Trinamic TMCM-1021 TMCL, TMCM-1211 TMCL, TMCL TMCM-6212, TMCM-3351, TMCM-3314 User Manual

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Module for Stepper Motors

9…28

V DC

ARM

Cortex

microcontroller

TMCL™

Memory

add

I/Os

Step

Motor

485

MOSFET

Stage

Energy Efficient

TMC

262

TMC

262

Pre

Driver

with

coolStep™

sensOstep™

SPI

TMCM

SPI

MODULE

TMCM-1021 TMCL™Firmware Manual

Firmware Version V1.42 | Document Revision V1.10 • 2018-JAN-09

The TMCM-1021 is a single axis controller/driver module for 2-phase bipolar stepper motors. The TMCM-1021 TMCL ﬁrmware allows to control the module using TMCL™ commands, supporting standalone operation as well as direct mode control, making use of the Trinamic TMC262 motor driver. Dynamic current control, and quiet, smooth and eﬃcient operation are combined with stallGuard™ and coolStep™ features.

Features

• Single Axis Stepper motor control

• Supply voltage 24V DC

• TMCL™

• RS485 interface

• Step/Direction input

• Additional inputs and outputs

• coolStep™

• stallGuard2™

• sensOstep™ encoder

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

Simpliﬁed Block Diagram

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

Read entire documentation.

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Contents

1 Features 5

1.1 stallGuard2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.2 coolStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2 First Steps with TMCL 7

2.1 Basic Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.2 Using the TMCL Direct Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.3 Changing Axis Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.4 Testing with a simple TMCL Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3 TMCL and the TMCL-IDE — An Introduction 10

3.1 Binary Command Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.1.1 Checksum Calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

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

3.2.1 Status Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

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

3.4 The ASCII Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.4.1 Entering and leaving the ASCII Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.4.2 Format of the Command Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.4.3 Format of a Reply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.4.4 Conﬁguring the ASCII Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.5 TMCL Command Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.5.1 TMCL Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.6 TMCL Commands by Subject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.6.1 Motion Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.6.2 Parameter Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3.6.3 Branch Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3.6.4 I/O Port Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3.6.5 Calculation Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3.6.6 Interrupt Processing Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.7 Detailed TMCL Command Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

3.7.1 ROR (Rotate Right) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

3.7.2 ROL (Rotate Left) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3.7.3 MST (Motor Stop) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.7.4 MVP (Move to Position) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3.7.5 SAP (Set Axis Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

3.7.6 GAP (Get Axis Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3.7.7 STAP (Store Axis Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.7.8 RSAP (Restore Axis Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3.7.9 SGP (Set Global Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.7.10 GGP (Get Global Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.7.11 STGP (Store Global Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.7.12 RSGP (Restore Global Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

3.7.13 RFS (Reference Search) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3.7.14 SIO (Set Output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3.7.15 GIO (Get Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

3.7.16 CALC (Calculate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

3.7.17 COMP (Compare) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

3.7.18 JC ( Jump conditional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

3.7.19 JA ( Jump always) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

3.7.20 CSUB (Call Subroutine) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

3.7.21 RSUB (Return from Subroutine) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

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3.7.22 WAIT (Wait for an Event to occur) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

3.7.23 STOP (Stop TMCL Program Execution – End of TMCL Program) . . . . . . . . . . . . . . 54

3.7.24 SCO (Set Coordinate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

3.7.25 GCO (Get Coordinate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

3.7.26 CCO (Capture Coordinate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

3.7.27 ACO (Accu to Coordinate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

3.7.28 CALCX (Calculate using the X Register) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

3.7.29 AAP (Accu to Axis Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

3.7.30 AGP (Accu to Global Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

3.7.31 CLE (Clear Error Flags) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

3.7.32 EI (Enable Interrupt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

3.7.33 DI (Disable Interrupt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

3.7.34 VECT (Deﬁne Interrupt Vector) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

3.7.35 RETI (Return from Interrupt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

3.7.36 Customer speciﬁc Command Extensions (UF0. . . UF7 – User Functions) . . . . . . . . . 71

3.7.37 Request Target Position reached Event . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

3.7.38 TMCL Control Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

4 Axis Parameters 76

5 Global Parameters 85

5.1 Bank 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

5.2 Bank 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

5.3 Bank 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

5.4 Bank 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

6 Module Speciﬁc Hints 90

6.1 Conversion between PPS, RPM and RPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

6.2 The sensOstep™ Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

6.2.1 Matching Encoder Resolution and Motor Resolution . . . . . . . . . . . . . . . . . . . . 91

6.2.2 Special Encoder Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

7 Hints and Tips 92

7.1 Reference Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

7.1.1 Mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

7.1.2 Mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

7.1.3 Mode 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

7.1.4 Mode 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

7.1.5 Mode 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

7.1.6 Mode 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

7.1.7 Mode 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

7.1.8 Mode 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

7.2 stallGuard2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

7.3 coolStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

8 TMCL Programming Techniques and Structure 100

8.1 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

8.2 Main Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

8.3 Using Symbolic Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

8.4 Using Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

8.5 Using Subroutines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

8.6 Combining Direct Mode and Standalone Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

8.7 Make the TMCL Program start automatically . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

9 Figures Index 104

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10 Tables Index 105

11 Supplemental Directives 106

11.1 Producer Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

11.2 Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

11.3 Trademark Designations and Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

11.4 Target User . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

11.5 Disclaimer: Life Support Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

11.6 Disclaimer: Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

11.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

12 Revision History 108

12.1 Firmware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

12.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

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1 Features

The TMCM-1021 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of the art feature set. It is highly integrated, oﬀers a convenient handling and can be used in many decentralized applications. The module can be mounted on the back of NEMA 11 (28mm ﬂange size) stepper motors and has been designed for coil currents of up to 0.7A RMS and 24V DC supply voltage. With its high energy eﬃciency from Trinamic’s coolStep™technology cost for power consumption is kept down. The TMCL ﬁrmware allows for standalone operation and direct mode control.

Main characteristics

• Motion controller & stepper motor driver:

– On the ﬂy alteration of motion parameters (e.g. position, velocity, acceleration).

–

High performance microcontroller for overall system control and communication protocol handling.

– Up to 256 microsteps per full step.

– High-eﬃcient operation, low power dissipation.

– Dynamic current control.

– Integrated protection.

– stallGuard2™ feature for stall detection.

– coolStep™ feature for reduced power consumption and heat dissipation.

• Encoder

– sensOstep™ magnetic encoder with 1024 increments per round.

–

Usable for example for step-loss detection under all operating conditions and positioning supervision.

• Interfaces

– RS485 bus.

– Up to four general-purpose digital inputs (two shared with general purpose outputs).

– Two general purpose outputs.

– Step/Direction input (shared with the general purpose inputs).

Software

TMCL remote controlled operation via RS485 interface and/or stand-alone operation via TMCL programming. PC-based application development software TMCL-IDE available for free.

Electrical data

• Supply voltage: +24V DC nominal (10. . . 27V DC supply range).

•

Motor current: up to 0.7A RMS / 1A peak (programmable). Since hardware V1.4 also 1.4A RMS / 2A peak programmable (new extended range since hardware V1.4).

Please see also the separate Hardware Manual.

TMCM-1021 TMCL™Firmware Manual • Firmware Version V1.42 | Document Revision V1.10 • 2018-JAN-09

Load [Nm]

stallGuard2

Initial stallGuard2 (SG) value: 100%

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

Motor stalls

0,1

0,2

0,3

0,4

0,5

0,6

0,7

0,8

0,9

0 50 100 150 200 250 300 350

Velocity [RPM]

Efficiency with coolStep

Efficiency with 50% torque reserve

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1.1 stallGuard2

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

Figure 1: stallGuard2 Load Measurement as a Function of Load

1.2 coolStep

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

Figure 2: Energy Eﬃciency Example with coolStep

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2 First Steps with TMCL

In this chapter you can ﬁnd some hints for your ﬁrst steps with the TMCM-1021 and TMCL. You may skip this chapter if you are already familiar with TMCL and the TMCL-IDE.

Things that you will need

• Your TMCM-1021 module.

• An RS485 interface connected to your PC.

• A power supply (24V DC) for your TMCM-1021 module.

• The TMCL-IDE 3.x already installed on your PC.

• A two-phase bipolar stepper motor.

2.1 Basic Setup

First of all, you will need a PC with Windows (at least Windows 7) and the TMCL-IDE 3.x installed on it. If you do not have the TMCL-IDE installed on your PC then please download it from the TMCL-IDE product page of Trinamic’s website (http://www.trinamic.com) and install it on your PC.

Please also ensure that your TMCM-1021 is properly connected to your power supply and that the stepper motor is properly connected to the module. Please see the TMCM-1021 hardware manual for instructions on how to do this.

module is powered!

Then, please start up the TMCL-IDE. After that you can connect your TMCM-1021 via RS485 and switch on the power supply for the module (while the TMCL-IDE is running on your PC). When the module is connected properly via RS485 then it will be recognized by the TMCL-IDE so that it can be used.

Do not connect or disconnect a stepper motor to or from the module while the

2.2 Using the TMCL Direct Mode

At ﬁrst try to use some TMCL commands in direct mode. In the TMCL-IDE a tree view showing the TMCM1021 and all tools available for it is displayed. Click on the Direct Mode entry of the tool tree. Now, the Direct Mode tool will pop up.

In the Direct Mode tool you can choose a TMCL command, enter the necessary parameters and execute the command. For example, choose the command ROL (rotate left). Then choose the appropriate motor (motor 0 if your motor is connected to the motor 0 connector). Now, enter the desired speed. Try entering 51200 (pps) as the value and then click the Execute button. The motor will now run. Choose the MST (motor stop) command and click Execute again to stop the motor.

2.3 Changing Axis Parameters

Next you can try changing some settings (also called axis parameters) using the SAP command in direct mode. Choose the SAP command. Then choose the parameter type and the motor number. Last, enter the desired value and click execute to execute the command which then changes the desired parameter. The following table points out the most important axis parameters. Please see chapter 4 for a complete list of all axis parameters.

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Most important axis parameters

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Number Axis Parameter Description Range

[Units]

4 Maximum

positioning speed

5 Maximum

acceleration

6 Maximum

current

The maximum speed used for positioning ramps.

Maximum acceleration in positioning ramps. Acceleration and deceleration value in velocity mode.

Motor current used when motor is running. The maximum value is 255 which means 100% of the

1. . . 2147483647 [pps]

1. . . 2147483647 [pps2]

0. . . 255 RW

maximum current of the module. The current can be adjusted in 32 steps:

0. . . 7 79. . . 87 160. . . 167 240. . . 247

8. . . 15 88. . . 95 168. . . 175 248. . . 255

16. . . 23 96. . . 103 176. . . 183

24. . . 31 104. . . 111 184. . . 191

32. . . 39 112. . . 119 192. . . 199

40. . . 47 120. . . 127 200. . . 207

48. . . 55 128. . . 135 208. . . 215

Access

56. . . 63 136. . . 143 216. . . 223

64. . . 71 144. . . 151 224. . . 231

72. . . 79 152. . . 159 232. . . 239

The most important setting, as too high values can cause motor damage.

7 Standby

current

The current used when the motor is not running. The maximum value is 255 which means 100% of

0. . . 255 RW

the maximum current of the module. This value should be as low as possible so that the motor can cool down when it is not moving. Please see also parameter 214.

Table 1: Most important Axis Parameters

2.4 Testing with a simple TMCL Program

Now, test the TMCL stand alone mode with a simple TMCL program. To type in, assemble and download the program, you will need the TMCL creator. This is also a tool that can be found in the tool tree of the TMCL-IDE. Click the TMCL creator entry to open the TMCL creator. In the TMCL creator, type in the following little TMCL program:

ROL 0, 51200 //Rotate motor 0 with speed 51200 pps (1rps) WAIT TICKS , 0, 500 MST 0 ROR 0, 5120 //Rotate motor 0 with 5120 pps (0.1 rps) WAIT TICKS , 0, 500

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MST 0

SAP 4, 0, 51200 //Set max. Velocity

SAP 5, 0, 51200 //Set max. Acceleration

Loop:

MVP ABS , 0, 512000 //Move to Position 512000 WAIT POS , 0 , 0 //Wait until position reached

MVP ABS , 0, -512000 //Move to Position -512000 WAIT POS , 0 , 0 //Wait until position reached

JA Loop //Infinite Loop

After you have done that, take the following steps:

Click the Assemble icon (or choose Assemble from the TMCL menu) in the TMCL creator to assemble the program.

Click the Download icon (or choose Download from the TMCL menu) in the TMCL creator to donwload the program to the module.

Click the Run icon (or choose Run from the TMCL menu) in the TMCL creator to run the program on the module.

Also try out the debugging functions in the TMCL creator:

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1. Click on the Bug icon to start the debugger.

2. Click the Animate button to see the single steps of the program.

3. You can at any time pause the program, set or reset breakpoints and resume program execution.

4. To end the debug mode click the Bug icon again.

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3 TMCL and the TMCL-IDE — An Introduction

As with most TRINAMIC modules the software running on the microprocessor of the TMCM-1021 consists of two parts, a boot loader and the ﬁrmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC and remains untouched throughout the whole lifetime, the ﬁrmware can be updated by the user. New versions can be downloaded free of charge from the TRINAMIC website (http://www.trinamic.com). The TMCM-1021 supports TMCL direct mode (binary commands). It also implements standalone TMCL program execution. This makes it possible to write TMCL programs using the TMCL-IDE and store them in the memory of the module. In direct mode the TMCL communication over RS-232, RS-485, CAN and USB follows a strict master/slave relationship. That is, a host computer (e.g. PC/PLC) acting as the interface bus master will send a command to the TMCM-1021. The TMCL interpreter on the module will then interpret this command, do the initialization of the motion controller, read inputs and write outputs or whatever is necessary according to the speciﬁed command. As soon as this step has been done, the module will send a reply back over the interface to the bus master. Only then should the master transfer the next command. Normally, the module will just switch to transmission and occupy the bus for a reply, otherwise it will stay in receive mode. It will not send any data over the interface without receiving a command ﬁrst. This way, any collision on the bus will be avoided when there are more than two nodes connected to a single bus. The Trinamic Motion Control Language [TMCL] provides a set of structured motion control commands. Every motion control command can be given by a host computer or can be stored in an EEPROM on the TMCM module to form programs that run standalone on the module. For this purpose there are not only motion control commands but also commands to control the program structure (like conditional jumps, compare and calculating). Every command has a binary representation and a mnemonic. The binary format is used to send commands from the host to a module in direct mode, whereas the mnemonic format is used for easy usage of the commands when developing standalone TMCL applications using the TMCL-IDE (IDE means Integrated Development Environment). There is also a set of conﬁguration variables for the axis and for global parameters which allow individual conﬁguration of nearly every function of a module. This manual gives a detailed description of all TMCL commands and their usage.

3.1 Binary Command Format

Every command has a mnemonic and a binary representation. When commands are sent from a host to a module, the binary format has to be used. Every command consists of a one-byte command ﬁeld, a 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 RS-232, RS-485, RS-422 or USB interface, it has to be enclosed by an address byte at the beginning and a checksum byte at the end. In these cases it consists of nine bytes.

The binary command format with RS-232, RS-485, RS-422 and USB is as follows:

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TMCL Command Format

Bytes Meaning

1 Module address

1 Command number

1 Type number

1 Motor or Bank number

4 Value (MSB ﬁrst!)

1 Checksum

Table 2: TMCL Command Format

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Info

The checksum is calculated by accumulating all the other bytes using an 8-bit

addition.

Note

When using the CAN interface, leave out the address byte and the checksum byte. With CAN, the CAN-ID is used as the module address and the checksum is not

needed because CAN bus uses hardware CRC checking.

3.1.1 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 which show how to do this:

Checksum calculation 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

Checksum calculation 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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3.2 Reply Format

Every time a command has been sent to a module, the module sends a reply. The reply format with RS-232, RS-485, RS-422 and USB is as follows:

TMCL Reply Format

Bytes Meaning

1 Reply address

1 Module address

1 Status (e.g. 100 means no error)

1 Command number

4 Value (MSB ﬁrst!)

1 Checksum

Table 3: TMCL Reply Format

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Info

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

addition. Do not send the next command before having received the reply!

Note

When using CAN interface, the reply does not contain an address byte and a

checksum byte. With CAN, the CAN-ID is used as the reply address and the checksum is not needed because the CAN bus uses hardware CRC checking.

3.2.1 Status Codes

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

TMCL Status Codes

Code Meaning

100 Successfully executed, no error

101 Command loaded into TMCL program EEPROM

1 Wrong checksum

2 Invalid command

3 Wrong type

4 Invalid value

5 Conﬁguration EEPROM locked

6 Command not available

Table 4: TMCL Status Codes

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3.3 Standalone Applications

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

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3.4 The ASCII Interface

There is also an ASCII interface that can be used to communicate with the module and to send some direct mode commands as text strings. Only the following commands can be used in ASCII mode: ROL, ROR, MST, MVP, SAP, GAP, STAP, RSAP, SGP, GGP, STGP, RSGP, RFS, SIO, GIO, SCO, GCO, CCO, UF0, UF1, UF2, UF3, UF4, UF5, UF6, UF7.

Note

Only direct mode commands can be entered in ASCII mode.

The TMCL-IDE does not support communicating with the module in ASCII mode.

So, in order to be able to use the TMCL-IDE with a module the module must be in binary mode. We normally recommend using the binary mode as this has some advantages over the ASCII mode. The ASCII mode is only provided here for compatibility. For new applications it is strongly recommended to use the binary mode.

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

• BIN: This command quits ASCII mode and returns to binary mode.

• RUN: This command can be used to start a TMCL program stored in memory.

• STOP: Stops a TMCL program which is currently running on the module.

3.4.1 Entering and leaving the ASCII Mode

•

The ASCII command line interface is entered by sending the binary command 139 (enter ASCII mode).

• Afterwards the commands can be entered in their mnemonic form (e.g. via a terminal program).

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

3.4.2 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 ASCII mode command lines (assuming

that the module address is 1):

• AMVP ABS, 1, 50000

• A MVP ABS, 1, 50000

• AROL 2, 500

• A MST 1

• ABIN

The last command line shown above will make the module return to binary mode.

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3.4.3 Format of a Reply

After executing the command the module sends back a reply in ASCII format which consists of the following things:

• The address character of the host (host address that can be set in the module) .

• The address character of the module.

• The status code as a decimal number.

• The return value of the command as a decimal number.

• A <CR> character.

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

3.4.4 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).

•

Bit 0 determines the startup mode: if this bit is set, the module will start up in ASCII mode, else the module 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 will be echoed back when the module is addressed. Characters 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.

Note

When trying the ASCII mode for the ﬁrst time it is strongly recommended not to

use global parameter 67 but the direct mode command 139 to enter the ASCII mode. Then the module can also be switched back to binary mode by a power cycle if there should be trouble with the ASCII mode communication.

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3.5 TMCL Command Overview

This sections gives a short overview of all TMCL commands.

3.5.1 TMCL Commands

Overview of all TMCL Commands

Command Number Parameter Description

ROR 1 <motor number>, <velocity> Rotate right with speciﬁed velocity

ROL 2 <motor number>, <velocity> Rotate left with speciﬁed velocity

MST 3 <motor number> Stop motor movement

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MVP 4

ABS|REL|COORD, <motor number>,

<position|oﬀset>

SAP 5

<parameter>, <motor number>,

<value>

GAP 6 <parameter>, <motor number>

STAP 7

<parameter>, <motor number>,

<value>

RSAP 8 <parameter>, <motor number>

SGP 9

<parameter>, <bank number>,

<value>

GGP 10 <parameter>, <bank number>

STGP 11 <parameter>, <bank number>

RSGP 12 <parameter>, <bank number>

Move to position (absolute or relative)

Set axis parameter (motion control speciﬁc settings)

Get axis parameter (read out motion control speciﬁc settings)

Store axis parameter (store motion control speciﬁc settings)

Restore axis parameter (restore motion control speciﬁc settings)

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

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

Store global parameter (TMCL user variables only)

Restore global parameter (TMCL user variables only)

RFS 13

<START|STOP|STATUS>, <motor num-

Reference search

ber>

SIO 14

<port number>, <bank number>,

Set digital output to speciﬁed value

<value>

GIO 15 <port number>, <bank number> Get value of analog/digital input

CALC 19 <operation>, <value> Process accumulator and value

COMP 20 <value> Compare accumulator with value

JC 21 <condition>, <jump address> Jump conditional

JA 22 <jump address> Jump absolute

CSUB 23 <subroutine address> Call subroutine

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Command Number Parameter Description

RSUB 24 Return from subroutine

EI 25 <interrupt number> Enable interrupt

DI 26 <interrupt number> Disable interrupt

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WAIT 27

<condition>, <motor number>,

Wait with further program execution

<ticks>

STOP 28 Stop program execution

SCO 30

<coordinate number>, <motor num-

Set coordinate

ber>, <position>

GCO 31

<coordinate number>, <motor num-

Get coordinate

ber>

CCO 32

<coordinate number>, <motor num-

Capture coordinate

ber>

CALCX 33 <operation> Process accumulator and X-register

AAP 34 <parameter>, <motor number> Accumulator to axis parameter

AGP 35 <parameter>, <bank number> Accumulator to global parameter

CLE 36 <ﬂag> Clear an error ﬂag

VECT 37 <interrupt number>, <address> Deﬁne interrupt vector

RETI 38 Return from interrupt

ACO 39

<coordinate number>, <motor num-

Accu to coordinate

ber>

Table 5: Overview of all TMCL Commands

3.6 TMCL Commands by Subject

3.6.1 Motion Commands

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

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Motion Commands

Mnemonic Command number Meaning

ROL 2 Rotate left

ROR 1 Rotate right

MVP 4 Move to position

MST 3 Motor stop

SCO 30 Store coordinate

CCO 32 Capture coordinate

GCO 31 Get coordinate

Table 6: Motion Commands

3.6.2 Parameter Commands

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

Parameter Commands

Mnemonic Command number Meaning

SAP 5 Set axis parameter

GAP 6 Get axis parameter

STAP 7 Store axis parameter

RSAP 8 Restore axis parameter

SGP 9 Set global parameter

GGP 10 Get global parameter

STGP 11 Store global parameter

RSGP 12 Restore global parameter

Table 7: Parameter Commands

3.6.3 Branch Commands

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

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Branch Commands

Mnemonic Command number Meaning

JA 22 Jump always

JC 21 Jump conditional

COMP 20 Compare accumulator with constant value

CSUB 23 Call subroutine

RSUB 24 Return from subroutine

WAIT 27 Wait for a speciﬁed event

STOP 28 End of a TMCL program

Table 8: Branch Commands

3.6.4 I/O Port Commands

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

I/O Port Commands

Mnemonic Command number Meaning

SIO 14 Set output

GIO 15 Get input

Table 9: I/O Port Commands

3.6.5 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.

Calculation Commands

Mnemonic Command number Meaning

CALC 19 Calculate using the accumulator and a constant value

CALCX 33 Calculate using the accumulator and the X register

AAP 34 Copy accumulator to an axis parameter

AGP 35 Copy accumulator to a global parameter

ACO 39 Copy accu to coordinate

Table 10: Calculation Commands

For calculating purposes there is an accumulator (also called accu or A register) and an X register. When executed in a TMCL program (in standalone mode), all TMCL commands that read a value store the result

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in the accumulator. The X register can be used as an additional memory when doing calculations. It can be loaded from the accumulator. When a command that reads a value is executed in direct mode the accumulator will not be aﬀected. This means that while a TMCL program is running on the module (standalone mode), a host can still send commands like GAP and GGP to the module (e.g. to query the actual position of the motor) without aﬀecting the ﬂow of the TMCL program running on the module.

3.6.6 Interrupt Processing Commands

TMCL also contains functions for a simple way of interrupt processing. Using interrupts, many tasks can be programmed in an easier way. The following commands are use to deﬁne and handle interrupts:

Interrupt Processing Commands

Mnemonic Command number Meaning

EI 25 Enable interrupt

DI 26 Disable interrupt

VECT 37 Set interrupt vector

RETI 38 Return from interrupt

Table 11: Interrupt Processing Commands

3.6.6.1 Interrupt Types

There are many diﬀerent interrupts in TMCL, like timer interrupts, stop switch interrupts, position reached interrupts, and input pin change interrupts. Each of these interrupts has its own interrupt vector. Each interrupt vector is identiﬁed by its interrupt number. Please use the TMCL include ﬁle Interrupts.inc in order to have symbolic constants for the interrupt numbers. Table 12 show all interrupts that are available on the TMCM-1021.

Interrupt Vectors

Interrupt number Interrupt type

0 Timer 0

1 Timer 1

2 Timer 2

3 Target position reached 0

15 stallGuard axis 0

21 Deviation axis 0

27 Left stop switch 0

28 Right stop switch 0

39 Input change 0

40 Input change 1

41 Input change 2

42 Input change 3

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Interrupt number Interrupt type

255 Global interrupts

Table 12: Interrupt Vectors

3.6.6.2 Interrupt Processing

When an interrupt occurs and this interrupt is enabled and a valid interrupt vector has been deﬁned for that interrupt, the normal TMCL program ﬂow will be interrupted and the interrupt handling routine will be called. Before an interrupt handling routine gets called, the context of the normal program (i.e. accumulator register, X register, ﬂags) will be saved automatically. There is no interrupt nesting, i.e. all other interrupts are disabled while an interrupt handling routine is being executed. On return from an interrupt handling routine (RETI command), the context of the normal program will automatically be restored and the execution of the normal program will be continued.

3.6.6.3 Further Conﬁguration of Interrupts

Some interrupts need further conﬁguration (e.g. the timer interval of a timer interrupt). This can be done using SGP commands with parameter bank 3 (SGP <type> , 3, <value>). Please refer to the SGP command (chapter 3.7.9) for further information about that.

3.6.6.4 Using Interrupts in TMCL

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

• Deﬁne an interrupt handling routine using the VECT command.

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

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

• Globally enable interrupts using an EI 255 command.

• An interrupt handling routine must always end with a RETI command.

• Do not allow the normal program ﬂow to run into an interrupt handling routine.

The following example shows the use of a timer interrupt:

VECT 0, Timer0Irq // define the interrupt vector SGP 0, 3, 1000 // configure the interrupt : set its period to 1000ms

EI 0 // enable this interrupt EI 255 // globally switch on interrupt processing

//Main program: toggles output 3, using a WAIT command for the delay

Loop:

SIO 3, 2, 1

WAIT TICKS , 0, 50 SIO 3, 2, 0

WAIT TICKS , 0, 50 JA Loop

//Here is the interrupt handling routine

Timer0Irq :

GIO 0, 2 //check if OUT0 is high

JC NZ , Out0Off // jump if not

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SIO 0, 2, 1 //switch OUT0 high

RETI // end of interrupt

Out0Off:

SIO 0, 2, 0 //switch OUT0 low RETI // end of interrupt

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

#include Interrupts . inc

VECT TI_TIMER0 , Timer0Irq SGP TI_TIMER0 , 3, 1000

EI TI_TIMER0 EI TI_GLOBAL

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3.7 Detailed TMCL Command Descriptions

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

3.7.1 ROR (Rotate Right)

The motor is instructed to rotate with a speciﬁed velocity in right direction (increasing the position counter). The velocity is given in microsteps per second (pulse per second [pps]).

Internal function:

• First, velocity mode is selected.

• Then, the velocity value is transferred to axis parameter #2 (target velocity).

Related commands: ROL, MST, SAP, GAP.

Mnemonic: ROR <axis>, <velocity>

Binary Representation

Instruction Type Motor/Bank Value

1 0 0 -2147483648. . . 2147583647

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Rotate right motor 0, velocity 51200. Mnemonic: ROR 0, 51200.

Binary Form of ROR 0, 51200

Field Value

Target address 01

Instruction number 01

Type 00

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) C8

Value (Byte 0) 00

Checksum CA

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3.7.2 ROL (Rotate Left)

The motor is instructed to rotate with a speciﬁed velocity in left direction (decreasing the position counter). The velocity is given in microsteps per second (pulse per second [pps]).

Internal function:

• First, velocity mode is selected.

• Then, the velocity value is transferred to axis parameter #2 (target velocity).

Related commands: ROR, MST, SAP, GAP.

Mnemonic: ROL <axis>, <velocity>

Binary Representation

Instruction Type Motor/Bank Value

2 0 0 -2147483648. . . 2147583647

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Rotate left motor 0, velocity 51200. Mnemonic: ROL 0, 51200.

Binary Form of ROL 0, 51200

Field Value

Target address 01

Instruction number 02

Type 00

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) C8

Value (Byte 0) 00

Checksum CB

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3.7.3 MST (Motor Stop)

The motor is instructed to stop with a soft stop.

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Internal function:

The velocity mode is selected. Then, the target speed (axis parameter #0) is set to zero.

Related commands: ROR, ROL, SAP, GAP.

Mnemonic: MST <axis>

Binary Representation

Instruction Type Motor/Bank Value

3 0 0 0

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Stop motor 0. Mnemonic: MST 0.

Binary Form of MST 0

Field Value

Target address 01

Instruction number 03

Type 00

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 04

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3.7.4 MVP (Move to Position)

With this command the motor will be instructed to move to a speciﬁed relative or absolute position. It will use the acceleration/deceleration ramp and the positioning speed programmed into the unit. This command is non-blocking - that is, a reply will be sent immediately after command interpretation and initialization of the motion controller. Further commands may follow without waiting for the motor reaching its end position. The maximum velocity and acceleration as well as other ramp parameters are deﬁned by the appropriate axis parameters. For a list of these parameters please refer to section 4. The range of the MVP command is 32 bit signed (-2147483648. . . 2147483647). Positioning can be interrupted using MST, ROL or ROR commands.

Three operation types are available:

• Moving to an absolute position in the range from -2147483648. . . 2147483647 (−231...231− 1).

•

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

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

Note

The distance between the actual position and the new position must not be

more than 2147483647 (231−

1) microsteps. Otherwise the motor will run in the opposite direction in order to take the shorter distance (caused by 32 bit overﬂow).

Internal function: A new position value is transferred to the axis parameter #0 (target position). Related commands: SAP, GAP, SCO, GCO, CCO, ACO, MST.

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

Binary Representation

Instruction Type Motor/Bank Value

0 – ABS – absolute 0 <position>

1 – REL – relative 0 <oﬀset>

2 – COORD – coordinate 0. . . 255 <coordinate number (0..20)>

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Move motor 0 to position 90000. Mnemonic: MVP ABS, 0, 90000

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Binary Form of MVP ABS, 0, 90000

Field Value

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Target address 01

Instruction number 04

Type 00

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 01

Value (Byte 1) 5F

Value (Byte 0) 90

Checksum F5

Example

Move motor 0 from current position 10000 microsteps backward. Mnemonic: MVP REL, 0, -10000

Binary Form of MVP REL, 0, -10000

Field Value

Target address 01

Instruction number 04

Type 01

Motor/Bank 00

Value (Byte 3) FF

Value (Byte 2) FF

Value (Byte 1) D8

Value (Byte 0) F0

Checksum CC

Example

Move motor 0 to stored coordinate #8.

Mnemonic: MVP COORD, 0, 8

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Binary Form of MVP COORD, 0, 8

Field Value

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Target address 01

Instruction number 04

Type 02

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 08

Checksum 0F

Note

Before moving to a stored coordinate, the coordinate has to be set using an SCO, CCO or ACO command.

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3.7.5 SAP (Set Axis Parameter)

With this command most of the motion control parameters of the module can be speciﬁed. The settings will be stored in SRAM and therefore are volatile. That is, information will be lost after power oﬀ.

Info

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

Internal function:

The speciﬁed value is written to the axis parameter speciﬁed by the parameter number.

Related commands: GAP, AAP.

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

Binary representation

Binary Representation

Instruction Type Motor/Bank Value

5 see chapter 4 0 <value>

Reply in Direct Mode

Status Value

100 - OK don’t care

Example Set the maximum positioning speed for motor 0 to 51200 pps. Mnemonic: SAP 4, 0, 51200.

Binary Form of SAP 4, 0, 51200

Field Value

Target address 01

Instruction number 05

Type 04

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) C8

Value (Byte 0) 00

Checksum D2

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3.7.6 GAP (Get Axis Parameter)

Most motion / driver related parameters of the TMCM-1021 can be adjusted using e.g. the SAP command. With the GAP parameter they can be read out. In standalone mode the requested value is also transferred to the accumulator register for further processing purposes (such as conditional jumps). In direct mode the value read is only output in the value ﬁeld of the reply, without aﬀecting the accumulator.

Info

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

Internal function: The speciﬁed value gets copied to the accumulator. Related commands: SAP, AAP.

Mnemonic: GAP <parameter number>, <axis>

Binary Representation

Instruction Type Motor/Bank Value

6 see chapter 4 0 <value>

Reply in Direct Mode

Status Value

100 - OK value read by this command

Example

Get the actual position of motor 0. Mnemonic: GAP 1, 0.

Binary Form of GAP 1, 0

Field Value

Target address 01

Instruction number 06

Type 01

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 08

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3.7.7 STAP (Store Axis Parameter)

This command is used to store TMCL axis parameters permanently in the EEPROM of the module. This command is mainly needed to store the default conﬁguration of the module. The contents of the user variables can either be automatically or manually restored at power on.

Info

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

Internal function:

The axis parameter speciﬁed by the type and bank number will be stored in the

EEPROM.

Related commands: SAP, AAP, GAP, RSAP.

Mnemonic: STAP <parameter number>, <bank>

Binary Representation

Instruction Type Motor/Bank Value

7 see chapter 4 0 0 (don’t care)

Reply in Direct Mode

Status Value

100 - OK 0 (don’t care)

Example

Store axis parameter #6. Mnemonic: STAP 7, 6.

Binary Form of STAP 6, 12

Field Value

Target address 01

Instruction number 07

Type 06

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 0E

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3.7.8 RSAP (Restore Axis Parameter)

With this command the contents of an axis parameter can be restored from the EEPROM. By default, all axis parameters are automatically restored after power up. An axis parameter that has been changed before can be reset to the stored value by this instruction.

Info

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

Internal function:

The axis parameter speciﬁed by the type and bank number will be restored from the

EEPROM.

Related commands: SAP, AAP, GAP, RSAP.

Mnemonic: RSAP <parameter number>, <bank>

Binary Representation

Instruction Type Motor/Bank Value

8 see chapter 4 0 0 (don’t care)

Reply in Direct Mode

Status Value

100 - OK 0 (don’t care)

Example

Restore axis parameter #6. Mnemonic: RSAP 8, 6.

Binary Form of RSAP 8, 6

Field Value

Target address 01

Instruction number 08

Type 06

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 0A

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3.7.9 SGP (Set Global Parameter)

With this command most of the module speciﬁc parameters not directly related to motion control can be speciﬁed and the TMCL user variables can be changed. Global parameters are related to the host interface, peripherals or application speciﬁc variables. The diﬀerent groups of these parameters are organized in banks to allow a larger total number for future products. Currently, bank 0 is used for global parameters, and bank 2 is used for user variables. Bank 3 is used for interrupt conﬁguration. All module settings in bank 0 will automatically be stored in non-volatile memory (EEPROM).

Info

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

Internal function:

The speciﬁed value will be copied to the global parameter speciﬁed by the type and

bank number. Most parameters of bank 0 will automatically be stored in non-volatile memory.

Related commands: GGP, AGP.

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

Binary Representation

Instruction Type Motor/Bank Value

9 see chapter 5 0/2/3 <value>

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Set the serial address of the device to 3. Mnemonic: SGP 66, 0, 3.

Binary Form of SGP 66, 0, 3

Field Value

Target address 01

Instruction number 09

Type 42

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 03

Checksum 4F

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3.7.10 GGP (Get Global Parameter)

All global parameters can be read with this function. Global parameters are related to the host interface, peripherals or application speciﬁc variables. The diﬀerent groups of these parameters are organized in banks to allow a larger total number for future products. Currently, bank 0 is used for global parameters, and bank 2 is used for user variables. Bank 3 is used for interrupt conﬁguration.

Info

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

Internal function:

The global parameter speciﬁed by the type and bank number will be copied to the

accumulator register.

Related commands: SGP, AGP.

Mnemonic: GGP <parameter number>, <bank>

Binary Representation

Instruction Type Motor/Bank Value

10 see chapter 5 0/2/3 0 (don’t care)

Reply in Direct Mode

Status Value

100 - OK value read by this command

Example

Get the serial address of the device. Mnemonic: GGP 66, 0.

Binary Form of GGP 66, 0

Field Value

Target address 01

Instruction number 0A

Type 42

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 4D

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3.7.11 STGP (Store Global Parameter)

This command is used to store TMCL global parameters permanently in the EEPROM of the module. This command is mainly needed to store the TMCL user variables (located in bank 2) in the EEPROM of the module, as most other global parameters (located in bank 0) are stored automatically when being modiﬁed. The contents of the user variables can either be automatically or manually restored at power on.

Info

For a table with parameters and values which can be used together with this command please refer to dection 5.3.

Internal function:

The global parameter speciﬁed by the type and bank number will be stored in the

EEPROM.

Related commands: SGP, AGP, GGP, RSGP.

Mnemonic: STGP <parameter number>, <bank>

Binary Representation

Instruction Type Motor/Bank Value

11 see chapter 5.3 2 0 (don’t care)

Reply in Direct Mode

Status Value

100 - OK 0 (don’t care)

Example

Store user variable #42. Mnemonic: STGP 42, 2.

Binary Form of STGP 42, 2

Field Value

Target address 01

Instruction number 0B

Type 2A

Motor/Bank 02

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 38

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3.7.12 RSGP (Restore Global Parameter)

With this command the contents of a TMCL user variable can be restored from the EEPROM. By default, all user variables are automatically restored after power up. A user variable that has been changed before can be reset to the stored value by this instruction.

Info

For a table with parameters and values which can be used together with this command please refer to section 5.3.

Internal function:

The global parameter speciﬁed by the type and bank number will be restored from

the EEPROM.

Related commands: SGP, AGP, GGP, STGP.

Mnemonic: RSGP <parameter number>, <bank>

Binary Representation

Instruction Type Motor/Bank Value

12 see chapter 5.3 2 0 (don’t care)

Reply in Direct Mode

Status Value

100 - OK 0 (don’t care)

Example

Restore user variable #42. Mnemonic: RSGP 42, 2.

Binary Form of RSGP 42, 2

Field Value

Target address 01

Instruction number 0C

Type 2A

Motor/Bank 02

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 39

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3.7.13 RFS (Reference Search)

The TMCM-1021 has a built-in reference search algorithm. The reference search algorithm provides diﬀerent refrence search modes. This command starts or stops the built-in reference search algorithm. The status of the reference search can also be queried to see if it already has ﬁnished. (In a TMCL program it mostly is better to use the WAIT RFS 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 (please see chapter 4).

Internal function:

The internal reference search state machine is started or stoped, or its state is queried.

Related commands: SAP, GAP, WAIT.

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

Binary Representation

Instruction Type Motor/Bank Value

0 START — start reference search

13 1 STOP — stop reference search 0 0 (don’t care)

2 STATUS — get status

Reply in Direct Mode (RFS START or RFS STOP)

Status Value

100 - OK 0 (don’t care)

Reply in Direct Mode (RFS STATUS)

Status Value

0 no ref. search active

100 - OK

other values reference search active

Example

Start reference search of motor 0. Mnemonic: RFS START, 0.

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Binary Form of RFS START

Field Value

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Target address 01

Instruction number 0D

Type 00

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 0E

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3.7.14 SIO (Set Output)

This command sets the states of the general purpose digital outputs.

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Internal function:

The state of the output line speciﬁed by the type parameter is set according to the

value passed to this command.

Related commands: GIO.

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

Binary Representation

Instruction Type Motor/Bank Value

14 <port number> <bank number> (2) 0/1

Reply in Direct Mode

Status Value

100 - OK 0 (don’t care)

Example

Set output 0 (bank 2) to high. Mnemonic: SIO 0, 2, 1.

Binary Form of SIO 0, 2, 1

Field Value

Target address 01

Instruction number 0E

Type 00

Motor/Bank 02

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 01

Checksum 12

Bank 2 – Digital Outputs

The following output lines can be set by the SIO commands) using bank 2.

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Digital Outputs in Bank 2

Port Command Range

OUT0 SIO 0, 2, <value> 0/1

OUT1 SIO 1, 2, <value> 0/1

Special case: SIO 255, 2, <x> can be used to change all general purpose digital output lines simulaneously. The value <x> will then be interpreted as a bit vector where each of the lower eight bits represents one of the digital outputs. So the range for <x> is 0. . . 255. The value <x> can also be -1. In this case, the value will be taken from the accumulator register. The following program can be used to copy the states of the input lines to the output lines:

Loop:

GIO 255, 0

SIO 255, 2, -1 JA Loop

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3.7.15 GIO (Get Input)

With this command the status of the available general purpose outputs of the module can be read. The function reads a digital or an analog input port. Digital lines will read as 0 or 1, while the ADC channels deliver their 12 bit result in the range of 0. . . 4095. In standalone mode the requested value is copied to the accumulator register for further processing purposes such as conditional jumps. In direct mode the value is only output in the value ﬁeld of the reply, without aﬀecting the accumulator. The actual status of a digital output line can also be read.

Internal function:

The state of the i/o line speciﬁed by the type parameter and the bank parameter is read.

Related commands: SIO.

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

Binary Representation

Instruction Type Motor/Bank Value

15 <port number> <bank number> (0/1/2) 0 (don’t care)

Reply in Direct Mode

Status Value

100 - OK status of the port

Example

Get the value of ADC channel 0. Mnemonic: GIO 0, 1.

Binary Form of GIO 0, 1

Field Value

Target address 01

Instruction number 0F

Type 00

Motor/Bank 01

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 11

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Reply (Status=no error, Value=302)

Field Value

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Host address 02

Target address 01

Status 64

Instruction 0F

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 01

Value (Byte 0) 2E

Checksum A5

Bank 0 – Digital Inputs

The analog input lines can be read as digital or analog inputs at the same time. The digital input states can be accessed in bank 0.

Digital Inputs in Bank 0

Port Command Range

IN0 GIO 0, 0 0/1

IN1 GIO 1, 0 0/1

IN2 (same pin as OUT0) GIO 2, 0 0/1

IN3 (same pin as OUT1) GIO 3, 0 0/1

Special case: GIO 255, 0 reads all general purpose inputs simulataneously and puts the result into the lower eight bits of the accumulator register.

Special case: GIO 11, 0 checks if the sensOstep™ encoder is near its absolute zero position.

Bank 1 – Analog Inputs

The analog input lines can be read back as digital or analog inputs at the same time. The analog values can be accessed in bank 1.

Analog Inputs in Bank 1

Port Command Range / Units

IN3 GIO 0, 1 0. . . 4095

Temperature GIO 9, 1 [°C]

Bank 2 – States of the Digital Outputs

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

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Digital Outputs in Bank 2

Port Command Range

OUT0 GIO 0, 2 0/1

OUT1 GIO 1, 2 0/1

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3.7.16 CALC (Calculate)

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

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

Mnemonic: CALC <operation>, <operand>

Binary representation

Binary Representation

Instruction Type Motor/Bank Value

19 0 ADD – add to accumulator 0 (don’t care) <operand>

1 SUB – subtract from accumulator

2 MUL – multiply accumulator by

3 DIV – divide accumulator by

4 MOD – modulo divide accumulator by

5 AND – logical and accumulator with

6 OR – logical or accumulator with

7 XOR – logical exor accumulator with

8 NOT – logical invert accumulator

9 LOAD – load operand into accumulator

Reply in Direct Mode

Status Value

100 - OK the operand (don’t care)

Example

Multiply accumulator by -5000. Mnemonic: CALC MUL, -5000

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Binary Form of CALC MUL, -5000

Field Value

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Target address 01

Instruction number 13

Type 02

Motor/Bank 00

Value (Byte 3) FF

Value (Byte 2) FF

Value (Byte 1) EC

Value (Byte 0) 78

Checksum 78

Reply (Status=no error, value=-5000:

Field Value

Host address 02

Target address 01

Status 64

Instruction 13

Value (Byte 3) FF

Value (Byte 2) FF

Value (Byte 1) EC

Value (Byte 0) 78

Checksum DC

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3.7.17 COMP (Compare)

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

standalone operation only.

Internal function:

The accumulator register is compared with the sepciﬁed value. The internal arithmetic status ﬂags are set according to the result of the comparison. These can then control e.g. a conditional jump.

Related commands: JC, GAP, GGP, GIO, CALC, CALCX.

Mnemonic: COMP <operand>

Binary Representation

Instruction Type Motor/Bank Value

20 0 (don’t care) 0 (don’t care) <operand>

Example

Jump to the address given by the label when the position of motor #0 is greater than or equal to 1000.

GAP 1, 0 // get actual position of motor 0

COMP 1000 //compare actual value with 1000 JC GE , Label // jump to Lable if greter or equal to 1000

Binary Form of COMP 1000

Field Value

Target address 01

Instruction number 14

Type 00

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 03

Value (Byte 0) E8

Checksum 00

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3.7.18 JC (Jump conditional)

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

Internal function:

The TMCL program counter is set to the value passed to this command if the status ﬂags are in the appropriate states.

Related commands: JA, COMP, WAIT, CLE.

Mnemonic: JC <condition>, <label>

Binary Representation

Instruction Type Motor/Bank Value

21 0 ZE - zero 0 (don’t care) <jump address>

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

Example

Jump to the address given by the label when the position of motor #0 is greater than or equal to 1000.

GAP 1, 0 // get actual position of motor 0 COMP 1000 //compare actual value with 1000

JC GE , Label // jump to Lable if greter or equal to 1000 ...

Label : ROL 0, 1000

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Binary form of JC GE, Label assuming Label at address 10

Field Value

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Target address 01

Instruction number 15

Type 05

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 0A

Checksum 25

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3.7.19 JA (Jump always)

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

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

Related commands: JC, WAIT, CSUB.

Mnemonic: JA <label>

Binary Representation

Instruction Type Motor/Bank Value

22 0 (don’t care) 0 (don’t care) <jump address>

Example

An inﬁnite loop in TMCL:

Loop:

MVP ABS , 0, 51200

WAIT POS , 0 , 0 MVP ABS , 0, 0

WAIT POS , 0 , 0 JA Loop

Binary form of the JA Loop command when the label Loop is at address 10:

Binary Form of JA Loop (assuming Loop at address 10)

Field Value

Target address 01

Instruction number 16

Type 00

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 0A

Checksum 21

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3.7.20 CSUB (Call Subroutine)

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

Internal function:

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

Related commands: RSUB, JA.

Mnemonic: CSUB <label>

Binary Representation

Instruction Type Motor/Bank Value

23 0 (don’t care) 0 (don’t care) <subroutine address>

Example

Call a subroutine:

Loop:

MVP ABS , 0, 10000 CSUB SubW //Save program counter and jump to label SubW

MVP ABS , 0, 0 CSUB SubW //Save program counter and jump to label SubW

JA Loop

SubW:

WAIT POS , 0 , 0

WAIT TICKS , 0, 50 RSUB //Continue with the command following the CSUB command

Binary form of CSUB SubW (assuming SubW at address

100)

Field Value

Target address 01

Instruction number 17

Type 00

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 64

Checksum 7C

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3.7.21 RSUB (Return from Subroutine)

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

Internal function:

the TMCL program counter is set to the last value saved on the stack. The command

will be ignored if the stack is empty.

Related commands: CSUB.

Mnemonic: RSUB

Binary Representation

Instruction Type Motor/Bank Value

24 0 (don’t care) 0 (don’t care) 0 (don’t care)

Example

Please see the CSUB example (section 3.7.20).

Binary form:

Binary Form of RSUB

Field Value

Target address 01

Instruction number 18

Type 00

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 19

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3.7.22 WAIT (Wait for an Event to occur)

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

There are ﬁve diﬀerent wait conditions that can be used:

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

•

POS: Wait until the target position of the motor speciﬁed by the <motor> parameter has been reached. An optional timeout value (0 for no timeout) must be speciﬁed by the <ticks> parameter.

•

REFSW: Wait until the reference switch of the motor speciﬁed by the <motor> parameter has been triggered. An optional timeout value (0 for no timeout) must be speciﬁed by the <ticks> parameter.

•

LIMSW: Wait until a limit switch of the motor speciﬁed by the <motor> parameter has been triggered. An optional timeout value (0 for no timeout) must be speciﬁed by the <ticks> parameter.

•

RFS: Wait until the reference search of the motor speciﬁed by the <motor> ﬁeld has been reached. An optional timeout value (0 for no timeout) must be speciﬁed by the <ticks> parameter.

Special case for the <ticks> parameter: When this parameter is set to -1 the contents of the accumulator register will be taken for this value. So for example WAIT TICKS, 0, -1 will wait as long as speciﬁed by the value store in the accumulator. The accumulator must not contain a negative value when using this option.

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 will be held at the address of this WAIT command until the

condition is met or the timeout has expired.

Related commands: JC, CLE.

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

Binary Representation

Instruction Type Motor/Bank Value

0 TICKS – timer ticks 0 (don’t care) <no. of ticks to wait1>

1 POS – target position reached <motor number> <no. of ticks for timeout1>

0 for no timeout

2 REFSW – reference switch <motor number> <no. of ticks for timeout1>

27 0 for no timeout

3 LIMSW – limit switch <motor number> <no. of ticks for timeout1>

0 for no timeout

4 RFS – reference search completed <motor number> <no. of ticks for timeout1>

Example

one tick is 10 milliseconds

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0 for no timeout

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Wait for motor 0 to reach its target position, without timeout. Mnemonic: WAIT POS, 0, 0

Binary Form of WAIT POS, 0, 0

Field Value

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Target address 01

Instruction number 1B

Type 01

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 1D

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3.7.23 STOP (Stop TMCL Program Execution – End of TMCL Program)

This command stops the execution of a TMCL program. It is intended for use in standalone operation only.

Internal function: Execution of a TMCL program in standalone mode will be stopped.

Related commands: none.

Mnemonic: STOP

Binary Representation

Instruction Type Motor/Bank Value

28 0 (don’t care) 0 (don’t care) 0 (don’t care)

Example

Mnemonic: STOP

Binary Form of STOP

Field Value

Target address 01

Instruction number 1C

Type 00

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 1D

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3.7.24 SCO (Set Coordinate)

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

Note

Coordinate #0 is always stored in RAM only.

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

Related commands: GCO, CCO, ACO, MVP COORD.

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

Binary Representation

Instruction Type Motor/Bank Value

30 <coordinate number> <motor number> <position>

0. . . 20 0 −231. . . 231− 1

Example

Set coordinate #1 of motor #0 to 1000. Mnemonic: SCO 1, 0, 1000

Binary Form of SCO 1, 0, 1000

Field Value

Target address 01

Instruction number 1E

Type 01

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 03

Value (Byte 0) E8

Checksum 0B

Two special functions of this command have been introduced that make it possible to copy all coordinates or one selected coordinate to the EEPROM. These functions can be accessed using the following special forms of the SCO command:

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

•

SCO <coordinate number>, 255, 0 copies the coordinate selected by <coordinate number> to the EEPROM. The coordinate number must be a value between 1 and 20.

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3.7.25 GCO (Get Coordinate)

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

Note

Internal function:

Coordinate #0 is always stored in RAM only.

the desired value is read out of the internal coordinate array, copied to the accumulator

Related commands: SCO, CCO, ACO, MVP COORD.

Mnemonic: GCO <coordinate number>, <motor number>

Binary Representation

Instruction Type Motor/Bank Value

31 <coordinate number> <motor number> 0 (don’t care)

0. . . 20 0

Reply in Direct Mode

Status Value

100 - OK value read by this command

Example

Get coordinate #1 of motor #0. Mnemonic: GCO 1, 0

Binary Form of GCO 1, 0

Field Value

Target address 01

Instruction number 1F

Type 01

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 21

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Two special functions of this command have been introduced that make it possible to copy all coordinates or one selected coordinate from the EEPROM to the RAM. These functions can be accessed using the following special forms of the GCO command:

• GCO 0, 255, 0 copies all coordinates (except coordinate number 0) from the EEPROM to the RAM.

•

GCO <coordinate number>, 255, 0 copies the coordinate selected by <coordinate number> from the EEPROM to the RAM. The coordinate number must be a value between 1 and 20.

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3.7.26 CCO (Capture Coordinate)

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

Note

Internal function:

Coordinate #0 is always stored in RAM only.

the actual position of the selected motor is copied to selected coordinate array entry.

Related commands: SCO, GCO, ACO, MVP COORD.

Mnemonic: CCO <coordinate number>, <motor number>

Binary Representation

Instruction Type Motor/Bank Value

32 <coordinate number> <motor number> 0 (don’t care)

0. . . 20 0

Reply in Direct Mode

Status Value

100 - OK value read by this command

Example

Store current position of motor #0 to coordinate array entry #3.

Mnemonic: CCO 3, 0

Binary Form of CCO 3, 0

Field Value

Target address 01

Instruction number 20

Type 01

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 22

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3.7.27 ACO (Accu to Coordinate)

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

Note

Internal function:

Coordinate #0 is always stored in RAM only.

the actual position of the selected motor is copied to selected coordinate array entry.

Related commands: SCO, GCO, CO, MVP COORD.

Mnemonic: ACO <coordinate number>, <motor number>

Binary Representation

Instruction Type Motor/Bank Value

39 <coordinate number> <motor number> 0 (don’t care)

0. . . 20 0

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Copy the actual value of the accumulator to coordinate #1 of motor #0.

Mnemonic: ACO 1, 0

Binary Form of ACO 1, 0

Field Value

Target address 01

Instruction number 27

Type 01

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 29

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3.7.28 CALCX (Calculate using the X Register)

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

use in standalone mode.

Related commands: CALC, COMP, JC, AAP, AGP, GAP, GGP, GIO.

Mnemonic: CALCX <operation>

Binary Representation

Instruction Type Motor/Bank Value

33 0 ADD – add X register to accumulator 0 (don’t care) 0 (don’t care)

1 SUB – subtract X register from accumulator

2 MUL – multiply accumulator by X register

3 DIV – divide accumulator by X register

4 MOD – modulo divide accumulator by X register

5 AND – logical and accumulator with X register

6 OR – logical or accumulator with X register

7 XOR – logical exor accumulator with X register

8 NOT – logical invert X register

9 LOAD – copy accumulator to X register

10 SWAP – swap accumulator and X register

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Multiply accumulator and X register. Mnemonic: CALCX MUL

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Binary Form of CALCX MUL

Field Value

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Target address 01

Instruction number 21

Type 02

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 24

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3.7.29 AAP (Accu to Axis Parameter)

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

mode.

Info

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

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

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

Binary Representation

Instruction Type Motor/Bank Value

34 see chapter 4 0 <value>

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Position motor #0 by a potentiometer connected to analog input #0:

Start :

GIO 0 ,1 // get value of analog 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 Form of AAP 0, 0

Field Value

Target address 01

Instruction number 22

Type 00

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 23

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3.7.30 AGP (Accu to Global Parameter)

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

standalone mode.

Info

For an overview of parameter and bank indices that can be used with this command please see section 5.

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

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

Binary Representation

Instruction Type Motor/Bank Value

35 <parameter number> 0/2/3 <bank number> 0 (don’t care)

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Copy accumulator to user variable #42: Mnemonic: AGP 42, 2

Binary Form of AGP 42, 2

Field Value

Target address 01

Instruction number 23

Type 2A

Motor/Bank 02

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 50

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3.7.31 CLE (Clear Error Flags)

This command clears the internal error ﬂags. It is mainly intended for use in standalone mode. The following error ﬂags can be cleared by this command (determined by the <ﬂag> parameter):

• ALL: clear all error ﬂags.

• ETO: clear the timeout ﬂag.

• EAL: clear the external alarm ﬂag.

• EDV: clear the deviation ﬂag.

• EPO: clear the position error ﬂag.

Related commands: JC, WAIT.

Mnemonic: CLE <ﬂags>

Binary Representation

Instruction Type Motor/Bank Value

36 0 ALL – all ﬂags 0 (don’t care) 0 (don’t care)

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1 – (ETO) timeout ﬂag

2 – (EAL) alarm ﬂag

3 – (EDV) deviation ﬂag

4 – (EPO) position ﬂag

5 – (ESD) shutdown ﬂag

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Reset the timeout ﬂag. Mnemonic: CLE ETO

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Binary Form of CLE ETO

Field Value

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Target address 01

Instruction number 24

Type 01

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 26

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3.7.32 EI (Enable Interrupt)

The EI command enables an interrupt. It needs the interrupt number as parameter. Interrupt number 255 globally enables interrupt processing. This command is mainly intended for use in standalone mode.

Info

Please see table 12 for a list of interrupts that can be used on the TMCM-1021 module.

Related commands: DI, VECT, RETI.

Mnemonic: EI <interrupt number>

Binary Representation

Instruction Type Motor/Bank Value

25 <interrupt number> 0 (don’t care) 0 (don’t care)

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Globally enable interrupt processing: Mnemonic: EI 255

Binary form of EI 255

Field Value

Target address 01

Instruction number 19

Type FF

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 19

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3.7.33 DI (Disable Interrupt)

The DI command disables an interrupt. It needs the interrupt number as parameter. Interrupt number 255 globally disables interrupt processing. This command is mainly intended for use in standalone mode.

Info

Please see table 12 for a list of interrupts that can be used on the TMCM-1021 module.

Related commands: EI, VECT, RETI.

Mnemonic: DI <interrupt number>

Binary Representation

Instruction Type Motor/Bank Value

26 <interrupt number> 0 (don’t care) 0 (don’t care)

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Globally disable interrupt processing: Mnemonic: DI 255

Binary Form of DI 255

Field Value

Target address 01

Instruction number 1A

Type FF

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 1A

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3.7.34 VECT (Deﬁne Interrupt Vector)

The VECT command deﬁnes an interrupt vector. It takes an interrupt number and a label (just like with JA, JC and CSUB commands) as parameters. The label must be the entry point of the interrupt handling routine for this interrupts. Interrupt vectors can also be re-deﬁned. This command is intended for use in

standalone mode only.

Info

Please see table 12 for a list of interrupts that can be used on the TMCM-1021 module.

Related commands: EI, DI, RETI.

Mnemonic: VECT <interrupt number>, <label>

Binary Representation

Instruction Type Motor/Bank Value

37 <interrupt number> 0 (don’t care) <label>

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Deﬁne interrupt vector for timer #0 interrupt:

VECT 0, Timer0Irq ...

Loop:

...

JA Loop ...

Timer0Irq :

SIO 0, 2, 1

RETI

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Binary form of VECT (assuming label is at 50)

Field Value

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Target address 01

Instruction number 25

Type FF

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 32

Checksum 58

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3.7.35 RETI (Return from Interrupt)

This command terminates an interrupt handling routine. Normal program ﬂow will be continued then.

This command is intended for use in standalone mode only.

An interrupt routine must always end with a RETI command. Do not allow the normal program ﬂow to run into an interrupt routine.

Internal function:

The saved registers (accumulator, X registers, ﬂags and program counter) are copied

back so that normal program ﬂow will continue.

Related commands: EI, DI, VECT.

Mnemonic: RETI

Binary Representation

Instruction Type Motor/Bank Value

38 <interrupt number> 0 (don’t care) 0 (don’t care)

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Return from an interrup handling routine. Mnemonic: RETI

Binary Form of RETI

Field Value

Target address 01

Instruction number 26

Type FF

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 00

Checksum 27

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3.7.36 Customer speciﬁc Command Extensions (UF0. . . UF7 – User Functions)

These commands are used for customer speciﬁc extensions of TMCL. They will be implemented in C by Trinamic. Please contact the sales department of Trinamic Motion Control GmbH & Co KG if you need a customized TMCL ﬁrmware.

Related commands: none.

Mnemonic: UF0. . . UF7

Binary Representation

Instruction Type Motor/Bank Value

64. . . 71 <user deﬁned> 0 <user deﬁned> 0 <user deﬁned>

Reply in Direct Mode

Status Value

100 - OK user deﬁned

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3.7.37 Request Target Position reached Event

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

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

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

Related commands: none.

Binary Representation

Instruction Type Motor/Bank Value

138 0/1 0 (don’t care) always 1

With command 138 the value ﬁeld is a bit vector. It shows for which motors one would like to have a position reached message. The value ﬁeld contains a bit mask where every bit stands for one motor. For one motor modules like the TMCM-1021 it only makes sense to have bit 0 set. So, always set this parameter to 1 with the TMCM-1021 module. With the type ﬁeld set to 0, only for the next MVP command that follows this command a position reached message will be generated. With type set to 1 a position reached message will be generated for every MVP command that follows this command. It is recommended to use the latter option.

Example

Get a target position reached message for each MVP command that follows.

Binary Form for this example

Field Value

Target address 01

Instruction number 8A

Type 01

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) 01

Checksum 8D

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Reply in Direct Mode

Field Value

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Target address 01

Host address 02

Status 64h(100)

Command 8Ah(138)

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) Motor bit mask

Checksum depends also on motor bit mask

Additional Reply after Motor has reached Target Position

Field Value

Target address 01

Host address 02

Status 80h(128)

Command 8Ah(138)

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 00

Value (Byte 0) Motor bit mask

Checksum depends also on motor bit mask

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3.7.38 TMCL Control Commands

There is a set of TMCL commands which are called TMCL control commands. These commands can only be used in direct mode and not in a standalone program. For this reason they only have opcodes, but no mnemonics. Most of these commands are only used by the TMCL-IDE (in order to implement e.g. the debugging functions in the TMCL creator). Some of them are also interesting for use in custom host applications, for example to start a TMCL routine on a module, when combining direct mode and standalone mode (please see also section 8.6. The following table lists all TMCL control commands.

The motor/bank parameter is not used by any of these functions and thus is not listed in the table. It should always be set to 0 with these commands.

TMCL Control Commands

Instruction Description Type Value

128 – stop application stop a running TMCL

application

129 – run application start or continue

TMCL program execution

130 – step application execute only the next

TMCL command

131 – reset application Stop a running TMCL

program. Reset program counter and stack pointer to zero. Reset accumulator and X register to zero. Reset all ﬂags.

132 – enter download mode All following

commands (except control commands) are not executed but stored in the TMCL memory.

0 (don’t care) 0 (don’t care)

0 – from current

0 (don’t care)

address

1 – from speciﬁc address

starting address

0 (don’t care) 0 (don’t care)

0 (don’t care)

start address for download

133 – exit download mode End the download

mode. All following commands are executed normally again.

134 – read program memory Return contents of

the speciﬁed program memory location (special reply format).

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0 (don’t care) 0 (don’t care)

0 (don’t care)

address of memory location

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Instruction Description Type Value

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135 – get application status Return information

about the current status, depending on the type ﬁeld.

136 – get ﬁrmware version Return ﬁrmware

version in string format (special reply) or binary format).

137 – restore factory settings Reset all settings in

the EEPROM to their factory defaults. This command does not send a reply.

255 – software reset Restart the CPU of

the module (like a power cycle). The reply of this command might not always get through.

0 - return mode,

0 (don’t care) wait ﬂag, memory pointer 1 - return mode, wait ﬂag, program counter 2 - return accumulator 3 - return X register

0 - string format

0 (don’t care) 1 - binary format

0 (don’t care) set to 1234

Table 13: TMCL Control Commands

Especially the commands 128, 129, 131, 136 and 255 are interesting for use in custom host applications. The other control commands are mainly being used by the TMCL-IDE.

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4 Axis Parameters

Most motor controller features of the TMCM-1021 module are controlled by axis parameters. Axis parameters can be modiﬁed or read using SAP, GAP and AAP commands. Some axis parameters can also be stored to or restored from the EEPROM using STAP and RSAP commands. This chapter describes all axis parameters that can be used on the TMCM-1021 module.

Meaning of the Letters in the Access Column

Access type Command Description

R GAP Parameter readable

W SAP, AAP Parameter writable

E STAP, RSAP Parameter can be stored in the EEPROM

Table 14: Meaning of the Letters in the Access Column

All Axis Parameters of the TMCM-1021 Module

Number Axis Parameter Description Range [Units] Access

0 Target position The desired target position in position mode -2147483648

. . . 2147483647 [µsteps]

1 Actual position

2 Target speed

The actual position of the motor. Stop the motor before overwriting it. Should normally only be overwritten for reference position setting.

The desired speed in velocity mode. Not valid in position mode.

-2147483648 . . . 2147483647 [µsteps]

-2147483648 . . . 2147483647 [pps]

3 Actual speed The actual speed of the motor. -2147483648

. . . 2147483647 [pps]

4 Maximum

positioning speed

5 Maximum

acceleration

The maximum speed used for positioning ramps.

1. . . 2147483647 [pps]

Maximum acceleration during ramp-up. 1.. .

2147483647 [pps2]

RWE

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Number Axis Parameter Description Range [Units] Access

6 Maximum

current

7 Standby

current

Motor current used when motor is running. The maximum value is 255 which means 100% of the maximum current of the module. The current can be adjusted in 32 steps:

0. . . 7 79. . . 87 160. . . 167 240. . . 247

8. . . 15 88. . . 95 168. . . 175 248. . . 255

16. . . 23 96. . . 103 176. . . 183

24. . . 31 104. . . 111 184. . . 191

32. . . 39 112. . . 119 192. . . 199

40. . . 47 120. . . 127 200. . . 207

48. . . 55 128. . . 135 208. . . 215

56. . . 63 136. . . 143 216. . . 223

64. . . 71 144. . . 151 224. . . 231

72. . . 79 152. . . 159 232. . . 239

The most important setting, as too high values can cause motor damage.

The current used when the motor is not running. The maximum value is 255 which means 100% of the maximum current of the module. This value should be as low as possible so that the motor can cool down when it is not moving. Please see also parameter 214.

0. . . 255 RW

8 Position

reached ﬂag

9 Home switch

state

10 Right limit

switch state

11 Left limit

switch state

12 Right limit

switch disable

13 Left limit

switch disable

This ﬂag is always set when target position and

0/1 R

actual position are equal.

The logical state of the home switch input. 0/1 R

The logical state of the right limit switch input. 0/1 R

The logical state of the left limit switch input. 0/1 R

0 - switch activated

0/1 RWE

1 - switch deactivated

0 - switch activated

0/1 RWE

1 - switch deactivated

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Number Axis Parameter Description Range [Units] Access

128 Ramp mode

130 Minimum

speed

140 Microstep

resolution

Automatically set when using ROR, ROL, MST and MVP. 0: Position mode. Steps are generated, when the parameters actual position and target position diﬀer. Trapezoidal speed ramps are provided. 1: Velocity mode. The motor will run continuously and the speed will be changed using the maximum acceleration parameter when the target speed gets changed.

Ramp generation for acceleration and deceleration begins and ends with this start and stop value. Default: 0.

Microstep resolutions per full step:

0 fullstep

1 halfstep

2 4 microsteps

3 8 microsteps

4 16 microsteps

5 32 microsteps

0/1 RW

0. . .

RWE 2147483647 [pps]

0. . . 8 RW

160 Step

interpolation enable

161 Double step

enable

162 Chopper blank

time

6 64 microsteps

7 128 microsteps

8 256 microsteps

Step interpolation is supported with 16 microstep setting only. With this option activated, each microstepstep will internally be executed as 16 1/256 microsteps. This causes the motor to run as smooth as with 256 microsteps resolution.

This only works for step/direction

mode.

0 - step interpolation oﬀ 1 - step interpolation on

With this option turned on, each microstep will be executed twice.

step/direction mode

This option only works for

. Every edge of the step signal then causes a microstep to be executed. 0 - double step oﬀ 1 - double step on

Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. Normally leave at the default value.

0/1 RW

0. . . 3 RW

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Number Axis Parameter Description Range [Units] Access

163 Constant TOﬀ

mode

164 Disable fast

decay comperator

165 Chopper

hysteresis end / fast decay time

166 Chopper

hysteresis start / sine wave oﬀset

167 Chopper oﬀ

time (TOﬀ)

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

See parameter 163. For ”classic const. oﬀ time” setting this parameter to ”1” will disable current comparator usage for termination of fast decay cycle.

See parameter 163. For ”spread cycle” chopper mode this parameter will set / return the hysteresis end setting (hysteresis end value after a number of decrements). For ”classic const. oﬀ time” chopper mode this parameter will set / return the fast decay time.

See parameter 163. For ”spread cycle” chopper mode this parameter will set / return the Hysteresis start setting (please note that this value is an oﬀset to the hysteresis end value). For ”classic const. oﬀ time” chopper mode this parameter will set / return the sine wave oﬀset.

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

0/1 RW

0. . . 15 RW

0. . . 8 RW

0. . . 15 RW

168 smartEnergy

current minimum (SEIMIN)

169 smartEnergy

current down step

170 smartEnergy

hysteresis

Oﬀ time setting for constant t Oﬀ chopper:

= 12 + 32 ∗ tOF F (Minimum is 64 clocks)

CLK

Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel.

Sets the lower motor current limit for coolStep operation by scaling the maximum current (see axis parameter 6) value. Minimum motor current:

0 -

of CS

2 1

1 -

of CS

Sets the number of stallGuard2 readings above the upper threshold necessary for each current decrement of the motor current. Number of stallGuard2 measurements per decrement: Scaling: 0. . . 3: 32, 8, 2, 1 0: slow decrement 3: fast decrement

Sets the distance between the lower and the upper threshold for stallGuard2 reading. Above the upper threshold the motor current becomes decreased. Hysteresis: ([AP 172] + 1) ∗ 32 Upper stallGuard threshold: ([AP172]+[AP170]+

1) ∗ 32

0/1 RW

0. . . 3 RW

0. . . 15 RW

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Number Axis Parameter Description Range [Units] Access

171 smart Energy

current up step

172 smart Energy

hysteresis start

173 stallGuard2

ﬁlter enable

174 stallGuard2

threshold

Sets the current increment step. The current becomes incremented for each measured stallGuard2 value below the lower threshold see smartEnergy hysteresis start). Current increment step size: Scaling: 0. . . 3: 1, 2, 4, 8 0: slow increment 3: fast increment / fast reaction to rising load

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

Enables the stallGuard2 ﬁlter for more precision of the measurement. If set, reduces the measurement frequency to one measurement per four fullsteps. In most cases it is expedient to set the ﬁltered mode before using coolStep. Use the standard mode for step loss detection. 0 - standard mode 1 - ﬁltered mode

This signed value controls stallGuard2 threshold level for stall output and sets the optimum measurement range for readout. A lower value gives a higher sensitivity. Zero is the starting value. A higher value makes stallGuard2 less sensitive and requires more torque to indicate a stall.

0. . . 3 RW

0..15 RW

0/1 RW

-64. . . +63 RW

175 Slope control

high side

176 Slope control

low side

177 Short

protection disable

Determines the slope of the motor driver outputs. Leave at default value unless diﬀerently recommended by Trinamic customer support. 0 - lowest slope 3 - fastest slope

Switches short to ground protection of the motor driver on or oﬀ. Leave at default value unless diﬀerently recommended by Trinamic customer support. 0 - Short to GND protection on 1 - Short to GND protection oﬀ

0. . . 3 RW

0/1 RW

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Number Axis Parameter Description Range [Units] Access

178

Short detection timer

Timer value for short circuit protection of the motor driver. Leave at default value unless differently recommended by Trinamic customer support. 0 - 3.2µs 1 - 1.6µs 2 - 1.2µs 3 - 0.8µs

179 Vsense Sense resistor voltage based current scaling.

0 - High current range: up to 1.4A RMS / 2A peak. 1 - Low current range: up to 0.7A RMS / 1A peak. Default value: 1. Please note: this parameter cannot be changed for hardware V1.2! The high current range is available for hardware V1.4 or higher only!

180 smartEnergy

actual current

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

0. . . 31: 1/32, 2/32, . . . 32/32

181 Stop on stall

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

182 smartEnergy

Above this speed coolStep becomes enabled. 0. . .

threshold speed

0. . . 3 RW

0/1 RW

0. . . 31 R

0. . .

RW 2147483647 [pps]

183 smartEnergy

slow run current

184 Random TOﬀ

mode

Sets the motor current which is used below the threshold speed. A value of 255 means 100% of the maximum current of the module.

0 - Chopper oﬀ time is ﬁxed 1 - Chopper oﬀ time is random

0. . . 255 RW

0/1 RW

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Number Axis Parameter Description Range [Units] Access

1 Search left stop switch only.

Search right stop switch, then search left stop switch.

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

Search left stop switch from both sides.

193 Reference

search mode

Search home switch in negative direction, reverse the direction when

1. . . 8 RW

left stop switch reached.

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

Search home switch in positive direction, ignore end switches.

194 Reference

search speed

195 Reference

switch speed

196 End switch

distance

197 Last reference

position

Search home switch in negative direction, ignore end switches.

Additional functions:

•

Add 128 to a mode value for inverting the home switch (can be used with mode

5. . . 8).

•

Add 64 to a mode for searching the right instead of the left reference switch (can be used with mode 1. . . 4).

This value speciﬁes the speed for roughly searching the reference switch.

This parameter speciﬁes the speed for searching the switching point. It should be slower than parameter 194.

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

This parameter contains the last position value before the position counter is set to zero during reference search.

0. . . 2147483647 [pps]

-2147483648 . . . 2147483647 [µsteps]

200 Boost current

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

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0. . . 255 RW

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Number Axis Parameter Description Range [Units] Access

204 Freewheeling

delay

206 Actual load

value

207 Extended error

ﬂags

208 TMC262 error

ﬂags

Time after which the power to the motor will be cut when its velocity has reached zero (a value of 0 (default setting) means never).

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

A combination of the following values:

1 stallGuard error

2 deviation error

These error ﬂags are cleared automatically when this parameter has been read out or when a motion command has been executed.

A combination of the following values:

Bit 0 stallGuard2 status

(1: threshold reached)

Bit 1 Overtemperature

(1: driver is shut down due to overtemperature)

Bit 2 Overtemperature pre-warning

(1: temperature threshold is exceeded)

Bit 3 Short to ground A

(1: short condition detected, driver currently shut down)

Bit 4 Short to ground B

(1: short condition detected, driver currently shut down)

Bit 5 Open load A

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

Bit 6 Open load B

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

Bit 7 Stand still

(1: no step impulse occurred on the step

input during the last 220clock cycles) Please also refer to the TMC262 Datasheet for more information.

0. . . 65535 [10ms]

0. . . 1023 R

0. . . 3 R

0. . . 255 R

RWE

209 Encoder

Encoder counter value. -2147483648

position

210 Encoder

prescaler

212 Maximum

encoder deviation

Prescaler for the encoder. Please see section

6.2.

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.

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. . . 2147483647 [µsteps]

See section

6.2

0 . . . 2147483647 [encoder steps]

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Number Axis Parameter Description Range [Units] Access

214 Power down

delay

215 Absolute

resolver value

254 Step/direction

mode

Standstill period before the motor current will be switched to standby current. The default value is 200 which means 2000ms.

Absolute position of the internal sensOstep encoder. The absolute position is within one motor rotation.

0 Normal mode. Step/dir mode oﬀ.

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

Automatic switching between hold and run current: after the ﬁrst step pulse the module automatically switches over to run current, and a conﬁgurable time after the last step pulse the module auto-

matically switches back to hold current. The ENABLE inputs on the step/dir connector do not have any functionality.

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

1. . . 65535

RWE

[10ms]

0. . . 1023 R

0. . . 5 RWE

Automatic current switching like (2), but the ENABLE inputs are used to switch the driver stages completely oﬀ or on.

Always use run current like (3), but the ENABLE pins are used to switch the driver stages completely oﬀ or on.

Table 15: All Axis Parameters of the TMCM-1021 Module

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5 Global Parameters

The following sections describe all global parameters that can be used with the SGP, GGP, AGP, STGP and RSGP commands. Global parameters are grouped into banks:

• Bank 0: Global conﬁguration of the module.

• Bank 1: Not used.

• Bank 2: TMCL user variables.

• Bank 3: TMCL interrupt conﬁguration.

5.1 Bank 0

Parameters with numbers from 64 on conﬁgure all settings that aﬀect the overall behaviour of a module. These are things like the serial address, the RS485 baud rate or the CAN bit rate (where appropriate). 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 automatically stored in the EEPROM.

Note

•

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

•

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

•

Some conﬁgurations of the interface (for example baud rates that are not supported by the PC) may leed to the fact that the module cannot be reached any more. In such a case please see the TMCM-1021 Hardware Manual on how to reset all parameters to factory default settings.

•

Some settings (especially interface bit rate settings) do not take eﬀect immediately. For those settings, power cycle the module after changing them to make the changes take eﬀect.

There are diﬀerent parameter access types, like read only or read/write. Table 16 shows the diﬀerent parameter access types used in the global parameter tables.

Meaning of the Letters in the Access Column

Access type Command Description

R GGP Parameter readable

W SGP, AGP Parameter writable

E STGP, RSGP Parameter can be stored in the EEPROM

A SGP Automatically stored in the EEPROM

Table 16: Meaning of the Letters in the Access Column

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All Global Parameters of the TMCM-1021 Module in Bank 0

Number Global Parameter Description Range [Units] Access

0 9600 Default

1 14400

2 19200

3 28800

65 RS485 baud rate

4 38400

0. . . 8 RWA

5 57600

6 76800

7 115200

8 230400

66 Serial address Module (target) address for RS485. 1. . . 255 RWA

67 ASCII Mode Conﬁgure the TMCL ASCII interface:

68 Serial heartbeat

Bit 0 0 - start up in binary (normal) mode

Bits 4 & 5 00 - Echo back each character

Serial heartbeat for RS485 interface. If this

1 - start up in ASCII mode

01 - Echo back complete command 10 - Do not send echo, only send command reply

0. . . 63 RWA

0. . . 65535 RWA time limit is up and no further command is received by the module the motor will be stopped. Setting this parameter to 0 (default) turns oﬀ the serial heartbeat function.

75 Telegram pause

time

Pause time before the reply via RS485 is sent. For use with older RS485 interfaces it

0. . . 255 RWA

is often necessary to set this parameter to

15 or more (e.g. RS485 adapters controlled

by the RTS pin). For CAN interface this parameter has no eﬀect!

76 Serial host

address

77 Auto start mode

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

0 - Do not start TMCL application after power up (default).

1 - Start TMCL application automatically af-

ter power up.

79 End switch

polarity

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0 - normal polarity

1 - reverse polarity

0. . . 255 RWA

0/1 RWA

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Number Global Parameter Description Range [Units] Access

81 TMCL code

protection

84 Coordinate

storage

85 Do not restore

user variables

87 Serial secondary

address

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

When switching oﬀ the protection

against disassembling (changing this parameter from 1 or 3 to 0 or 2, the program will be erased ﬁrst!

0 - coordinates are stored in RAM only (but can be copied explicitly between RAM and EEPROM)

1 - coordinates are always also stored in the

EEPROM

Determines if TMCL user variables are to be restored from the EEPROM automatically on startup. 0 - user variables are restored (default)

1 - user variables are not restored

Second module (target) address for RS485. Setting this parameter to 0 switches oﬀ the secondary address.

0/1/2/3 RWA

0/1 RWA

0. . . 255 RWA

90 Reverse shaft Reverse motor and encoder direction.

0 - normal direction (default)

1 - reverse direction

Reversing the motor direction only works for normal mode, not for step/direction mode.

128 TMCL application

status

0 - stop

1 - run

2 - step 3 - reset

129 Download mode 0 - normal mode

1 - download mode

130 TMCL program

counter

132 TMCL tick timer

Contains the address of the currently executed TMCL command.

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

133 Random number

Returns a random number. The seed value can be set by writing to this parameter.

0/1 RWA

0. . . 3 R

0/1 R

0. . . 2147483647

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Number Global Parameter Description Range [Units] Access

255 Suppress reply

The reply in direct mode will be suppressed

0/1 RW

when this parameter is set to 1. This pa-

rameter cannot be stored to EEPROM and

will be reset to 0 on startup. The reply will

not be suppressed for GAP, GGP and GIO commands.

Table 17: All Global Parameters of the TMCM-1021 Module in Bank 0

5.2 Bank 1

The global parameter bank 1 is normally not available. It may be used for customer speciﬁc extensions of the ﬁrmware. Together with user deﬁnable commands these variables form the interface between extensions of the ﬁrmware (written by Trinamic in C) and TMCL applications.

5.3 Bank 2

Bank 2 contains general purpose 32 bit variables for use in TMCL applications. They are located in RAM and the ﬁrst 56 variables can also be stored permanently in the EEPROM. After booting, their values are automatically restored to the RAM. Up to 256 user variables are available. Please see table 16 for an explanation of the diﬀerent parameter access types.

User Variables in Bank 2

Number Global Parameter Description Range [Units] Access

0. . . 55

56. . . 255

user variables #0. . . #55

user variables #56. . . #255

TMCL user variables

-2147483648 . . . 2147483647

RWE

Table 18: User Variables in Bank 2

5.4 Bank 3

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

<value>).

a higher priority.

Table 19 shows all interrupt parameters that can be set. Please see table 16 for an explanation of the parameter access types.

Number Global Parameter Description Range [Units] Access

0 Timer 0 period

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

Interrupt Parameters in Bank 3

Time between two interrupts

(ms)

0. . . 4294967295

[ms]

1 Timer 1 period

Time between two interrupts

(ms)

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0. . . 4294967295

[ms]

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Number Global Parameter Description Range [Units] Access

2 Timer 2 period

(ms)

27 Stop left 0 trigger

transition

Stop right 0 trigger transition

39 Input 0 trigger

transition

40 Input 1 trigger

transition

41 Input 2 trigger

transition

42 Input 3 trigger

transition

Time between two interrupts

0. . . 4294967295

[ms]

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

Table 19: Interrupt Parameters in Bank 3

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6 Module Speciﬁc Hints

This section contains some hints that are speciﬁc to the TMCM-1021 module.

6.1 Conversion between PPS, RPM and RPS

In order to convert between pps units and units like rounds per second (rps) or rounds per minute (rpm), one has to know the fullstep resolution of the motor (full steps per round) and the microstep resolution setting of the module (axis parameter #140, default setting is 256 microsteps per full step). So to convert from pps to rps, use the following formula:

= v

pps

· r

rps

microstep

· 60

To convert from rps to rpm, use:

With the following symbols:

• v

: velocity in rounds per second

rps

• v

: velocity in rounds per minute

rpm

rps

fullstep

rpm

• v

: velocity in pulses (microsteps) per second

pps

• r

: fullstep resolution of the motor (with most motors 200 (1.8°))

fullstep

microstep

: microstep setting of the module (default 256)

So, with a 200 fullsteps motor and a microstep setting of 256 (axis parameter #140 = 8), a velocity of 51200pps will result in 1rps (60rpm).

6.2 The sensOstep™ Encoder

The TMCM-1021 module oﬀers an integrated sensOstep encoder. This built-in encoder has a resolution of 1024 steps per rotation. Please consider the following hints when using the built-in encoder:

•

The encoder counter can be read by software and can be used to monitor the current position of the motor.

•

To read out or to change the position value of the encoder use axis parameter #209. To read out the position of the internal encoder use GAP 209, 0. The encoder position register can also be changed using command SAP 209, 0, <n>, with n = -2147483648 . . . 2147483647.

• Axis parameter #210 is used to change the encoder settings. This also includes the prescaler of the encoder. The prescaler is used to match motor resolution and encoder resolution.

•

The motor can be stopped automatically if motor position and encoder position diﬀer too much (deviation error). This can be set using axis parameter #212 (maximum deviation). Setting this parameter to 0 turns oﬀ this feature.

•

As the built-in encoder is a magnetic encoder, the absolute position value can also be read. Use GAP 215, 0 to read the absolute (single-turn) position value. This always is a value between 0 and 1023 (independent of the prescaler setting).

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6.2.1 Matching Encoder Resolution and Motor Resolution

When choosing a diﬀerent microstep resolution than the factory default setting, the encoder prescaler also has to be adapted so that functions using the built-in encoder still work properly. Table 20 shows which prescaler settings are to be used with which microstep resolution settings. The factory default setting is 256 microsteps and prescaler 50.

Internal Encoder Settings

Microstep Encoder

Resolution SAP command Prescaler SAP command

256 SAP 140, 0, 8 50 SAP 210, 0, 25600

128 SAP 140, 0, 7 25 SAP 210, 0, 12800

64 SAP 140, 0, 6 12.5 SAP 210, 0, 6400

32 SAP 140, 0, 5 6.25 SAP 210, 0, 3200

16 SAP 140, 0, 4 3.125 SAP 210, 0, 1600

8 SAP 140, 0, 3 1.5625 SAP 210, 0, 800

4 SAP 140, 0, 2 0.78125 SAP 210, 0, 400

2 SAP 140, 0, 1 0.390625 SAP 210, 0, 200

Table 20: Internal Encoder Settings

Other encoder prescalers than those shown in table 20 can also be used, but are mostly not needed for the internal encoder. The formula for the prescaler setting isp=

prescaler ·

512 where <p> is the value passed to axis parameter #210. Hence, a setting of SAP 210, 0, 512 would for example result in a prescaler of 1. The lower four bits of the <p> value must not be used for the prescaler setting as they are reserved for activating special encoder functions.

6.2.2 Special Encoder Functions

The only special function of the internal sensOstep™encoder is the clear-on-null function. This will clear the encoder position each time the encoder passes its absolute zero point. This can be useful for ﬁnding a reference position. To activate this function, add the value of 4 to the value passed to axis parameter #210.

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7 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 search algorithm. You will also ﬁnd basic information about stallGuard2™ and coolStep™ in this chapter.

7.1 Reference Search

The built-in reference search features switching point calibration and support for a home switch and/or one or two end switches. The internal operation is based on a state machine that can be started, stopped and monitored (instruction RFS, opcode 13). The settings of the automatic stop functions corresponding to the end switches (axis parameters 12 and 13) do not inﬂuence the reference search.

Notes:

•

Until the reference switch is found for the ﬁrst time, the searching speed set by axis parameter 194 is used.

•

After hitting the reference switch, the motor slowly moves until the switch is released. Finally the switch is re-entered in the other direction, setting the reference point to the center of the two switching points. The speed used for this calibration is deﬁned by axis parameter 195.

Axis parameter 193 deﬁnes the reference search mode to be used. Choose one of the reference search modes shown in table 21 and in the following subsections:

Reference Search Modes

Value Description

1 search left stop switch only

search right stop switch, then search left stop switch

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

4 search left stop switch from both sides

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

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

search home switch in positive direction, ignore end switches

search home switch in negative direction, ignore end switches

Table 21: Reference Search Modes

The drawings in the following subsections show how each reference search mode works. A linear stage with two end points and a moving slider is used as example.

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left limit / end / stop switch

start

stop

: reference search speed (axis parameter 194)

: reference switch speed (axis parameter 195)

left limit / end / stop switch

right limit / end / stop switch

start

stop

: reference search speed (axis parameter 194)

: reference switch speed (axis parameter 195)

93 / 109

7.1.1 Mode 1

Reference search mode 1 only searches the left end switch. Select this mode by setting axis parameter #193 to 1. Figure 3 illustrates this.

Add 64 to the mode number (i.e. set axis parameter #193 to 65) to search the right end switch instead of the left end switch.

Figure 3: Reference search Mode 1

7.1.2 Mode 2

Reference search mode 2 ﬁrst searches the right end switch and then the left end switch. The left end switch is then used as the zero point. Figure 4 illustrates this. Select this mode by setting axis parameter #193 to 2. After the reference search has ﬁnished, axis parameter #196 contains the distance between the two reference switches in microsteps.

Add 64 to the mode number (i.e. set axis parameter #193 to 66) to search the left end switch ﬁrst and then use the right end switch as the zero point.

Figure 4: Reference search Mode 2

7.1.3 Mode 3

Reference search mode 3 ﬁrst searches the right end switch and then the left end switch. The left end switch is then searched from both sides, to ﬁnd the middle of the left end switch. This is then used as the zero point. Figure 5 illustrates this. Select this mode by setting axis parameter #193 to 3. After the reference search has ﬁnished, axis parameter #196 contains the distance between the right end switch and the middle of the left end switch in microsteps.

Add 64 to the mode number (i.e. set axis parameter #193 to 67) to search the left end switch ﬁrst and then use the middle of the right end switch as the zero point.

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left limit / end / stop switch

right limit / end / stop switch

start

stop

: reference search speed (axis parameter 194)

: reference switch speed (axis parameter 195)

left limit / end / stop switch

stop

: reference search speed (axis parameter 194)

: reference switch speed (axis parameter 195)

start

94 / 109

Figure 5: Reference search Mode 3

7.1.4 Mode 4

Reference search mode 4 searches the left end switch only, but from both sides so that the middle of the switch will be found and used as the zero point. This is shown in ﬁgure 6.

Add 64 to the mode number (i.e. set axis parameter #193 to 68) to search the right end switch instead.

Figure 6: Reference search Mode 4

7.1.5 Mode 5

Refeerence search mode 5 searches the home switch in negative direction. The search direction will be reversed if the left limit switch is reached. This is shown in ﬁgure 7. Add 128 to the mode number (i.e. set axis parameter #193 to 129) to reverse the polarity of the home switch input.

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left limit / end / stop switch

start

stop

: reference search speed (axis parameter 194)

: reference switch speed (axis parameter 195)

Home

home switch

right limit / end / stop switch

: reference search speed (axis parameter 194)

: reference switch speed (axis parameter 195)

start

stop

home switch

95 / 109

Figure 7: Reference search Mode 5

7.1.6 Mode 6

Reference search mode 6 searches the home switch in positive direction. The search direction will be reversed if the right limit switch is reached. This is shown in ﬁgure 8. Add 128 to the mode number (i.e. set axis parameter #193 to 130) to reverse the polarity of the home switch input.

Figure 8: Reference search Mode 6

7.1.7 Mode 7

Reference search mode 7 searches the home switch in positive direction, ignoring the limit switch inputs. It is recommende mainly for use with a circular axis. The exact middle of the switch will be found and used as the zero point. Figure 9 illustrates this. Add 128 to the mode number (i.e. set axis parameter #193 to 131) to reverse the polarity of the home switch input.

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: reference search speed (axis parameter 194)

: reference switch speed (axis parameter 195)

start

stop

home switch

: reference search speed (axis parameter 194)

: reference switch speed (axis parameter 195)

start

stop

home switch

96 / 109

Figure 9: Reference search Mode 7

7.1.8 Mode 8

Reference search mode 8 searches the home switch in positive direction, ignoring the limit switch inputs. It is recommende mainly for use with a circular axis. The exact middle of the switch will be found and used as the zero point. Figure 10 illustrates this. Add 128 to the mode number (i.e. set axis parameter #193 to 132) to reverse the polarity of the home switch input.

Figure 10: Reference search Mode 8

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97 / 109

7.2 stallGuard2

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

Stall detection means that the motor will be stopped automatically when the load gets too high. This function is conﬁgured mainly using axis parameters #174 and #181.

Stall detection can for example be used for ﬁnding the reference point without the need for reference switches. A short routine written in TMCL is needed to use stallGuard for reference searching.

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Velocity

Time

214

coolStep™ area

area w ithout coolStep™

170

181

182

I 6

183

Current

123 Velocity and parameter

123 Current and parameter

123 Time parameter

183

I6/2*

* The lower threshold of the coolStep™ current can be adjusted up to I 6/4. Refer to parameter 168.

The current depends on the load of the motor.

123 stallGuard2™ parameter

98 / 109

7.3 coolStep

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

Figure 11 shows all the adjustment points for coolStep. It is necessary to identify and conﬁgure the thresholds for current (I6, I7 and I183) and velocity (V182). Furthermore the stallGuard2 feature has to be adjusted (SG170). It can also be enabled if needed (SG181).

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

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

Figure 11: coolStep Adjustment Points and Thresholds

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coolStep Adjustment Points and Thresholds

Number Axis Parameter Description

99 / 109

I6 Absolute maximum current

I7 Standby current

I168 smartEnergy current minimum

I169 smartEnergy current down step

The maximum value is 255. This value means 100% of the maximum current of the module. The current adjustment is within the range 0. . . 255 and can be adjusted in 32 steps (0. . . 255 divided by eight; e.g. step 0 =

0. . . 7, step 1 = 8. . . 15 and so on).

Too high values may cause motor damage!

The current limit two seconds after the motor has stopped.

Sets the lower motor current limit for coolStep operation by scaling the CS (Current Scale, see axis parameter 6) value. Minimum motor current: 0 - 1/2 of CS 1 - 1/4 of CS

I171 smartEnergy current up step

SG170 smartEnergy hysteresis

SG181 Stop on stall

V182 smartEnergy threshold speed

T214 Power down delay

Sets the current increment step. The current becomes incremented for each measured stallGuard2 value below the lower threshold (see smartEnergy hysteresis start). current increment step size: Scaling: 0. . . 3: 1, 2, 4, 8 0: slow increment 3: fast increment

Sets the distance between the lower and the upper threshold for stallGuard2 reading. Above the upper threshold the motor current becomes decreased.

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

Above this speed coolStep becomes enabled.

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

Table 22: coolStep Adjustment Points and Thresholds

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100 / 109

8 TMCL Programming Techniques and Structure

8.1 Initialization

The ﬁrst task in a TMCL program (like in other programs also) is to initialize all parameters where diﬀerent values than the default values are necessary. For this purpose, SAP and SGP commands are used.

8.2 Main Loop

Embedded systems normally use a main loop that runs inﬁnitely. This is also the case in a TMCL application that is running stand alone. Normally the auto start mode of the module should be turned on. After power up, the module then starts the TMCL program, which ﬁrst does all necessary initializations and then enters the main loop, which does all necessary tasks end never ends (only when the module is powered oﬀ or reset).

There are exceptions to this, e.g. when TMCL routines are called from a host in direct mode.

So most (but not all) stand alone TMCL programs look like this:

//Initialization

SAP 4, 0, 50000 //define maximum positioning speed

SAP 5, 0, 10000 //define maximum acceleration

MainLoop :

//do something , in this example just running between two positions

MVP ABS , 0, 5000 WAIT POS , 0 , 0

MVP ABS , 0, 0 WAIT POS , 0 , 0

JA MainLoop // end of the main loop => run infinitely

8.3 Using Symbolic Constants

To make your program better readable and understandable, symbolic constants should be taken for all important numerical values that are used in the program. The TMCL-IDE provides an include ﬁle with symbolic names for all important axis parameters and global parameters. Please consider the following example:

//Define some constants

#include TMCLParam .tmc

MaxSpeed = 50000 MaxAcc = 10000

Position0 = 0 Position1 = 500000

//Initialization

SAP APMaxPositioningSpeed , Motor0 , MaxSpeed SAP APMaxAcceleration , Motor0 , MaxAcc

MainLoop :

MVP ABS , Motor0 , Position1 WAIT POS , Motor0 , 0

MVP ABS , Motor0 , Position0

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Trinamic TMCM-1021 TMCL, TMCM-1211 TMCL, TMCL TMCM-6212, TMCM-3351, TMCM-3314 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Features

1.1 stallGuard2

1.2 coolStep

2 First Steps with TMCL

2.1 Basic Setup

2.2 Using the TMCL Direct Mode

2.3 Changing Axis Parameters

2.4 Testing with a simple TMCL Program

3 TMCL and the TMCL-IDE — An Introduction

3.1 Binary Command Format

3.1.1 Checksum Calculation

3.2 Reply Format

3.2.1 Status Codes

3.3 Standalone Applications

3.4 The ASCII Interface

3.4.1 Entering and leaving the ASCII Mode

3.4.2 Format of the Command Line

3.4.3 Format of a Reply

3.5 TMCL Command Overview

3.5.1 TMCL Commands

3.6 TMCL Commands by Subject

3.6.1 Motion Commands

3.6.2 Parameter Commands

3.6.3 Branch Commands

3.6.4 I/O Port Commands

3.6.5 Calculation Commands

3.6.6 Interrupt Processing Commands

3.7 Detailed TMCL Command Descriptions

3.7.1 ROR (Rotate Right)

3.7.2 ROL (Rotate Left)

3.7.3 MST (Motor Stop)

3.7.4 MVP (Move to Position)

3.7.5 SAP (Set Axis Parameter)

3.7.6 GAP (Get Axis Parameter)

3.7.7 STAP (Store Axis Parameter)

3.7.8 RSAP (Restore Axis Parameter)

3.7.9 SGP (Set Global Parameter)

3.7.10 GGP (Get Global Parameter)

3.7.11 STGP (Store Global Parameter)

3.7.12 RSGP (Restore Global Parameter)

3.7.13 RFS (Reference Search)

3.7.14 SIO (Set Output)

3.7.15 GIO (Get Input)

3.7.16 CALC (Calculate)

3.7.17 COMP (Compare)

3.7.18 JC (Jump conditional)

3.7.19 JA (Jump always)

3.7.20 CSUB (Call Subroutine)

3.7.21 RSUB (Return from Subroutine)

3.7.22 WAIT (Wait for an Event to occur)

3.7.23 STOP (Stop TMCL Program Execution – End of TMCL Program)

3.7.24 SCO (Set Coordinate)

3.7.25 GCO (Get Coordinate)

3.7.26 CCO (Capture Coordinate)

3.7.27 ACO (Accu to Coordinate)

3.7.28 CALCX (Calculate using the X Register)

3.7.29 AAP (Accu to Axis Parameter)

3.7.30 AGP (Accu to Global Parameter)

3.7.31 CLE (Clear Error Flags)

3.7.32 EI (Enable Interrupt)

3.7.33 DI (Disable Interrupt)

3.7.35 RETI (Return from Interrupt)

3.7.37 Request Target Position reached Event

3.7.38 TMCL Control Commands

4 Axis Parameters

5 Global Parameters

5.1 Bank 0

5.2 Bank 1

5.3 Bank 2

5.4 Bank 3

6.1 Conversion between PPS, RPM and RPS

6.2 The sensOstep™ Encoder

6.2.1 Matching Encoder Resolution and Motor Resolution

6.2.2 Special Encoder Functions

7 Hints and Tips

7.1 Reference Search