................... 69

7.3 The integrated editor ....................................................................................................................................... 69

7.4 The “File” menu ................................................................................................................................................. 69

7.4.1 New ............................................................................................................................................................. 69

7.4.2 Open ........................................................................................................................................................... 69

7.4.3 Save, Save as ........................................................................................................................................... 69

7.4.4 Save all ...................................................................................................................................................... 69

7.4.5 Close ........................................................................................................................................................... 69

7.4.6 Exit .............................................................................................................................................................. 69

7.5 The “TMCL” menu .............................................................................................................................................. 69

7.5.1 Basics.......................................................................................................................................................... 69

7.5.2 Direct mode .............................................................................................................................................. 70

7.5.3 Assemble a TMCL program .................................................................................................................. 70

7.5.4 Downloading the program .................................................................................................................. 71

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7.5.5 The “Main file” function ........................................................................................................................ 71

7.5.6 The “Start” function ............................................................................................................................... 71

7.5.7 The “Stop” function ................................................................................................................................ 71

7.5.8 The “Continue” function ....................................................................................................................... 71

7.5.9 Disassembling a TMCL program ......................................................................................................... 71

7.6 The “Setup” menu ............................................................................................................................................. 72

7.6.1 Options ...................................................................................................................................................... 72

7.6.2 Configure ................................................................................................................................................... 73

7.6.3 Search ......................................................................................................................................................... 76

7.6.4 Install OS .................................................................................................................................................. 76

7.6.5 StallGuard adjusting tool ..................................................................................................................... 77

7.6.6 StallGuard profiler .................................................................................................................................. 77

7.6.7 Parameter calculation tool ................................................................................................................... 78

7.7 The TMCL debugger .......................................................................................................................................... 79

7.7.1 Starting the debugger ........................................................................................................................... 79

7.7.2 Breakpoints ............................................................................................................................................... 79

7.7.3 The “Run / Continue” function............................................................................................................ 79

7.7.4 The “Pause” function ............................................................................................................................. 80

7.7.5 The “Step” function ................................................................................................................................ 80

7.7.6 The “Animate” function ........................................................................................................................ 80

7.7.7 The “Stop / Reset” function ................................................................................................................. 80

7.7.8 The “Direct Mode” function in the debugger ................................................................................. 80

7.8 The syntax of TMCL in the TMCL assembler .............................................................................................. 80

7.8.1 Assembler directives .............................................................................................................................. 80

7.8.2 Symbolic constants ................................................................................................................................ 81

7.8.3 Constant expressions ............................................................................................................................. 81

7.8.4 Labels ......................................................................................................................................................... 82

7.8.5 Comments ................................................................................................................................................. 82

7.8.6 TMCL Commands ..................................................................................................................................... 82

8 TMCL Programming Techniques ............................................................................................................................. 84

8.1 General structure of a TMCL program ......................................................................................................... 84

8.1.1 Initialization ............................................................................................................................................. 84

8.1.2 Main loop .................................................................................................................................................. 84

8.2 Using symbolic constants ............................................................................................................................... 84

8.3 Using variables................................................................................................................................................... 85

8.4 Using subroutines ............................................................................................................................................. 85

8.5 Mixing direct mode and stand alone mode .............................................................................................. 85

Copyright 2003 - 2008 by Trinamic Motion Control GmbH & Co KG, Germany All rights reserved. No part of the contents of this book may be reproduced or transmitted in any form or by any means without the written permission of the publisher. Information given in this book is believed to be accurate and reliable. However no responsibility is assumed for the consequences of its use or for any infringement of patents or other rights of third parties which may result from its use. Specifications are subject to change without notice.

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1 Introduction

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 a 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). So, TMCL forms a powerful language that can either be used to control a module directly from a host (direct mode) or to program applications that run on a stand-alone module (program mode or stand-alone mode). 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 every 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. It also describes how to use the TMCL IDE.

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Bytes

Meaning

Module address

Command number

Type number

Motor or Bank number

Value (MSB first!)

Checksum

2 Basic TMCL Concepts

2.1 Binary command format

Every command has a mnemonic and a binary representation. When commands are sent from a host to a module, the binary format has to be used. Every command consists of a one-byte command field, a one-byte type field, a one-byte motor/bank field and a four-byte value field. So the binary representation of a command always has seven bytes. When a command is to be sent via RS232 or RS485 interface, it has to be enclosed by an address byte at the beginning and a checksum byte at the end. So it then consists of nine bytes. This is not the case when communicating via the CAN bus as address and checksum are included in the CAN standard in do not have to be supplied by the user. When using a module with IIC interface the first byte (address byte) is left out because IIC has its own addressing scheme. So for IIC the telegram consists of eight bytes, starting with the command byte. So the binary command format when using RS232 or RS485 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). When using IIC, leave out the first byte.

2.1.1 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

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Bytes

Meaning

Reply address

Module address

Status (e.g. 100 means “no error”)

Command number

Value (MSB first!)

Checksum

Code

Meaning

100

Successfully executed, no error

101

Command loaded into TMCL program EEPROM

Wrong checksum

Invalid command

Wrong type

Invalid value

Configuration EEPROM locked

Command not available

2.2 The reply format

Every time a command has been sent to a module, the module sends a reply. When using RS232 or RS485 the format of the reply 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. When using IIC bus the first byte (reply address) is left out. Do not send the next command before you have received the reply!

2.2.1 Status codes

The reply contains a status code. This status code can have one of the following values:

2.3 Stand-alone applications

When the module which is used is equipped with an EEPROM to store TMCL applications, the TMCL-IDE can be used to develop stand-alone TMCL applications that can be downloaded into the EEPROM of the module and then

run on the module. The TMCL IDE contains an editor and a “TMCL assembler” where the commands can be entered

using their mnemonic format and then assembled to their binary representations. This code can then be downloaded into the module to be executed there. The TMCL IDE is described in detail in chapter 7 of this manual.

2.4 TMCL command overview

In this section an overview of the TMCL commands is given. All commands are described in detail in chapter 3. Some TMCL programming techniques are given in chapter 8.

2.4.1 Motion commands

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

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Mnemonic

Command number

Meaning

ROL

Rotate left

ROR

Rotate right

MVP

Move to position

MST

Motor stop

RFS

Reference search

SCO

Store coordinate

CCO

Capture coordinate

GCO

Get coordinate

Mnemonic

Command number

Meaning

SAP

Set axis parameter

GAP

Get axis parameter

STAP

Store axis parameter into EEPROM

RSAP

Restore axis parameter from EEPROM

SGP

Set global parameter

GGP

Get global parameter

STGP

Store global parameter into EEPROM

RSGP

Restore global parameter from EEPROM

Mnemonic

Command number

Meaning

SIO

Set output

GIO

Get input

SAC

Access to external SPI device

Mnemonic

Command number

Meaning

Jump always

Jump conditional

COMP

Compare accumulator with constant value

CLE

Clear error flags

CSUB

Call subroutine

RSUB

Return from subroutine

WAIT

Wait for a specified event

STOP

End of a TMCL program

2.4.2 Parameter commands

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

2.4.3 I/O port commands

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

2.4.4 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.

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Mnemonic

Command number

Meaning

CALC

Calculate using the accumulator and a constant value

CALCX

Calculate using the accumulator and the X register

AAP

Copy accumulator to an axis parameter

AGP

Copy accumulator to a global parameter

2.4.5 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.

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.

2.5 The ASCII interface

Since TMCL 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). The commands are then entered as in the TMCL IDE, but not all commands can be entered in ASCII mode. Only those commands that can be used in direct mode can also be entered in ASCII mode.

To leave the ASCII mode and re-enter the binary mode enter the command “BIN”.

2.5.1 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 would all 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.

2.5.2 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

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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”.

2.5.3 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, 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.

2.5.4 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 5.1). 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.

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3 TMCL Command Dictionary

This chapter describes all TMCL commands. The commands are sorted by their command numbers. For every command the mnemonic with its syntax and the binary representation are given. Ranges for the parameters are also given. They sometimes differ between the types of the modules. If this is the case, value ranges are given for every module. Last but not least some examples are given at the end of every command description. In the examples for the binary representation always RS232/RS485 communication (9 byte) format is used with module address 1 and host address 2. When using CAN bus communication just leave out the first and the last byte (as mentioned in chapter

2.1).

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Module

Motor number

Velocity

TMCM-300/301/302/303/310

0..2

0..2047

TMCM-100

always 0

0..8191

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

$00

$02

$00

$01

$5e

$62

3.1 ROR – Rotate Right

Description: This instruction starts rotation in "right" direction, i.e. increasing the position counter.

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 <motor number>, <velocity>

Binary representation:

Reply in direct mode:

Parameter ranges:

Example:

Rotate right, motor #2, velocity = 350

Mnemonic: ROR 2, 350

Binary:

Note for TMCM-300/301/302/303/310 modules:

Adjust the axis parameter "pulse divisor" (no. 154, see Chapter 5), if the speed value is very low (<50) or above the upper limit (2047). See TMC 428 datasheet (p.24) for calculation of physical units.

Note for TMCM-100 modules:

Adjust the axis parameter “pre-divider” if the speed is not within the desired range.

Note: With some modules it is possible to use stall detection. Please see section 6.4 for details.

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Module

Motor number

Velocity

TMCM-300/301/302/303/310

0..2

0..2047

TMCM-100

always 0

0..8191

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

$02

$00

$01

$00

$04

$b0

$b8

3.2 ROL – Rotate Left

Description: This instruction starts rotation in "left" direction, i.e. decreasing the position counter.

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 <motor number>, <velocity>

Binary representation:

Reply in direct mode:

Parameter ranges:

Example:

Rotate left, motor #1, velocity = 1200

Mnemonic: ROL 1, 1200

Binary:

Note for TMCM-300/301/302/303/310 modules:

Note for TMCM-100 modules:

Adjust the axis parameter “pre-divider” if the speed is not within the desired range.

Note: With some modules it is possible to use stall detection. Please see section 6.4 for details.

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Module

Motor number

TMCM-300/301/302/303/310

0..2

TMCM-100

always 0

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

$03

$00

$01

$00

$05

3.3 MST – Motor Stop

Description: This instruction stops the motor.

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

Related commands: ROL, ROR, SAP, GAP

Mnemonic: MST <motor number>

Binary representation:

Reply in direct mode:

Parameter ranges:

Example: Stop motor #1

Mnemonic: MST 1

Binary:

Note: With some modules it is possible to use stall detection. Please see section 6.4 for details.

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

0 ABS – absolute

1 REL – relative

2 COORD – coordinate

0 motor 0 1 motor 1 2 motor 2 TMCM-301, 302, 303, 310: 3 (not allowed) 4 motors 0&1 5 motors 1&2 6 motors 0&2 7 motors 0,1,2 TMCM-6xx, 34x: see below

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

3.4 MVP – Move to Position

Description: A movement towards the specified position is started, with automatic generation of acceleration- and

deceleration ramps. 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 +8388608 (-223 to+223).

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

- Moving one or more motors to a (previously stored) coordinate, see SCO (section 3.25) for details. When moving more than one axis the module will try to interpolate: The velocities will be calculated so that all motors reach their target positions at the same time. It is important that the maximum accelerations (axis parameter #5) and the ramp and pulse dividers (axis parameters #153 and #154) of all axes are set to the same values as otherwise interpolation will not work correctly. With TMCM-100 modules there is no interpolation as it controls only one axis.

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>, <motor number>, <position|offset|coordinate number>

Binary representation:

Reply in direct mode:

Parameter ranges: The <motor number> parameter depends on the module type: always 0 on single axis modules,

0..2 on three axis modules and 0..5 on six axis modules. With MVP COORD, the motor number is interpreted differently.

Examples:

Move motor #1 to (absolute) position 90000

Mnemonic: MVP ABS, 1, 9000 Binary:

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Value (hex)

$01

$04

$00

$01

$00

$01

$5f

$90

$f6

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

$04

$01

$00

$ff

$fc

$18

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

$04

$02

$00

$08

$11

Move motor #0 from current position 1000 steps backward (move relative –1000) Mnemonic: MVP REL, 0, -1000

Move motor #2 to previously stored coordinate #8

Mnemonic: MVP COORD, 2, 8 Binary:

Note: With some modules it is possible to use stall detection. Please see section 6.4 for details.

MVP COORD on TMCM-6xx and TMCM-34x modules

On these modules, there are some more options for the MVP COORD command. For this reason the “motor” parameter with the MVP COORD command is interpreted as follows on those modules:

Moving only one motor: set the “Motor” parameter to the motor number (0..5). Moving multiple motors without interpolation: Set bit 7 of the “Motor” parameter. Now the bits 0..5 of

the “Motor” parameter define which motors are to be started. Each of these bits stands for one motor.

Moving multiple motors using interpolation: Set bit 6 of the “Motor” parameter. . Now the bits 0..5 of

the “Motor” parameter define which motors are to be moved using interpolation. Each of these bits

stands for one motor. It is not possible to start a group of more than three motors using interpolation. However, it is possible to start one group of three motors right after starting a group of

other three motors. On the TMCM-610/611/612 modules the interpolation feature is not available in firmware versions prior to 6.31. On the TMCM-341/342/343 modules the interpolation feature is available in all firmware versions that have been released for these modules.

Examples:

MVP COORD, $47, 2 moves motors 0, 1 and 2 to coordinate 2 using interpolation. MVP COORD, $87, 5 moves motors 0, 1 and 2 to coordinate 5 without using interpolation.

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

<value>

STATUS

VALUE

100 – OK

(don't care)

Module

Parameter number

Motor number

Value

TMCM-300/301/302/303/310

s. chapter 4

0..2

s. chapter 4

TMCM-100

s. chapter 4

always 0

s. chapter 4

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$05

$06

$01

$00

$c8

$d5

3.5 SAP – Set Axis Parameter

Description: Most parameters of a TMCM module can be adjusted individually for each axis. Although these

parameters vary widely in their formats (1 to 24 bits, signed or unsigned) and physical locations (TMC428, TMC453, controller RAM, controller EEPROM), they all can be set by this function. See chapter 4 for a complete list of all axis parameters. See STAP (section 3.7) for permanent storage of a modified value.

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>, <motor number>, <value>

Binary representation:

Reply in direct mode:

Parameter ranges:

Example:

set the absolute maximum current of motor #1 to 200mA

Mnemonic: SAP 6, 1, 200 Binary:

Note: The parameter numbers are different in TMCL firmware versions before 2.18. Please upgrade to a newer firmware version if you have such an old version.

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Module

Parameter number

Motor number

TMCM-300/301/302/303/310

s. chapter 4

0..2

TMCM-100

s. chapter 4

always 0

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

$06

$01

$02

$00

$0a

Byte Index

0 1 2 3 4 5 6 7 8

Function

Hostaddress

Targetaddress

Status

Instruction

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$02

$01

$64

$06

$00

$02

$c7

$36

3.6 GAP – Get Axis Parameter

Description: Most parameters of a TMCM module can be adjusted individually for each axis. Although these

parameters vary widely in their formats (1 to 24 bits, signed or unsigned) and physical locations (TMC428, TMC453, controller RAM, controller EEPROM), they all can be read by this function. 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. See

chapter 4 for a complete list of all parameters.

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>, <motor number>

Binary representation:

Reply in direct mode:

Parameter ranges:

Example: get the actual position of motor #2

Mnemonic: GAP 2, 1

Binary:

Reply:

 status=no error, position=711

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)*

STATUS

VALUE

100 – OK

(don't care)

Parameter number

Motor number

Value

s. chapter 4

0..2

s. chapter 4

always 0

s. chapter 4

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$07

$04

$01

$00

$0d

3.7 STAP – Store Axis Parameter

Description: Axis parameters are located in RAM memory, so modifications are lost at power down. This

instruction enables permanent storing. Most parameters are automatically restored after power up (see axis parameter list in chapter 4).

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

Related commands: SAP, RSAP, GAP, AAP

Mnemonic: STAP <parameter number>, <motor number>

Binary representation:

*the "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:

Example: store the maximum speed of motor #1

Mnemonic: STAP 4, 1

Binary:

Note: The STAP command will not have any effect when the configuration EEPROM is locked (s. 5.1, “EEPROM lock flag” and section 7.6.2.5). In direct mode, the error code 5 (configuration EEPROM locked, see also section 2.2.1) will

be returned in this case.

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$08

$06

$01

$00

$10

3.8 RSAP – Restore Axis Parameter

Description: 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 4). 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, AAP

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

Binary representation:

Reply structure in direct mode:

Example: restore the maximum current of motor #1

Mnemonic: RSAP 6, 1

Binary:

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

<value>

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$09

$42

$00

$03

$4f

3.9 SGP – Set Global Parameter

Description: Global parameters are related to the host interface, peripherals or application specific variables. The

different groups of these parameters are organised 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. See chapter 0 for a complete parameter list.

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:

Example: set the serial address of the target device to 3

Mnemonic: SGP 66, 0, 3

Binary:

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(see chapter 6)

<bank number> see chapter 6

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$0a

$42

$00

$4d

Byte Index

0 1 2 3 4 5 6 7 8

Function

Hostaddress

Targetaddress

Status

Instruction

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$02

$01

$64

$0a

$00

$01

$72

3.10 GGP – Get Global Parameter

Description: All global parameters can be read with this function. In stand-alone mode, the result is copied to the

accumulator register for further processing purposes such as conditional jumps. In direct mode, the result is only output in the “value” field of the reply, without affecting the accumulator. See 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:

Example: get the serial address of the target device

Mnemonic: GGP 66, 0

Binary:

Reply:

 Status=no error, Value=1

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(see chapter 6)

<bank number> (see chapter 6)

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$0b

$42

$00

$4e

3.11 STGP – Store Global Parameter

Description: Some global parameters are located in RAM memory, so modifications are lost at power down. This

instruction enables permanent 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:

Example: store the serial address of the target device

Mnemonic: STGP 42, 0

Binary:

Note: The STGP command will not have any effect when the configuration EEPROM is locked (s. 5.1, “EEPROM lock flag” and section 7.6.2.5). In direct mode, the error code 5 (configuration EEPROM locked, see also section 2.2.1) will

be returned in this case.

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$0c

$42

$00

$4f

3.12 RSGP – Restore Global Parameter

Description: This instruction recovers the (permanently) stores the value of a RAM-located parameter. Please see chapter 0 for a list of available parameters.

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

Related commands: SGP, STGP, GGP, AGP

Mnemonic: RSGP <parameter number>, <motor number>

Binary representation:

Reply in direct mode:

Example: restore the serial address of the device

Mnemonic: RSGP 66, 0

Binary:

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

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

(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

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$0d

$00

$01

$00

$0f

3.13 RFS – Reference Search

Description: A build-in reference point search algorithm can be started (and stopped). 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 in the axis parameter table to configure the reference search algorithm to meet your needs (chapter 4). The reference search can be started or stopped, or 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>, <motor number>

Binary representation:

Reply in direct mode:

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

When using type 2 (STATUS):

Example: start reference search of motor #1

Mnemonic: RFS START, 1

Binary:

Note: With some modules it is possible to use stall detection instead of a reference switch. Please see section 6.4 for details.

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

<value>

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$0e

$07

$02

$00

$01

$19

Type

I/O line

Range

DOUT0

0/1 1

DOUT1

0/1

DOUT2

0/1 3

DOUT3

0/1

DOUT4

0/1 5 DOUT5

0/1

DOUT6

0/1 7

DOUT7

0/1

3.14 SIO – Set Output

Description: This command sets the status of a digital output either to low (0) or to high (1). Please see the list of

the outputs in this section.

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: turn the LED on the TMCM-300 base board off (bank 2, line 7)

Mnemonic: SIO 7, 2, 1

Binary:

Overview of available output ports:

With the TMCM-100/301/302/303/310/610 and TMCM-300 modules, only bank 2 is available and contains 8 output lines:

Please see the manuals of the individual modules for detailed electrical description of the output ports of a module.

Extension in TMCL version 3.23: On the TMCM-301/302/303/310 and 61x modules it is now also possible to switch the pull-up resistors on the inputs on and off. When using the inputs as digital inputs it is often useful to have the pull-up resistors switched on, but when using the inputs as analogue inputs the pull-up resistors must be switched of. For this purpose, set the bank parameter to 0 and the type parameter to the number of the desired input (please see the GIO command for a list of the input numbers). Set the value parameter to 0 to switch off and to 1 to switch on a pull-up resistor. The pull-up resistors are switched off by default.

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Extension in TMCL version 3.30 and 6.22: On the TMCM-3xx, TMCM-34x and TMCM-61x modules it is now possible to address all eight output lines with one single SIO command. This can be done by setting 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 eight output pins. Example: SIO 255, 2, 255 sets all output pins high. The following program will show the states of the eight input lines on the output lines:

Loop: GIO 255, 0

SIO 255,2,-1

JA Loop

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

STATUS

VALUE

100 – OK

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

$0f

$03

$01

$00

$14

Byte Index

0 1 2 3 4 5 6 7 8

Function

Hostaddress

Targetaddress

Status

Instruction

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$02

$01

$64

$0f

$00

$01

$fa

$72

3.15 GIO – Get Input / Output

Description: This function reads a digital or analogue input port. So, 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

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Type

I/O line

Range

ADIN0

0/1

ADIN1

0/1 2 ADIN2

0/1

ADIN3

0/1 4 ADIN4

0/1

ADIN5

0/1 6 ADIN6

0/1

ADIN7

0/1 8 OPTO1

0/1

OPTO2

0/1

SHUTDOWN

0/1

Type

I/O line

Range

ADIN0

0…1023

ADIN1

0…1023

ADIN2

0…1023

ADIN3

0…1023

ADIN4

0…1023

ADIN5

0…1023

ADIN6

0…1023

ADIN7

0…1023

Overview of available input ports:

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. Note: When using a digital input it is often useful to switch on its pull-up resistor. Please see the SIO command on how to do this.

I/O bank 1 – analogue inputs (not on all modules). The ADIN lines can be read as digital or analogue inputs at the same time. The digital states can be accessed in bank 0. Note: When using an input in analogue mode its pull-up resistor must be switched off. Please see the SIO command on how to do this.

I/O bank 2: here, the status of the digital outputs (see section 3.14) can be read back.

Note: Not all I/O lines are available on every module. Please see the documentation of the individual module for details. There may also be more I/O lines on newer modules.

Extension in TMCL V3.30 and 6.22: On the TMCM-30x, TMCM-34x and TMCM-61x modules it is now possible to read all eight digital inputs with only one GIO command. This can be done by setting the type parameter to 255 and the bank parameter to 0. In this case the status of all eight digital input lines will be read to the lower eight bits of the accumulator. So the following program can be used to represent the states of the eight input lines on the eight output lines:

Loop: GIO 255, 0

SIO 255,2,-1

JA Loop

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

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

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$13

$02

$00

$FF

$EC

$78

3.16 CALC – Calculate

Description: 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 (in most cases) 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 <op>, <value>

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

Binary representation:

Example: multiply accu by –5000

Mnemonic: CALC MUL, -5000

Binary:

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$14

$00

$03

$e8

$00

3.17 COMP – Compare

Description: 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 intend for use in stand-alone operation only and must not be used indirect 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

Binary representation:

Example:

Jump to the address given by the label when the position of motor #2 is greater than or equal to 1000.

GAP 1, 2, 0 //get axis parameter, type: no. 1 (actual position), motor: 2, 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:

Note that the host address and the reply is only used to transfer this instruction to the TMCL program memory during downloading of a TMCL program. It does not make sense to use this command in direct mode.

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

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 10 EDV – deviation error 11 EPO – position error 12 ESD – shutdown error

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$15

$05

$00

$0a

$25

3.18 JC – Jump Conditional

Description: 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, e.g. by the COMP instruction. For stand-alone operation only.

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:

EDV and EPO: TMCM-100 only. EAL and ESD: not available with TMCM-300.

Example: Jump to address given by the label when the position of motor #2 is greater than or equal to 1000.

GAP 1, 2, 0 //get axis parameter, type: no. 1 (actual position), motor: 2, 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:

Note that the host address and the reply is only used to transfer this instruction to the TMCL program memory. See the host-only control functions for details. It is not possible to use this command in direct mode.

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$16

$00

$14

$2b

3.19 JA – Jump Always

Description: Jump to a fixed address in the TMCL program memory. This command is intended for standalone operation only and not to 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:

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

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$17

$00

$64

$7c

3.20 CSUB – Call Subroutine

Description: Calls a subroutine in the TMCL program memory. This command is intended for standalone operation

only and must not be used in direct mode.

Internal function: The actual TMCL program counter value is saved to an internal stack, then 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:

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

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$18

$00

$19

3.21 RSUB – Return from Subroutine

Description: Return from a subroutine to the command after the CSUB command that called it. This command is intended for use in stand-alone mode only and must not 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 3.20).

Binary format of RSUB:

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

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

0 TICKS - timer ticks*

(don't care)

<no. of ticks*>

1 POS - target position reached

0..2 resp. 0..5

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

2 REFSW – reference switch

0..2 resp. 0..5

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

3 LIMSW – limit switch

0..2 resp. 0..5

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

4 RFS – reference search completed

0..2 resp. 0..5

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

3.22 WAIT – Wait for an event to occur

Description: Pause the execution of the TMCL program until the specified condition is met. This command is

intended for stand-alone operation only and must not be used in direct mode. There are 5 different wait conditions that can be used:

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

<motor number> parameter is ignored in this case (set it to zero).

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

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

LIMSW: wait until a limit switch of the motor specified by the <motor> parameter has been triggered.

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

RFS: wait until the reference search of the motor specified by the <motor> field has been reached. An

optional timeout value (0 for no timeout) must be specified by the <ticks> parameter. The timeout flag (ETO) will be set after a timeout limit has been reached. You can then use a JC ETO command to check for such errors or clear the error using the CLE command.

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

Related commands: JC, CLE

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

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

Binary representation:

*one tick is 10 milliseconds (in standard firmware)

Parameter ranges:

Single axis modules: <motor number> must always be 0. Three axis modules: <motor number> can be 0..2 Six axis modules: <motor number> can be 0..5

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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

$1b

$01

$00

$1e

Example: wait for motor #1 to reach its target position, without timeout

Mnemonic: WAIT POS, 1, 0

Binary:

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

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$1c

$00

$1d

3.23 STOP – Stop TMCL program execution

Description: Stops executing a TMCL stand-alone program. This command should be placed at the end of every TMCL program. It is intended for stand-alone operation only and must not be used in direct mode.

Internal function: TMCL instruction fetching is stopped.

Related commands: none

Mnemonic: STOP

Binary representation:

Example:

Mnemonic: STOP

Binary:

The host address and the reply is only used to transfer this instruction to the TMCL program memory. Do not use this command in direct mode.

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

STATUS

VALUE

100 – Success

Bus number

Chip select output

SPI_SEL0, output direct value

Do not use

SPI_SEL1, output direct value

SPI_SEL2, output direct value

128

SPI_SEL0, output contents of accumulator

129

Do not use

130

SPI_SLE1, output contents of accumulator

131

SPI_SEL2, output contents of accumulator

3.24 SAC – SPI Bus Access

Description: Allows access to external SPI devices connected to the SPI bus of the module. Connection of external

SPI devices differs between the different module types. Please contact TRINAMIC for further details and see also the hardware manual of your module.

Related commands: SIO, GIO

Mnemonic: SAC <bus number>, <number of bytes>, <send data>

Binary representation:

Reply in direct mode:

In version 3.23 of TMCL this command has been extended so that not only direct values but also the contents of the accumulator register can be sent. In stand-alone mode the received data is also stored in the accumulator.

Most modules have three chip select outputs (SPI_SEL0, SPI_SEL1, SPI_SEL2). The “type” parameter (bus number) determines the chip select output that is to be used. The “motor/bank” parameter determines the number of bytes to be sent (1, 2, 3, or 4). The “value” parameter contains the data to be sent. When bit 7 of the bus number is set,

this value is ignored and the contents of the accumulator is sent instead. But please note that in the TMCL IDE

always all three values have to be specified (when sending the contents of the accumulator the “value” parameter

is a dummy parameter). The bus numbers are as follows (please note the gap in the bus numbers; do not use 1 or 129!):

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

<coordinate number> (0…20)

<position> (-223…+223)

STATUS

VALUE

100 – OK

(don't care)

Module

Motor number

TMCM-300/301/302/303/310

0..2

TMCM-1xx

always 0

TMCM-610/611/612

0..5

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

$1e

$01

$02

$00

$03

$e8

$0d

3.25 SCO – Set Coordinate

Description: Up to 20 position values (coordinates) can be stored for every axis for use with the MVP COORD

command (s. section 3.4). This command sets a coordinate to a specified value. Note: the coordinate number 0 is only stored in RAM, all others are also stored in the EEPROM.

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

Related commands: GCO, CCO, MVP

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

Binary representation:

Reply in direct mode:

Parameter ranges:

Example: set coordinate #1 of motor #2 to 1000

Mnemonic: SCO 1, 2, 1000

Binary:

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

<coordinate number> (0…20)

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Module

Motor number

TMCM-300/301/302/303/310

0..2

TMCM-1xx

always 0

TMCM-610/611/612

0..5

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

$1f

$01

$02

$00

$23

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Status

Instruction

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$02

$01

$64

$0a

$00

$86

3.26 GCO – Get Coordinate

Description: Read 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. Note: the coordinate number 0 is stored in RAM only, all others are also stored in the EEPROM.

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>, <motor number>

Binary representation:

Reply in direct mode:

Parameter ranges:

Example: get motor #2 value of coordinate 1

Mnemonic: GCO 1, 2

Binary:

Reply:

 Value: 0

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

<coordinate number> (0…20)

TMCM-3xx: 0 motor 0 1 motor 1 2 motor 2 3 (not allowed) 4 motors 0&1 5 motors 1&2 6 motors 0&2 7 motors 0,1,2 TMCM-6xx:

0..5 (motor number) TMCM-1xx: always 0 TMCM-34x:

0..2 (motor 0..2)

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$20

$03

$07

$00

$2b

3.27 CCO – Capture Coordinate

Description: The actual positions of the specified axes are copied to the selected coordinate variables.

Note: the coordinate number 0 is stored in RAM only, all others are also stored in the EEPROM.

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 <coodinate number>, <motor number>

Binary representation:

Reply in direct mode:

Parameter ranges: The <motor number> value must always be 0 on TMCM-100 modules.

Example: store current position of all axes to coordinate 3

Mnemonic: CCO 3, 7

Binary:

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

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

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$21

$02

$00

$24

3.28 CALCX – Calculate using the X register

Description: This instruction is very similar to CALC, but the second operand comes from the X register. The X

register can be loaded with the LOAD or the SWAP type of this instruction. The result is written back to the accumulator for further processing like comparisons or data transfer.

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

Mnemonic: CALCX <operation>

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

Binary representation:

Example: multiply accu by X-register

Mnemonic: CALCX MUL

Binary:

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

<motor number>,

<don't care>

STATUS

VALUE

100 – OK

(don't care)

Module

Parameter number

Motor number

TMCM-300/301/302/303/310

s. Table

0..2

TMCM-100

s. Table

always 0

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

$22

$00

$23

3.29 AAP – Accumulator to Axis Parameter

Description: 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. See chapter 4 for a complete list of axis parameters.

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

Mnemonic: AAP <parameter number>, <motor number>

Binary representation:

Reply in direct mode:

Parameter ranges:

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

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

CALC MUL, 4 // multiply by 4

AAP 0,0 // transfer result to target position of motor 0

JA Start // jump back to start

Binary format of the AAP 0,0 command:

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

(don't care)

STATUS

VALUE

100 – OK

(don't care)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$23

$03

$02

$00

$29

3.30 AGP – Accumulator to Global Parameter

Description: 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 6 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:

Example: copy accumulator to TMCL user variable #3

Mnemonic: AGP 3, 2

Binary:

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

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

Targetaddress

Instruction Number

Type

Motor/ Bank

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$01

$24

$01

$00

$26

3.31 CLE – Clear Error Flags

Description: This command clears the internal error flags. It is intended for use in stand-alone mode only and

must not be used in direct mode. The following error flags can be cleared by this command (determined by the <flag> parameter):

ALL: clear all error flags. ETO: clear the timeout flag. EAL: clear the external alarm flag EDV: clear the deviation flag (modules with encoder feedback only, e.g. TMCM-100) EPO: clear the position error flag (modules with encoder feedback only, e.g. TMCM-100)

Related commands: JC

Mnemonic: CLE <flags>

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

Binary representation:

Example: Reset the timeout flag

Mnemonic: CLE ETO

Binary:

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

64…71

(user defined)

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

Status

Instruction

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$02

$01

(user defined)

64…71

(user defined)

3.32 User definable commands (UF0..UF7)

Description: The user definable functions UF0 through UF7 are predefined, "empty" functions for user specific purposes. Contact TRINAMIC for customer specific programming of these functions.

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

Related commands: none

Mnemonic: UF0 .. UF7

Binary representation:

Reply in direct mode:

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INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

138

(don’t care)

Motor bit mask

Byte Index

0 1 2 3 4 5 6 7 8

Function

Targetaddress

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

Targetaddress

Status

Instruction

Operand Byte3

Operand Byte2

Operand Byte1

Operand Byte0

Checksum

Value (hex)

$02

$01

128

138

$00

Motor bit mask

3.33 Request target position reached event

Description: 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 specified motors have reached their target positions. This command can only be used in direct mode (in stand alone mode, this is covered by the WAIT command) and hence does not have a mnemonic. Its opcode is

138. This command is avialable since firmware version 3.26 (on the TMCM-301/302/303/310/110/109/111/112 modules) resp. firmware version 6.24 (on the TMCM-610/611/612/101/102 modules).

Internal function: Send an additional reply when one or more motors have reached their target positions. Only usable in direct mode.

Mnemonic: ---

Binary representation:

The contents of the “value” field is a bit mask where every bit stands for one motor: bit 0 = motor 0, bit 1 = motor

1, and so on. The additional reply will be sent when all motors for which the bits in the bit mask are set have reached their target positions.

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

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

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3.34 BIN – Return to Binary Mode

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

It is available in version 3.21 or higher.

Related Commands: none

Mnemonic: BIN

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

mode.

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Instruction

Description

Type

Mot/Bank

Value

128 – stop application

a running TMCL standalone application is stopped

(don't care)

129 – run application

TMCL execution is started (or continued)

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

(don't care)

starting address

130 – step application

only the next command of a TMCL application is executed

(don't care)

131 – reset application

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

(don't care)

132 – start download mode

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

(don't care)

starting address of the application 133 – quit download mode

target command execution is resumed

(don't care)

134 – read TMCL memory

the specified program memory location is read

(don't care)

135 – get application status

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

(don't care)

136 – get firmware version

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

0 – string 1 – binary

(don’t care)

137 – restore factory settings

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

(don’t care)

must be 1234

138 – reserved

139 – enter ASCII mode

Enter ASCII command line (see chapter 2.5)

(don’t care)

3.35 TMCL Control Functions

Description: 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 (except command 139). They are mentioned here only for reasons of completeness. These commands have no mnemonics, as they can not be used in TMCL programs. They 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 is “get

firmware revision” (command 136, please note the special reply format of this command, described at the end of this section) and 129 (run application). All other functions can be achieved by using the appropriate functions of the TMCL IDE.

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Byte index

Contents

Host Address

2..9

Version string (8 characters, e.g. “303V2.48”

Byte index in value field

Contents

Version number, low byte

Version number, high byte

Type number, low byte (currently not used)

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: Here, the normal reply format is used. The version number is

output in the “value” field of the reply in the following way:

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Number

Axis Parameter

Description

Range

Access

target (next) position

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

actual position

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

223

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

actual speed

The current rotation speed. Should never be overwritten.

2047

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 (p.24) for calculation of physical units.

0...2047

RWE

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 (p.24) for calculation of physical units.

0... 2047

RWE

absolute max. current

The most important motor setting, since too high values might cause motor damage! Note that on the TMCM-300 the phase current can not be reduced down to zero due to the Allegro A3972 driver hardware. On the TMCM-300, 303, 310, 110, 610, 611 and 612 the maximum value is 1500 (which means 1.5A). On all other modules the maximum value is 255 (which means 100% of the maximum current of the module).

0…1500 resp.

0..255

RWE

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..1500 resp.

0..255

RWE

target pos. reached

Indicates that the actual position equals the target position.

0/1

ref. switch status

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

0/1

right limit switch status

The logical state of the (right) limit switch.

0/1

4 Axis Parameters

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

commands. Please note that some parameters are different with different module types. The letters under “access”

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

4.1 Basic axis parameters (all TMCL stepper motor modules except

the TMCM-100 module and the Monopack 2)

The parameters described in the following table are those which are needed very often. Please note that the TMCM-100 module uses a different parameter set (see chapter 4.3), but all other TMCL stepper motor modules use these parameters.

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Number

Axis Parameter

Description

Range

Access

left limit switch status

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

0/1

R 12

right limit switch disable

if set, deactivates the stop function of the right switch

0/1

RWE

left limit switch disable

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

0/1

RWE 14

steprate prescaler

Currently not used, see parameters no. 153 and 154

Number

Parameter

Description

Range

Access

130

minimum speed

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

0... 2047

RWE 135

actual acceleration

The current acceleration (read only).

0... 2047

136

acceleration threshold

specifies the threshold between low and high acceleration values for the parameters 144&145. Normally not needed.

0... 2047

RWE

137

acceleration divisor

A ramping parameter, can be adjusted in special cases, automatically calculated by setting the maximum acceleration (e.g. during normal initialisation). See the TMC428 data sheet for details. Normally no need to change.

0…13

RWE

138

ramp mode

In version 2.16 and later: automatically set when using ROR, ROL, MST and MVP. 0: position mode. Steps are generated, when the parameters actual position and target position differ. Trapezoidal speed ramps are provided. 2: velocity mode. The motor will run continuously and the speed will be changed with constant (maximum) acceleration, if the parameter "target speed" is changed. For special purposes, the soft mode (value 1) with exponential decrease of speed can be selected.

0/1/2

RWE

139

interrupt flags

Must not be modified. See the TMC 428 datasheet for details.

16bits

4.2 Advanced axis parameters (all TMCL stepper motor modules

except the TMCM-100)

These parameters are only needed if the desired needs can not be met by setting the basic parameters listed in section 4.1. Some of these parameters influence the TMC428 directly so that advanced understanding of the TMC428 chip is needed. There are even some parameters that should only be changed if recommended by TRINAMIC. Please note that these paramters are not available on the TMCM-100 module.

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Number

Parameter

Description

Range

Access

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. Note that modifying this parameter will affect the rotation speed in the same relation. Even if the module is specified for 16 microsteps only, switching to 32 or 64 microsteps still 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. *) Please note that the fullstep setting as well as 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.

0…6

RWE

141

ref. switch tolerance

For three-switch mode: a position range, where an additional switch (connected to the REFL input) won't cause motor stop. See section 6.1 for details.

0...4095

142

snapshot position

For referencing purposes, the exact position at hitting of the reference switch can be captured in this parameter. A dummy value has to be written first to prepare caption.

223

143

max. current at rest

In contrast to the standby current, this current limit becomes immediately active when the motor speed reaches zero. The value represents a fraction of the absolute maximum current: 0 – no change of current at rest (default, 100%)

1..7 – 12.5%..87.5% See the TMC428 datasheet for details. Normally not used, use parameters 6 and 7 instead!

0…7

RWE

144

max. current at low accel.

An optional current reduction factor, see parameters 136 and 143 for details. Normally not used, use parameters 6 and 7 instead!

0…7

RWE

145

max. current at high accel.

An optional current reduction factor, see parameters 136 and 143 for details. Normally not used, use parameters 6 and 7 instead!

0…7

RWE

146

acceleration factor

0…128

RWE

147

ref. switch disable flag

If set, the reference switch (left switch) won't cause the motor to stop. See parameters 12 and 13.

0/1

RWE

148

limit switch disable flag

If set, the limit switch (right switch) won't cause the motor to stop. See parameters 12 and 13.

0/1

RWE

149

soft stop flag

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

0/1

RWE

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Number

Parameter

Description

Range

Access

150

(reserved)

Do not change!

0/1

151

position latch flag

Indicates that a position snapshot has been completed (see parameter 142).

0/1

R 152

interrupt mask

Must not be modified. See the TMC 428 datasheet for details.

(16bits)

153

ramp divisor

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

0…13

RWE

154

pulse divisor

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

0…13

RWE

193

referencing mode

1 – Only the left reference switch is searched. 2 – The right switch is searched, then the left switch is searched. 3 – Three-switch-mode: the right switch is searched first, then the reference switch will be searched. Please see chapter 6.1 for details on reference search.

1/2/3

RWE

194

referencing search speed

For the reference search this value specifies the search speed as a fraction of the maximum velocity: 0 – full speed 1 – half of the maximum speed 2 – a quarter of the maximum speed 3 – 1/8 of the maximum speed (etc.) On the TMCM-34x modules the speed is given directly as a value between 0..2047.

0…8

M-34x:

0..2047

RWE

195

referencing switch speed

Similar to parameter no. 194, the speed for the switching point calibration can be selected. On the TMCM-34x modules the speed is given directly as a value between 0..2047.

0..8

M-34x:

0..2047

RWE

196

(reserved)

Do not change!

197

(reserved)

Not used

0…2

RWE

198

driver off time

A special adjustment of the motor driver A3972 (TMCM-300 only). Low values may cause more mechanical vibrations, while the higher ones lead to acoustic noise of the drivers. The default value of 20 is a good compromise for most applications. See the Allegro A3972 datasheet for details.

0…31

RWE 200

fast decay time

A special adjustment of the motor driver A3972 (TMCM-300 only), with less influence than the driver off time (no. 198) in most cases. Low values generally reduce driver noise. See the Allegro A3972 datasheet for details.

0…15

RWE

203

mixed decay threshold

If the actual velocity is above this threshold, mixed decay will be used (all modules except the TMCM-300). Since V3.13, this can also be set to –1 which turns on mixed decay permanently also in the rising part of the microstep wave. This can be used to fix microstep errors.

0..2048 or -1

RWE

204

freewheeling

Time after which the power to the motor will be cut when its velocity has reached zero (TMCM-301 / 303 / 310 / 11x and 61x only).

0..65535 0 = never

RWE

205

Stall Detection Threshold

Stall detection threshold. Only usable on modules equipped with TMC246 or TMC249 motor drivers. Set it to 0 for no stall detection or to a value between 1 (low threshold) and 7 (high threshold). The motor will be stopped if the load value exceeds the stall detection threshold. Switch off mixed decay to get usable results.

0..7

RWE

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Number

Parameter

Description

Range

Access

206

Actual Load Value

Readout of the actual load value used for stall detection. Only usable on modules equipped with TMC246 or TMC249 motor drivers. On other modules this value is undefined.

0..7

208

Driver Error Flags

TMC236 Error Flags

209

Encoder Position (V3.21 or higher)

The value of an encoder register of a TMCM-323 module connected to a TMCM-30x module can be read or written. Please see the TMCM-323 manual for details.

210

Encoder Pre-scaler (V3.21 or higher)

Pre-scaler for an encoder connected to a TMCM-323 module. Please see the TMCM-323 manual for details. This value can not be read back! This setting is also available on the TMCM-611, TMCM-101 and TMCM-102 modules. Please see the manuals of these modules for the meaning of these parameter on a specific module.

211

Fullstep Threshold (V3.26 or higher)

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

0..2048

RWE

212

Maximum Encoder Deviation

When the actual position (parameter 1) and the encoder position (parameter 209) differ more than set here the motor will be stopped. This function is switched off when the maximum deviation is set to zero. Only on TMCM-101, TMCM-102 and TMCM-611 modules.

0..65535

RWE 213

Group index

All motors on one module that have the same group index will also get the same commands when a ROL, ROR, MST, MVP or RFS is issued for one of these motors. Only on TMCM-610, TMCM-611, TMCM-612 and TMCM-34x modules.

0..255

Number

Parameter

Description

Range

Access

Target position

Read: The target position of a currently executed ramp. Write: Same function as a MVP ABS command.

-8388608.. +8388607

RW 1 Actual position

Read: The actual position of the motor. Write: Change the position and encoder counter without moving the motor.

-8388608.. +8388607

Target velocity

Write: value >0: same function as ROR value <0: same function as ROL value =0: same function as MST Read: not possible

-8191.. +8191

Actual velocity

The actual velocity of the motor. Write access not possible.

-8191.. +8191

R 4 Max. positioning velocity

The maximum velocity used when executing a ramp to a position. Do not set to zero!

1..8191

RWE 5

Max. acceleration

The maximum acceleration used to accelerate or

1..8191

RWE

4.3 Axis parameters on the TMCM-100 and on the Monopack 2

The axis parameters on the TMCM-100 module and on the Monopack 2 with TMCL differ from those on the other modules. There are no “advanced” axis parameters on the TMCM-100 module.

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Number

Parameter

Description

Range

Access

decelerate the motor. Do not set to zero!

Current at constant rotation

Maximum current when moving with constant velocity (255 => 100%).

0 .. 255

RWE

Current at standby

Current when the motor is standing (255 => 100%).

0..255

RWE

Position reached flag

Reads 1 when the actual position equals the target position. Write access not possible.

0/1 R 9

Reference switch status

The logical state of the reference switch (connected to the SYNC_IN pin).

0/1 R 10

Right stop switch status

The logical state of the right stop switch. Write access not possible.

0/1 R 11

Left stop switch status

The logical state of the left stop switch. Write access not possible.

0/1 R 12

Stop switch disable

Deactivates the function of both stop switches when set to 1.

0/1

RWE 13

Stop switch disable

Same function as parameter #12.

0/1

RWE

Step rate prescaler

Prescaler for the step rate, determines the maximum step frequency.

0..15

RWE

Bow

The bow parameter of the ramp function. Do not set to zero!

1..8191

RWE

Microstep resolution

The number of microsteps to be used.

1..64: 1..64 microsteps 65: 100 microsteps 66: 202 microsteps 67: 406 microsteps

1..67

RWE

Microstep waveform

The microstep waveform to be used.

-127..+127

RWE

Step/direction mode

Activates the step/direction input when set to 1 (the module then works as a step / direction sequencer).

0/1

RWE

Step pulse length

The length of the step pulses at the step / direction output.

0..3

RWE

Phases

Set to 2 for two phase motors (default) or to 3 for 3 phase motors (currently not usable).

2/3

RWE

Current at acceleration

Current when the motor is accelerating or decelerating (255 => 100%).

0..255

RWE

Reference search mode (s. section 6.2)

0: Separate stop and reference switches. 1: Same switch for stop and reference point. 2: Circular mode: Only one reference switch, search the switch from both sides.

0/1/2

RWE 23

Reference search velocity

Velocity used for reference searching. If the velocity is negative the right switch will be searched instead of the left switch.

-8191.. +8191

RWE 24

Stop Switch Deceleration

Deceleration when touching a stop switch. A value of 0 means a hard stop.

0..8191

RWE 25

Encoder Position

Actual position of the encoder (read only).

Encoder Configuration

Bit 0: polarity of the encoder N signal. Bit 1: the next N signal clears the encoder position counter. Bit 4: set this bit to copy the actual encoder value to the position register (bit resets automatically). Bit 6: direction of the encoder signals (1: A->B, 0: B->A).

RWE

Encoder Predivider

Predivider for the incremental encoder.

0..255

RWE

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Number

Parameter

Description

Range

Access

Encoder Multiplier

Multiplier for the incremental encoder.

1..255

RWE

Maximum deviation

Maximum deviation between motor and incremental encoder.

0..65535

RWE

Deviation action

0: Disabled 1: Alarm, but no stop 2: Soft Stop 3: Hard Stop

0/1/2/3

RWE 31

Correction delay

Automatic correction after deviation alarm: 0: Disabled. >0: 1/100s until correction starts.

0..65535

RWE

Correction retries

Number of retries when automatic position correction is done. 0: Disabled, >0: number of retries.

0..255

RWE

Correction tolerance

Tolerance around the target position.

0..65535

RWE

Correction velocity

Velocity used for automatic position correction.

1..8191

RWE

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Number

Parameter

Datagram low word (read only)

Datagram high word (read only)

Cover datagram position

Cover datagram length

Cover datagram contents

Reference switch states (read only)

TMC428 SMGP register

7..22

Driver chain configuration long words 0..15

23..38

Microstep table long word 0..15

Number

Global parameter

Description

Range

Access

EEPROM magic

Setting this parameter to a different value as $E4 will cause re-initialisation 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

5 Global Parameters

The global parameters apply for all types of TMCM modules. They are grouped into 3 banks: bank 0 (global configuration of the module), bank 1 (user C variables) and bank 2 (user TMCL variables). The letters under “access” mean: R = readable (GGP), W = writeable (SGP), E = automatically restored from EEPROM after reset or power-on. Use SGP and GGP (see sections 3.9 and 3.10) commands to write and read global parameters.

5.1 Bank 0

These parameters affect the global configuration of the module. The parameters 0..38 exist only on TMCM-300 / 301 / 302 / 303 / 310 / 610 modules and must normally not be set by the user. They should never be changed on TMCM-300, TMCM-302, TMCM-303, TMCM-310 and TMCM-610 modules. On TMCM-301 modules these parameters can be changed to adapt the module to specific motor drivers. It is best to set these parameters by using the appropriate functions of the TMCL DIE and not by entering many SGP commands (the TMCL IDE does this automatically). The parameters 0..38 are only mentioned here in short form, for completeness. They are not available on TMCM-100 modules.

An STGP 23, 0 command will store the entire microstep table, and an STGP 7, 0 command will store the entire driver chain configuration table. Use the appropriate functions of the TMCL IDE to change these parameters

interactively, if really necessary! Take extreme care when doing this, as wrong configurations here may cause damage to the motor drivers! The TMCM-301 modules is the only device where changes may be necessary (when using it with other motor drivers than the TMC236/TMC239 chips).

The following parameters with the numbers from 64 on configure things like the serial address of the module RS232 / RS485 baud rate or 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, so that an SGP command on such a parameter will always store it permanently (no extra STGP command needed). Take care when changing these parameters, and use the appropriate functions of the TMCL IDE to do it in an interactive way!

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Number

Global parameter

Description

Range

Access

RS232 and 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 Caution: Not supported by Windows! 7 – 115200 baud Caution: 115200 does not work with most host PCs, as the baud rate error on the modules is too high with this baud rate (-3.5% baud rate error).

0…7

RWE

Serial address

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

0…255

RWE

ASCII mode (available since version

3.21)

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

RWE

Reserved

(currently not used, do not change!)

RWE

CAN bit rate

1 – 10kBit/s 2 – 20kBit/s 3 – 50kBit/s 4 – 100kBit/s 5 – 125kBit/s 6 – 250kBit/s (default) 7 – 500kBit/s 8 – 1000kBit/s (not supported by TMCM-30x/110/111/112)

1..7

RWE

CAN reply ID

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

0..7ff

RWE

CAN ID

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

0..7ff

RWE

System error mask

(currently not used, do not change!)

RWE

Configuration EEPROM lock flag

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

0/1

RWE

Encoder interface (available since version

3.21)

Determines if a TMCM-323 is connected to the external SPI interface and to which SPI_SEL line it is connected: 0 – No TMCM-323 connected 1 – Connected to SPI_SEL0 2 – Connected to SPI_SEL1 3 – Connected to SPI_SEL2 Please see TMCM-323 manual for details!

RWE

Telegram pause time

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

0…255

RWE

Serial host address

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

0..255

RWE

Auto start mode

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

0/1

RWE 78

Poll interval

(currently not used, do not change!)

--- ---

Port function mask

(currently not used, do not change!)

---

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Number

Global parameter

Description

Range

Access

Shutdown pin functionality

Select the functionality of the SHUTDOWN pin (not with TMCM-300). 0 – no function 1 – high active 2 – low active

0..2

RWE

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 Note: When a user tries to switch off the protection against disassembling, the program will be erased first! So, when changing this value from 1 or 3 to 0 or 2, the TMCL program will be erased.

0,1,2,3

RWE

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

R 130

TMCL program counter

The index of the currently executed TMCL instruction.

131

Application error flags

(currently not used)

---

132

Tick timer

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

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Number

Global parameter

Description

Range

Access

C application state

The main state machine variable of the example user C code.

0…255

RW 1

(not used)

0…255

C application state timer

A universal timer, supposed for state timing purposes.

0…255

RW 3 C application general purpose variable "unsigned char #0"

0…255

RWE

C application general purpose variable "unsigned char #1"

0…255

RWE

C application general purpose variable "unsigned char #2"

0…255

RWE

C application general purpose variable "unsigned int #0"

0…2

RWE

C application general purpose variable "unsigned int #1"

0…216

RWE

C application general purpose variable "unsigned int #2"

0…216

RWE

C application general purpose variable "signed long #0"

-231…+2

RWE

C application general purpose variable "signed long #1"

-231…+231

RWE

C application general purpose variable "signed long #2"

-231…+231

RWE

5.2 Bank 1

The global parameter bank 1 contains a set of variables that are mainly intended for use in customer specific extensions to the firmware. So, together with the user definable commands (see section 3.32) these variables form the interface between extensions to the firmware (written in C) and a TMCL application. Although they could also be used as general purpose variables in TMCL programs, it is much better to use the variables in bank 2 (see section 5.3) for this purpose. These parameters are not available on the TMCM-34x modules.

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Number

Global parameter

Description

Range

Access

General purpose variable #0

for use in TMCL applications

-231…+2

RWE

General purpose variable #1

for use in TMCL applications

-231…+231

RWE

General purpose variable #2

for use in TMCL applications

-231…+231

RWE

General purpose variable #3

for use in TMCL applications

-231…+2

RWE

General purpose variable #4

for use in TMCL applications

-231…+231

RWE

General purpose variable #5

for use in TMCL applications

-231…+231

RWE

General purpose variable #6

for use in TMCL applications

-231…+2

RWE

General purpose variable #7

for use in TMCL applications

-231…+231

RWE

General purpose variable #8

for use in TMCL applications

-231…+231

RWE

General purpose variable #9

for use in TMCL applications

-231…+2

RWE

General purpose variable #10

for use in TMCL applications

-231…+231

RWE

General purpose variable #11

for use in TMCL applications

-231…+231

RWE

General purpose variable #12

for use in TMCL applications

-231…+2

RWE

General purpose variable #13

for use in TMCL applications

-231…+231

RWE

General purpose variable #14

for use in TMCL applications

-231…+231

RWE

General purpose variable #15

for use in TMCL applications

-231…+2

RWE

General purpose variable #16

for use in TMCL applications

-231…+231

RWE

General purpose variable #17

for use in TMCL applications

-231…+231

RWE

General purpose variable #18

for use in TMCL applications

-231…+2

RWE

General purpose variable #19

for use in TMCL applications

-231…+231

RWE

20..55

General purpose variables #20..#55 (TMCL Version 3.17 or higher)

for use in TMCL applications

-231…+231

RWE

5.3 Bank 2

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. By default, 20 variables are available, but the number may be increased in future firmware modification versions. From firmware version 3.17 on, 56 user variables are available.

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Right Stop

Switch

Traveller

Left Stop

Switch

Reference

Switch

Negative Direction

Positive

Direction

left stop

sw itch

right stop

sw itch

REF_L_x REF_R_x

motor

traveller

Figure 6.2: Two limit switches

left stop

sw itch

reference

sw itch

right stop

sw itch

REF_L_x REF_R_x

motor

traveller

Figure 6.3: Limit switches with extra reference switch

motor

ref sw itch

eccentric

REF_L_x

Figure 6.4: Circular system

6 Hints and Tips

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

6.1 Reference search with TMCM-3xx / 10x / 11x / 61x modules

The built-in reference search features switching point calibration and support of one or two reference switches. The internal operation is based on three individual state machines (one per axis) that can be started, stopped and monitored (instruction RFS, no. 13). The settings of the automatic stop functions corresponding to the switches (axis parameters 12 and 13) have no influence on the reference search.

Figure 6.1: Definition of the switches

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

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

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

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

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

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

In Figure 6.2 the connection of the left and the right limit switch is shown. Figure 6.3 shows the connection

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

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

reference point.

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Right Stop

Switch

Traveller

Left Stop

Switch

Reference

Switch

Negative Direction

Positive

Direction

Traveller

Reference

Switch

6.2 Reference search with TMCM-100 modules

The behaviour of the reference search depends on the reference search mode setting (axis parameter #22, section

4.3) and is as follows:

Mode 0: Linear mode, reference switch is also end switch: A move into the reference switch and then out

of the reference switch is executed. The zero position is then set to the beginning of the switch.

Mode 1: Linear mode, separate reference switch and end switch: First, the left or the right stop switch

(specified by the sign of the reference search velocity; value>0: left switch, value<0: right switch) is searched. After that, the reference switch is searched at first from one, then from the other side. The zero position is then set to the middle of the reference switch.

Figure 6.5: A linear drive (use mode 1)

Mode 2: Circular mode: The reference switch (connected to the reference switch input) is searched at first

from one and then form the other side. The zero position is then set to the middle of the reference switch. There are no end points.

Figure 6.6: A circular drive (use mode 2)

The velocity of the reference search is specified by axis parameter #23 (section 4.3). Start the reference search with a RFS START command. The reference search can be aborted by a RFS STOP command. To query if the reference search is still running in direct mode, use a RFS STATUS command. In a stand-alone TMCL program, use WAIT RFS to wait until a reference search has finished. The reference switch always has to be connected to the “SYNC IN” pin of the module.

6.3 Using an incremental encoder with TMCM-100 modules

Using an incremental encoder allows exact position control, as it feeds back the steps of the motor into the module. The module can then detect deviations and can also try to correct such deviations automatically. The deviation detection and the automatic position correction after a deviation has occurred are easy to use features that automatically detect and correct any errors during a movement.

6.3.1 Setting the resolution

The resolution of the encoder (pulses per revolution) must match the resolution of the motor to make deviation detection and automatic position correction function correctly. If the resolutions do not match, they can be adapted by changing one or more of the following parameters using GAP commands:

Microstep resolution (axis parameter #16, section 4.3): This parameter changes the resolution of the motor. Encoder pre-divider (axis parameter #27, section 4.3): This can be used if the resolution of the encoder is

higher than the resolution of the motor. When for example the pre-divider is set to 4, only every 4th pulse of the encoder will be used to increment or decrement the encoder counter register.

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Encoder multiplier (axis parameter #28, section 4.3): This can be used if the resolution of the encoder is lower

than the resolution of the motor. When for example the multiplier is set to 5, every encoder pulse will increment or decrement the encoder counter register by 5.

To find the right combination of the parameters you can just let the motor run for example 10000 steps (using an MVP command in direct mode, with deviation detection and automatic position correction switched off) and then watch the encoder counter register (using GAP 25, 0). Before doing that, use a SAP 1,0,0 command to set all position registers to zero.

6.3.2 Deviation detection

This function can be configured using axis parameters #29, #30 and #31. An error flag (EDV, see also section 3.18 and 3.31) will be set when the maximum deviation between motor and encoder is exceeded. Optionally the motor can also be stopped then. Set the maximum deviation using parameter #29. The motor can also be stopped immediately or softly when in case of deviation (parameter #30). Furthermore, the automatic position correction (see ) can be started n/10 sec (n=1..65535, parameter #31) after a deviation has been detected.

6.3.3 Position correction

Automatic position correction can be done at the end of each ramp or when a deviation has been detected. Automatic position correction can only be used in conjunction with an incremental encoder which has to be configured correctly first. When this function is turned on (by setting axis parameter #32 to a value greater than zero), the module checks if the position counter of the incremental encoder matches the desired end position at the end of every ramp (a tolerance window around the end position can be specified by axis parameter #33). If this is not the case, the module will try to correct the position of the motor using the velocity specified by axis parameter #34. The maximum number of retries after each ramp can also be configured by setting axis parameter #32. The EPO flag (see also section 3.18 and 3.31) will be set and the position correction will be aborted if this number is exceeded.

6.4 Stall Detection (TMCL Version 3.06 or higher)

The modules TMCM-303, TMCM-310 and TMCM-610 can be equipped with TMC246 motor driver chips. These chips feature load measurement that can be used for stall detection. Stall detection means that the motor will be stopped when the load gets too high. It is controlled by axis parameter #205. If this parameter is set to a value between 1 and 7 the stall detection will be activated. Setting it to 0 means that stall detection is turned off. A greater value means a higher threshold. This also depends on the motor and on the velocity. There is no stall detection while the motor is being accelerated or decelerated. Stall detection can also be used with a TMCM-301 module together with a TMCM-035 module that is equipped with a TMC249 chip. Stall detection can also be used for finding the reference point. You can do this by using the following TMCL code:

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

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

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6.5 Fixing microstep errors (TMCL V3.13 or higher)

Due to the “zero crossing problem” of the TMC236/TMC246 stepper motor drivers, microstep errors may occur with

some motors as the minimum motor current that can be reached is slightly higher than zero (depending on the inductivity, resistance and supply voltage of the motor). This can be solved by setting the “mixed decay threshold” parameter (axis parameter number 203) to the value –1. This switches on mixed decay permanently, in every part of the microstepping waveform. Now the minimum reachable motor current is always near zero which gives better microstepping results. A further optimization is possible by adapting the motor current shape (waveform table, see sections 7.6.2.4 and

7.6.2.5 on how to do that). Use SAP 203, <m>, -1 to turn on this feature (where <m> stands for the motor number).

6.6 Using the RS485 interface

For using the modules with RS485 interface they must be equipped with at least TMCL version 3.16 (except for TMCM-110 modules). With most RS485 converters that can be attached to the COM port of a PC the data direction is controlled by the RTS pin of the COM port. Please note that this will only work with Windows 2000, Windows XP or Windows NT4, not with Windows 95, Windows 98 or Windows ME (due to a bug in these operating systems). Another problem is

that Windows 2000/XP/NT4 switches the direction back to “receive” too late. To overcome this problem, set the “telegram pause time” (global parameter #75) of the module to 15 (or more if needed) by issuing an “SGP 75, 0, 15” command in direct mode. The parameter will automatically be stored in the configuration EEPROM. For RS232 set the “telegram pause time” to zero for maximum data throughput.

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7 The TMCL IDE

The TMCL IDE is an integrated development environment mainly for developing stand-alone TMCL applications, but it also includes a function for using the TMCL commands in direct mode. The TMCL IDE is a PC application running under Windows 95/98/NT/2000/XP (Windows 3.x is not supported) that includes

a text editor for writing and modifying TMCL programs, a TMCL assembler for translating TMCL programs from mnemonic to binary format and downloading them into

a module,

a TMCL disassembler for getting a TMCL application out of a module and translating it back to mnemonic

format,

a dialogue which allows setting the configuration of a module in an easy, interactive way, a dialogue for entering and executing TMCL commands in direct mode, a function for updating the firmware of a module.

and many more powerful features. Please be sure to always use the latest version of the TMCL IDE a its functionality is being extended and improved constantly.

7.1 Installation

To install the TMCL IDE to your computer, just copy the file “TMCL.EXE” to your hard disk. Then, just double click the file to start the program.

Fig. 7.1: The TMCL IDE main window

After the first start of the program you should select the “Options...” function from the “Setup” menu (see section

7.6.1.2) and set up the COM port where your TMCM module is connected to. You should not need to change any other settings.

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7.2 Getting started

First, try out the TMCL commands in direct mode. Use the “Direct Mode” function for this purpose (see section

7.5.2). After you have successfully tried out the direct mode, have a look at the TMCL sample programs supplied on the software CD. Load a program, assemble it, download it into a module and run it. Try to understand the TMCL sample programs. After that you are ready to write your own TMCL programs. Read the chapters 2, 3 and 8 to learn more about the TMCL programming language.

7.3 The integrated editor

The text editor of the TMCL-IDE mainly provides the functionality of a standard Windows text editor. An additional function to the Windows standard is Ctrl-Y to delete a line. Some functions of the editor can be found in the “Edit” menu. It is also possible to edit multiple documents. They are then shown in a workbook style.

7.4 The “File” menu

The file menu provides functions to load and save files. Some functions can also be found in the tool bar below the menu bar.

7.4.1 New

This function opens a new editor page, so a new file can be created.

7.4.2 Open

After selecting the “Open” function a file selection dialog will be shown. Here you can select a file to be opened.

Then, a new editor page opens and the selected file will be loaded into that editor page.

7.4.3 Save, Save as

Select one of these functions to save the contents of the currently selected editor page into a file. The “Save as”

function allows to save a file using a new name.

7.4.4 Save all

Select this function to save all files that are currently loaded into the editor and have been changed.

7.4.5 Close

The “Close” function closes the actual editor page. This function can also be selected from the context menu of the

editor (click the right mouse button in the editor window to open the context menu).

7.4.6 Exit

Use this function to close the TMCL IDE. The same function can be achieved by closing the main window.

7.5 The “TMCL” menu

7.5.1 Basics

The “TMCL” menu contains all functions needed for assembling, downloading and disassembling TMCL programs. It also contains the functions to run and stop a TMCL program on a module and to use TMCL commands in direct mode. Assembling a TMCL program always takes place from the editor. So, a before assembling a TMCL file it must be loaded into the editor.

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7.5.2 Direct mode

Select the “Direct Mode” function in the “TMCL” menu to open the “Direct Mode” dialog (Fig. 7.2). The TMCL IDE then first checks the type of the module that is connected (TMCM-3xx or TMCM-100), as some menus in the direct mode dialogue differ between TMCM-3xx or TMCM-100 modules. If the type of the module could not be detected (e.g. because there is no module connected), a little dialogue pops up where you are prompted to select your module type. Do this by clicking the appropriate button.

By using the direct mode you can send commands to a module that are executed immediately. In the “TMCL Instruction Selector” area you can select a command and its parameters. Click the “Execute” button in this area to send the command to the module. The response is then displayed in the “Answer” section. By clicking the “Copy to editor” button the command mnemonic will be copied to the TMCL editor. You can also enter the instruction numbers directly in the “Manual Instruction Input” area an execute them by clicking the appropriate “Execute” button (but this option is needed only very seldom). The “Copy” button in the “TMCL Instruction Selector” area copies the instruction bytes to the “Manual Instruction Input” area.

Fig. 7.2: The Direct Mode dialog

7.5.3 Assemble a TMCL program

Selecting the “Assemble” function in the “TMCL” menu assembles a file. If more than one files are open and no

main file has been defined the currently selected file will be assembled. If a main file has been selected (see section 7.5.5) the main file will always be assembled, regardless of the currently selected editor file. The progress of the assembly is displayed.

Fig. 7.3: The progress of the assembly

If an error occurs, the line containing the error will be highlighted and the assembly will be aborted. The error message will be displayed in the assembler progress dialog.

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7.5.4 Downloading the program

After a TMCL program has been successfully assembled, it can be downloaded to the module. Make sure that the

module is connected to a COM port and that the port is selected in the “Options” dialogue. By selecting the “Download” function the program will then be downloaded into the module. The download progress is shown in a special window (Fig. 7.4). Downloading can be aborted by clicking the “Abort” button.

Fig. 7.4: The program download progress

7.5.5 The “Main file” function

By using this function you can select a main file. This file is then always used when assembling, regardless of

which file is currently selected in the editor. Click on the “Clear” button in the main file selection dialog to switch

off this function and to always assemble the currently selected editor file again.

Fig. 7.5: The "Main file" dialog

7.5.6 The “Start” function

This functions starts the TMCL program which is currently in the TMCL memory of the module just by sending a reset and a run command to the module. The module then starts executing the program form the first command on.

7.5.7 The “Stop” function

This functions sends a stop command to the module and so stops the execution of a TMCL program.

7.5.8 The “Continue” function

This function allows to continue the run of a TMCL program that has previously been stopped. It does this just by sending a run command to the module (without sending a reset command before). The module then continues executing the program from the next command before it had been stopped.

7.5.9 Disassembling a TMCL program

The “Disassemble” function reads out the TMCL memory of a module and disassembles its contents. The result is then written into a new editor page. So this function allows to check the program which is currently in the TMCL program memory of a module. The progress of downloading the program from the module and the disassembly is shown in special windows. It can be aborted by clicking the “Abort” button.

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Fig. 7.6: Progress of disassembling a TMCL program

7.6 The “Setup” menu

7.6.1 Options

This function provides the “Options” dialogue which allows to set up all global options of the TMCL IDE.

7.6.1.1 Assembler options

The “Assembler” page in the “Options” dialogue provides the assembler options. There are the following options:

Include file path: The path where the assembler searches for include files included by the #include directive. Automatically append a “STOP” command: If this option is ticked, the assembler automatically appends a

“STOP” command at the end of every TMCL program (if the last command in the program is not already a “STOP” command).

Generate a symbol file: The assembler generates a text file that contains the address of every label. This can

be useful to start the program from other addresses than 0.

Write output to binary file: The assembler writes its output also to a binary file. For every command eight

bytes are written (the command with checksum, but without a device address).

Fig. 7.7: Assembler options

7.6.1.2 Connection options

Here the interface type and the port can be selected that are to be used to communicate with a module. First,

select the connection type. In most cases this will be “RS232 / RS485”. If you have a Trinamic CANnes card or

USB2X module and you would like to use the CAN or IIC interface of a module just select the appropriate connection type. The connection parameters that are displayed below the connection type change according to the selected interface.

When you have selected “RS232 / RS485” the COM port that is to be used, the baud rate and the module address

can be set. The factory default baud rate on a TMCM module is 9600. The factory default module address is 1.

If you do not know the address of the connected module, just click the “Search” button. The TMCL IDE then tries

to find the module address (please see section 7.6.3 for details).

N.B.: Versions prior to 1.18 also provided the option “XOR checksum”. This has now been removed, and it must not

be switched on in these older versions of the TMCL IDE. Please note that RS485 adapters where the data direction is controlled by the RTS line of the COM port do not work with Windows 95, Windows 98 or Windows ME (due to a bug in these operating systems). They can only be

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used with Windows NT4, Windows 2000 or Windows XP, and also with these operating systems there may be the problem that switching back to “receive” takes place too late.

Fig. 7.8: Some connection options

When the interface type “CANnes card” is selected, the CAN parameters are displayed and can be changed. “Device”

selects which CANnes card to use (if you have more than one CANnes card installed). The factory default of the

CAN bitrate on TMCM modules is normally 250kBit/s. “Termination” turns the termination resistor on the CANnes card on or off. “Send ID” is the CAN ID to use when sending CAN datagrams to the module. “Recv. ID” is the ID

that the module uses to send back data to the PC. Select “IIC (USB2X device)” when you wish to use the IIC interface of a Trinamic USB2X device. Here, only the device name of the USB2X device and the IIC address of the module can be set. The factory default on a new module is normally 2. Select “CAN (USB2X device)” when you wish to use the CAN interface of a Trinamic USB2X device. The device name of the USB2X device and the CAN send ID, receive ID and bit rate can be set. Please note that the USB2X device must have firmware version 1.01 or higher to make use of this feature! Select “RS485 (USB2X device)” when you wish to use the RS485 interface of a Trinamic USB2X device. The device name of the USB2X, the bit rate and the module address can be set. Please note that the USB2X device must have at least firmware version 2.05 to make use of this feature! This kind of RS485 interface is mainly useful for updating modules that only have RS485 interface (e.g. TMCM-110/RS485). When a TMCM-610 module is connected via USB the option “USB direct” can be used. The TMCL-IDE can communicate with this module directly via USB. The device name of the TMCM-610 module can be selected here.

7.6.2 Configure

This function provides a dialogue for changing the configuration (global parameters) of a module.

7.6.2.1 RS232/RS485

Here, you can change the send address, the receive addresses and the baud rate of the serial interface of a module. Just set the desired value and then click on the appropriate “Apply” button to send the new setting to the module. Be careful, as most changes take effect immediately.

Fig. 7.9: RS232 / RS485 settings

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7.6.2.2 CAN

This page provides the settings of the CAN interface of a module. The usage is the same as with the RS232/RS485 page. These settings do not have any effect on a TMCM-300 module as it does not have a CAN interface.

Fig. 7.10: CAN settings

7.6.2.3 Drivers

This page allows to change the settings for the SPI driver chain. See the TMC428 datasheet for details. These settings must not be changed on modules other than TMCM-301! On TMCM-301 modules they only need changing when motor drivers other than TMC-236 or TMC-239 are to be used. When programming user specific driver configuration chain tables please disable the automatic mixed decay handling for TMC236 drivers, the automatic full step switching and the freewheeling function first (axis parameters 203, 204 and 211). This is needed because these functions modifie the driver configuration table.

Fig. 7.11: The driver chain configuration

7.6.2.4 Microstepping (graphical view)

Here, the microstepping wave of the module can be changed to enhance the microstepping behaviour of a stepper motor. The microstepping wave function can be changed between a triangular wave, a sine wave or a trapezoid wave or something between that by changing the sigma value. Clicking the “Apply” button programs the new wave table into the module. Just let the motor run and try out the best value. The microstepping wave does not have any effect on the TMCM-302 module as it only provides step/direction output.

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Fig. 7.12: Microstep wave form setting (graphical view)

7.6.2.5 Microstepping (table view)

The table view allows a finer adjusting of the microstep table. Clicking the “Get” button reads the actual microstep table from the module. You can then edit the values. All values are hexadecimal numbers between 0 and 3F. The

“Set” button programs the table that can be seen on this screen into the module. Use the “Load” and “Save”

buttons to load a table from a file or store a table into the file.

When clicking the “Calculate” button a waveform will be calculated in the same manner as in the graphical view of

the microstepping function (section 7.6.2.4). This can be used as a basis of a table that can then be fine tuned manually.

Fig. 7.13: Microstep wave form setting (table view)

7.6.2.6 Other

This page provides the following functions:

Firmware revision: Click the “Get” button in the “Firmware Revision” section to read the firmware revision of a

module. The result will be displayed beside the “Get” button.

Configuration EEPROM: Here you can lock or unlock the configuration EEPROM. When the configuration EEPROM

is locked, STAP and STGP commands do not have any effect so that the settings stored in the configuration

EEPROM can not be changed by accident. The buttons in the “Configuration EEPROM” section provide the

following functionality:

Button “Get State”: Click this button to see if the configuration EEPROM is locked. The state will then be

displayed beside the button.

“Lock”: Click this button to lock the configuration EEPROM. “Unlock”: Click here to unlock the configuration EEPROM. “Restore Factory Default”: Clicking this button will restore all settings stored in the configuration EEPROM

to their factory defaults and then reset the module. Please use this function with extreme care. If this function should not work, try the “Clear EEPROM” function in the OS installation dialogue (see section

7.6.4).

TMCL Autostart: The TMCL program auto start option can be turned on or off by clicking the appropriate

button. Click the “Get state” button to see whether auto start is turned on or off on a module.

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Fig. 7.14: Other module settings

7.6.3 Search

If you do not know the RS232/RS485 address of a module you can use this function to find out: This function

provides the address search dialogue. Here, just click the “Start” button. Then, every address (1..255) will be tried

out.

Fig. 7.15: Searching a module address

7.6.4 Install OS

By using this function you can update the firmware of a module. First, load the new firmware file (which must be in Intel-HEX format) by clicking the “Load” button. The file is then checked if it is a TMCL firmware file, and its

device type and version number will be displayed. Then, click the “Start” button to program the new firmware into

the module. Please make sure that there will be no power cut or cut of the serial connection during the programming process. The program checks if the device type in the firmware file and the device type of the module are identical. An error message will be displayed if this is should not be the case. If everything is okay, the new firmware will be programmed into the module and verified afterwards. The programming progress is shown by the status bar.

Fig. 7.16: Firmware update in progress

If you click the “Clear EEPROM” button, all settings stored in the EEPROM of the module will be erased. If you then

power the module off and on again, all settings will be restored to their factory defaults. Attention: Before these functions can be used, TMCM-300 modules have to be prepared in the following way: Connect the pins 1 and 2 (the pins near the LED) with a jumper, then power it on. The module is now in boot

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mode. After you have finished updating the firmware of such a module, power it off, remove the jumper and power it on again. With other modules (TMCM-301/302/303/310/100/110/610) there is no need to put on a jumper. Please note that with most of the modules this function is only available when the RS232 interface of the module is used. With the TMCM-110(/SG)-CAN module the firmware can be updated via the CAN interface, and with the TMCM-610 module also the USB interface can be used to upgrade the firmware. The TMCM-103, TMCM-116 and TMCM-34x modules also support firmware upgrading via CAN (at 1000kBit/s).

7.6.5 StallGuard adjusting tool

The StallGuard adjusting tool helps to find the necessary motor parameters when StallGuard is to be used. This function can only be used when a module is connected that features StallGuard. This is checked when the StallGuard adjusting tool is selected

in the “Setup” menu. After this has been successfully checked the StallGuard adjusting

tool is displayed. First, select the axis that is to be used in the “Motor” area. Now you can enter a velocity and an acceleration value in the “Drive” area and then

click “Rotate Left” or “Rotate Right”. Clicking one of these button will send the

necessary commands to the module so that the motor starts running. The red bar in the “StallGuard” area on the right side of the windows displays the actual load value. Use the slider to set the StallGuard threshold value. If the load value reaches this value the motor stops. Clicking the “Stop” button also stops the motor. All commands necessary to set the values entered in this dialogue are displayed in the

“Commands” area at the bottom of the window. There, they can be selected, copied

and pasted into the TMCL editor.

7.6.6 StallGuard profiler

The StallGuard profiler is a utility that helps you find the best parameters for using stall detection. It scans through given velocities and shows which velocities are the best ones. Similar to the StallGuard adjusting tool it can only be used together with a module that supports StallGuard. This is checked right after the StallGuard

profiler has been selected in the “Setup” menu. After this has been successfully checked the StallGuard profiler

window will be shown.

First, select the axis that is to be used. Then, enter the “Start velocity” and the “End velocity”. The start velocity is used at the beginning at the

profile recording. The recording ends when the end velocity has been reached. Start velocity and end velocity must not be equal. After you have

entered these parameters, click the “Start” button to start the StallGuard

profile recording. Depending on the range between start and end velocity this can take several minutes, as the load value for every velocity value is

measured ten times. The “Actual velocity” value shows the velocity that is

currently being tested and so tells you the progress of the profile

recording. You can also abort a profile recording by clicking the “Abort”

button. The result can also be exported to Excel or to a text file by using the “Export” button.

Fig. 7.17: The StallGuard Profiler

7.6.6.1 The result of the StallGuard profiler

The result is shown as a graphic in the StallGuard profiler window. After the profile recording has finished you can scroll through the profile graphic using the scroll bar below it. The scale on the vertical axis shows the load value:

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a higher value means a higher load. The scale on the horizontal axis is the velocity scale. The colour of each line shows the standard deviation of the ten load values that have been measured for the velocity at that point. This is an indicator for the vibration of the motor at the given velocity. There are three colours used:

Green: The standard deviation is very low or zero. This means that there is effectively no vibration at this

velocity.

Yellow: This colour means that there might be some low vibration at this velocity. Red: The red colour means that there is high vibration at that velocity.

7.6.6.2 Interpreting the result

In order to make effective use of the StallGuard feature you should choose a velocity where the load value is as low as possible and where the colour is green. The very best velocity values are those where the load value is zero (areas that do not show any green, yellow or red line). Velocities shown in yellow can also be used, but with care as they might cause problems (maybe the motor stops even if it is not stalled). Velocities shown in red should not be chosen. Because of vibration the load value is often unpredictable and so not usable to produce good results when using stall detection. As it is very seldom that exactly the same result is produced when recording a profile with the same parameters a second time, always two or more profiles should be recorded and compared against each other.

7.6.7 Parameter calculation tool

The parameter calculation tool helps you to calculate the velocity and acceleration parameters in TMCL. Parameters can be converted from physical units like rpm or rps into the internal units of TMCL and vice versa. There are actually two parameter calculation tools: One for the TMCM-3xx, TMCM-6xx, TMCM-101/109/110/111 modules (which are TMC428 based) and one for the TMCM-100 module (which is TMC453 based). You can choose the tool by selecting the appropriate tab page in the parameter calculation dialogue. Always be sure to use the right one.

To use the calculation tool, just fill in the values that are known and then click the “Calculate” button. After changing any parameter always the “Calculate” button again. When a parameter in the TMCL section has been

changed the physical units will be re-calculated with the next click on the “Calculate” button. When a paramater in the physical units section has been changed the TMCL parameters will be re-calculated with the next click on the “Calculate” button.

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7.7 The TMCL debugger

The TMCL debugger makes source level debugging of TMCL programs possible. The TMCL program still runs on the module, so true in-system debugging can be done. In order to use the debugger the module must have at least firmware version 3.34 (TMCM-100, 110,111,3xx) resp. 6.28 (TMCM-101,102,6xx). Upgrade your module if needed.

7.7.1 Starting the debugger

Before starting the debugger you will first have to make sure that the module is connected to the PC and that the program in the editor of the TMCL-IDE is the same as the program on your module. This can be done either by assembling the program that currently is in the editor and afterwards downloading it to the module or by disassembling the program that is currently stored on the module. After these two preconditions have been verified you can start the debugger either by selecting the function

“Debugger active” in the “Debug” menu or by clicking the debugger icon on the tool bar. After the debugger has

been successfully started, the debugger functions will be enabled and most other functions of the TMCL-IDE will be disabled (it is now also not possible to change the program in the editor).

You can exit the debugger by clicking “Debugger active” in the “Debug” menu or the debugger icon on the tool

bar once again. Then, all debugger functions will be disabled and all other functions of the TMCL-IDE will be enabled again.

Figure 7.1: A TMCL program with two breakpoints, standing in the second breakpoint.

7.7.2 Breakpoints

Breakpoints can be set or removed by clicking the apropriate line on the left breakpoint bar of the editor. A blue bullet is displayed in every line where a breakpoint can be set. When a breakpoint is set a red bullet with a green tick is displayed in that line.

When a program is run either by the “Run” or by the “Animate” function of the debugger it will be stopped when a breakpoint is reached. It can then be continued by clicking “Run”, “Animate” or “Step” again. It can also be reset by clicking “Stop / Reset”, so that it can be restarted form the beginning again.

7.7.3 The “Run / Continue” function

Choose the “Run / Continue” function from the “Debug” menu (or click the “Run” icon or press F9) to start the

program resp. continue its execution. The program will be stopped either when its end is reached, it a breakpoint

is reached or when the “Pause” function in the “Debug” menu or the “Pause” icon is selected. In the latter two

cases the actual position in the program will be shown in the editor by a green arrow on the left side and the

program execution can be continued by using either the “Run / Continue” function, the “Step” function or the “Animate” function. The contents of the accumulator and the X register are also shown on the status bar while the

program is paused.

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If you wish to restart the program for the very beginning, select the “Stop/Reset” function before cicking “Run / Continue”.

7.7.4 The “Pause” function

When a program is running (either started by the “Run / Continue” or by the “Animate” function), program execution can be interrupted at any time by selecting the “Pause” function from the “Debug” menu or clicking the “Pause” icon on the tool bar or pressing F2. Program execution can be continued by clicking “Run”, “Animate” or “Step” again.

While a program is paused the actual position in the program is shown by a green arrow in the editor. The contents of the accumulator and the X register are shown on the status bar of the TMCL-IDE.

7.7.5 The “Step” function

Use this function for a step-by-step execution of the TMCL program. Every time the “Step” function is selected (either by selecting “Step” in the debug menu, clicking the “Step” icon on the tool bar or pressing F7) the next

command in the TMCL program is executed. The actual position is shown by a green arrow in the editor. The contents of the accumulator and the X register are also shown on the status bar.

7.7.6 The “Animate” function

This function automatically executes the TMCL program step-by-step, so that the flow of the program can be seen. The actual position in the program is shown and updated after every command, and the contents of the accumulator and the X register are also shown on the status bar and updated after every command.

The program will be paused when running into a breakpoint or when the “Pause” function is selected. Program execution can then be continued either by the “Run / Continue”, the “Animate” or the “Step” function.

7.7.7 The “Stop / Reset” function

Selecting “Stop / Reset” from the “Debug” menu (or clicking the “Stop / Reset” button or pressing Ctrl+F2) stops program execution immediately and resets the program. This means that starting the program again using “Run / Continue”, “Animate” or “Step” will start the program form the beginning.

This function can also be used when the program execution is paused (either by a breakpoint or by the “Pause” function) to reset it and ensure that the program can be started again from the beginning.

7.7.8 The “Direct Mode” function in the debugger

While in the debugger, the “Direct Mode” can be used at any time when the program is not running to inspect or change parameters. Use this with care, as changing parameters out of the normal program flow can lead to unexpected behaviour of the TMCL program.

7.8 The syntax of TMCL in the TMCL assembler

Here, the syntax of the TMCL commands used by the TMCL assembler is given. Please see the chapter 3 for an explanation of the functionality of the TMCL commands. The command mnemonics given there are used in the TMCL assembler. Please see also the sample program files and chapter 3 and 8 to learn more about TMCL programming.

7.8.1 Assembler directives

Assembler directives always start with a # sign. The only directive is #include to include a file. The name of that file must be given after the #include directive. If that file is already in the editor, it will be taken from there. Otherwise it will be loaded from file, using the include file path that can be set in the “Options” dialogue. Example: #include test.tmc

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Name

Function

SIN

Sinus

COS

Cosinus

TAN

Tangens

ASIN

Arcus Sinus

ACOS

Arcus Cosinus

ATAN

Arcus Tangens

LOG

Logarithm Base 10

Logarithm Base e

EXP

Power to Base e

SQRT

Square root

ABS

Absolute value

INT

Integer (truncate)

ROUND

Integer (Round)

SIGN

Returns

-1 if argument<1, 0 if argument=0 1 if argument>0

DEG

Converts from radiant to degrees

RAD

Converts from degrees to radiant

Symbol

Meaning

()

Parenthesis

Power

Multiplication

Division

Addition

Subtraction

7.8.2 Symbolic constants

Symbolic constants are defined using the syntax <Name>=<Value>. A name must always start with a letter or the sign _ and may then contain any combination of letters, numbers and the sign _. A value must always be a decimal, hexadecimal or binary number or a constant expression (see section 7.8.3). Hexadecimal numbers start with a $ sign, binary numbers start with a % sign. Examples: Speed=1000 Speed2=Speed/2 Mask=$FF BinaryValue=%1010101

7.8.3 Constant expressions

Wherever a numerical value is needed, it can also be calculated during assembly. For this purpose constant expressions can be used. A constant expression is just a formula that evaluates to a constant value. The syntax is very similar to BASIC or other programming languages. Please note that the calculation takes place during assembly and not during execution of the TMCL program on the module. Internally, the assembler uses floating point arithmetic to evaluate a constant expression, but as TMCL commands only take integer values, the result of a constant expression will always be rounded to an integer value when used as an argument to a TMCL command. Here is a list of functions and operators that can be used in constant expressions:

Functions:

Operators

Symbolic constants, floating point numbers, integer numbers, hexadecimal numbers and binary numbers can also be used in constant expressions. Here are some examples of constant expressions used wherever constant values can be placed:

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