TMCM-1161 TMCL Firmware Manual

MODULE FOR STEPPER MOTORS
MODULE
Firmware Version V1.29
TMCL™ FIRMWARE MANUAL
+
+
TMCM-1161
1-Axis Stepper
Controller / Driver
Up to 2.8A RMS / 24V DC
USB, RS485, and RS232
+
UNIQUE FEATURES:
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
+
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
Table of Contents
1
2
Features........................................................................................................................................................................... 4
Putting the Module into Operation ........................................................................................................................ 6
2.1
Basic Set-Up .......................................................................................................................................................... 6
2.1.1 Connecting the module ............................................................................................................................... 6
2.1.2 Start the TMCL-IDE Software Development Environment ................................................................. 8
2.2
Using TMCL Direct Mode .................................................................................................................................... 9
2.2.1 Important Motor Settings ......................................................................................................................... 10
2.3
Testing with a Simple TMCL Program ......................................................................................................... 11
3
TMCL and the TMCL-IDE: Introduction ................................................................................................................. 12
3.1
Binary Command Format ................................................................................................................................ 12
3.1.1 Checksum Calculation ................................................................................................................................ 13
3.2
Reply Format ....................................................................................................................................................... 13
3.2.1 Status Codes ................................................................................................................................................. 14
3.3
Standalone Applications .................................................................................................................................. 14
3.4
TMCL Command Overview .............................................................................................................................. 15
3.4.1 TMCL Commands ......................................................................................................................................... 15
3.4.2 Commands Listed According to Subject Area .................................................................................... 16
3.5
Commands ........................................................................................................................................................... 20
3.5.1 ROR (rotate right) ........................................................................................................................................ 20
3.5.2 ROL (rotate left) ........................................................................................................................................... 21
3.5.3 MST (motor stop)......................................................................................................................................... 22
3.5.4 MVP (move to position) ............................................................................................................................ 23
3.5.5 SAP (set axis parameter) ........................................................................................................................... 24
3.5.6 GAP (get axis parameter) .......................................................................................................................... 25
3.5.7 STAP (store axis parameter) ..................................................................................................................... 26
3.5.8 RSAP (restore axis parameter) ................................................................................................................. 27
3.5.9 SGP (set global parameter) ...................................................................................................................... 28
3.5.10 GGP (get global parameter)...................................................................................................................... 29
3.5.11 STGP (store global parameter) ................................................................................................................ 30
3.5.12 RSGP (restore global parameter) ............................................................................................................ 31
3.5.13 RFS (reference search) ................................................................................................................................ 32
3.5.14 SIO (set input / output) ............................................................................................................................. 33
3.5.15 GIO (get input /output) ............................................................................................................................. 35
3.5.16 CALC (calculate) ............................................................................................................................................ 37
3.5.17 COMP (compare)........................................................................................................................................... 38
3.5.18 JC (jump conditional) ................................................................................................................................. 39
3.5.19 JA (jump always) ......................................................................................................................................... 40
3.5.20 CSUB (call subroutine) ............................................................................................................................... 41
3.5.21 RSUB (return from subroutine) ................................................................................................................ 42
3.5.22 WAIT (wait for an event to occur) ......................................................................................................... 43
3.5.23 STOP (stop TMCL program execution) ................................................................................................... 44
3.5.24 CALCX (calculate using the X register) .................................................................................................. 45
3.5.25 AAP (accumulator to axis parameter) .................................................................................................... 46
3.5.26 AGP (accumulator to global parameter) ............................................................................................... 47
3.5.27 CLE (clear error flags) ................................................................................................................................. 48
3.5.28 VECT (set interrupt vector) ........................................................................................................................ 49
3.5.29 EI (enable interrupt) ................................................................................................................................... 50
3.5.30 DI (disable interrupt) .................................................................................................................................. 51
3.5.31 RETI (return from interrupt) ..................................................................................................................... 52
3.5.32 Customer specific TMCL command extension (UF0… UF7/user function) .................................... 53
3.5.33 Request target position reached event ................................................................................................ 53
3.5.34 TMCL Control Functions ............................................................................................................................. 54
4
Axis parameters .......................................................................................................................................................... 56
4.1
stallGuard2 ........................................................................................................................................................... 63
4.2
coolStep Related Axis Parameters ................................................................................................................ 63
5
Global parameters ...................................................................................................................................................... 65
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TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
6
7
8
9
5.1
Bank 0 ................................................................................................................................................................... 65
5.2
Bank 1 ................................................................................................................................................................... 67
5.3
Bank 2 ................................................................................................................................................................... 67
5.4
Bank 3 ................................................................................................................................................................... 68
Hints and Tips ............................................................................................................................................................. 69
6.1
Reference Search ............................................................................................................................................... 69
6.2
Changing the Prescaler Value of an Encoder ............................................................................................ 72
6.3
Using the RS485 Interface .............................................................................................................................. 72
Life Support Policy ..................................................................................................................................................... 73
Revision History .......................................................................................................................................................... 74
8.1
Firmware Revision ............................................................................................................................................ 74
8.2
Document Revision ........................................................................................................................................... 74
References .................................................................................................................................................................... 75
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TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
1 Features
The TMCM-1161 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 board can be mounted on the back of NEMA23 (57mm flange size) and
NEMA24 (60mm flange size) stepper motors and has been designed for coil currents up to 2.8A RMS and
24V DC supply voltage. It offers TRINAMICs sensOstep™ encoder. With its high energy efficiency from the
coolStep™ technology cost for power consumption is kept down. The TMCL™ firmware allows for both,
standalone operation and direct mode.
MAIN CHARACTERISTICS
Motion controller
Motion profile calculation in real-time
On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
High performance microcontroller for overall system control and serial communication protocol
handling
Bipolar stepper motor driver
Up to 256 microsteps per full step
High-efficient operation, low power dissipation
Dynamic current control
Integrated protection
stallGuard2 feature for stall detection
coolStep feature for reduced power consumption and heat dissipation
Encoder
sensOstep magnetic encoder (max. 1024 positions per rotation) e.g. for step-loss detection under all
operating conditions and positioning supervision
Interfaces
inputs for stop switches (left and right) and home switch
1 analog input
2 general purpose outputs (open collector with freewheeling diodes)
USB, RS232, and RS485 communication interfaces
Software
TMCL™: standalone operation or remote controlled operation,
program memory (non volatile) for up to 2048 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
Supply voltage: +24V DC nominal (10… 30V DC)
Motor current: up to 2.8A RMS (programmable)
Refer to separate Hardware Manual, too.
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TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
5
TRINAMICS UNIQUE FEATURES – EASY TO USE WITH TMCL
stallGuard2™
stallGuard2 is a high-precision sensorless load measurement using the back EMF on the
coils. It can be used for stall detection as well as other uses at loads below those which
stall the motor. The stallGuard2 measurement value changes linearly over a wide range of
load, velocity, and current settings. At maximum motor load, the value goes to zero or
near to zero. This is the most energy-efficient point of operation for the motor.
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 1.1 stallGuard2 load measurement SG as a function of load
coolStep™
coolStep is a load-adaptive automatic current scaling based on the load measurement via
stallGuard2 adapting the required current to the load. Energy consumption can be reduced
by as much as 75%. coolStep allows substantial energy savings, especially for motors
which see varying loads or operate at a high duty cycle. Because a stepper motor
application needs to work with a torque reserve of 30% to 50%, even a constant-load
application allows significant energy savings because coolStep automatically enables
torque reserve when required. Reducing power consumption keeps the system cooler,
increases motor life, and allows reducing cost.
0,9
Efficiency with coolStep
0,8
Efficiency with 50% torque reserve
0,7
0,6
0,5
Efficiency
0,4
0,3
0,2
0,1
0
0
50
100
150
200
250
300
350
Velocity [RPM]
Figure 1.2 Energy efficiency example with coolStep
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TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
2 Putting the Module into Operation
Here you can find basic information for putting your TMCM-1161 into operation. If you are already common
with TRINAMICs modules you may skip this chapter.
The things you need:
TMCM-1161 with fitting motor
Interface (RS232/RS485/USB) suitable to your module with cables
Nominal supply voltage +24V DC for your module
TMCL-IDE program and PC
PRECAUTIONS
Do not connect or disconnect the TMCM-1161 while powered!
Do not connect or disconnect the motor while powered!
Do not exceed the maximum power supply voltage of 30V DC!
Note, that the module is not protected against reverse polarity!
START WITH POWER SUPPLY OFF!
2.1 Basic Set-Up
The following paragraph will guide you through the steps of connecting the unit and making first
movements with the motor.
2.1.1
Connecting the module
USB
Converter
e.g. USB-2-485
B
US
RS232
Serial USB
interface
In/Out
RS485
Pin 4 RS485Pin 3 RS485+
Pin 1 GND
USB
RS232
Pin 6 RS232_RXD
Pin 5 RS232_TXD
1
Interface
RS48
5
1
1
Power supply
Pin 2 10… 30V DC
Pin 1 GND
Note, that the
GND pin has to
be used for the
power supply
and for the RS485
interface, too.
Motor
1
Pin
Pin
Pin
Pin
Stepper
motor
Figure 2.1: Starting up
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1
2
3
4
A1
A2
A3
A4
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TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
1.
7
Connect power supply and choose your interface
a) Connect RS232 or RS485 and power supply
Pin
1
2
3
4
5
6
Label
GND
VCC
RS485A+
RS485BRS232_TxD
RS232_RxD
Description
Module and signal ground
10… 30V DC power supply / nom. 24V DC
RS485 non-inverted bus signal
RS485 inverted bus signal
RS232 transmit data from module
RS232 receive data to module
b) Connect USB interface (as alternative to RS232 and RS485; use a normal USB cable)
Download and install the file TMCM-1161.inf (www.trinamic.com).
Pin
1
2
3
4
5
2.
3.
Label
VBUS
DD+
ID
GND
Description
+5V power
Data –
Data +
Not connected
ground
Connect motor
Pin
Label
Description
1
2
3
4
OA1
OA2
OB1
OB2
Motor
Motor
Motor
Motor
coil
coil
coil
coil
A
A
B
B
Connect In/Out connector
If you like to work with the GPIOs, switches or the step/dir interface, use the In/Out connector.
Pin
1
2
3
4
5
Label
GND
VCC
OUT_0
OUT_1
AIN_0
6
STOP_L/
STEP/
IN_1
7
STOP_R/
DIR/
IN_2
8
HOME/
ENABLE/
IN_3
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Description
Module ground (system and signal ground)
10… 30V DC power supply / nom. 24V DC
General purpose output, open collector
General purpose output, open collector
Analog input, 0… 10V (analog to digital converter range)
Digital input, +24V compatible, programmable internal pull-up.*
Functionality can be selected in software:
a) Left stop switch input (connected to REF1 input of TMC429 motion
controller)
b) Step signal (connected to step input of TMC262 stepper driver)
c) General purpose input (connected to processor)
Digital input +24V compatible, programmable internal pull-up.*
Functionality can be selected in software:
a) Right stop switch input (connected to REFR1 input of TMC429 motion
controller)
b) Direction signal (connected to direction input of TMC262 stepper driver)
c) General purpose input (connected to processor)
Digital input +24V compatible, programmable internal pull-up.*
Functionality can be chosen in software:
a) Home switch input (connected to processor)
b) Enable signal (connected to processor)
c) General purpose input (connected to processor)
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
4.
Switch ON the power supply
Turn power ON. The green LED for power lights up slowly and the motor is powered but in
standstill now.
If this does not occur, switch power OFF and check your connections as well as the power
supply.
2.1.2
Start the TMCL-IDE Software Development Environment
The TMCL-IDE is available on www.trinamic.com.
Installing the TMCL-IDE:
Make sure the COM port you intend to use is not blocked by another program.
Open TMCL-IDE by clicking TMCL.exe.
Choose Setup and Options and thereafter the Connection tab.
Choose COM port and type with the parameters shown in Figure 2.2 (baud rate 9600). Click OK.
USB interface
If the file TMCM-1161.inf is installed correctly, the module will be identified automatically.
Figure 2.2 Setup dialogue and connection tab of the TMCL-IDE.
Please refer to the TMCL-IDE User Manual for more information (see www.TRINAMIC.com).
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TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
2.2 Using TMCL Direct Mode
1.
Start TMCL Direct Mode.
Direct Mode


2.
If the communication is established the TMCM-1161 is automatically detected. If the module is not
detected, please check all points above (cables, interface, power supply, COM port, baud rate).
3.
Issue a command by choosing Instruction, Type (if necessary), Motor, and Value and click
Execute to send it to the module.
Examples:
ROR rotate right, motor 0, value 500
MST motor stop, motor 0
-> Click Execute. The first motor is rotating now.
-> Click Execute. The first motor stops now.
Top right of the TMCL Direct Mode window is the button Copy to editor. Click here to copy the chosen
command and create your own TMCL program. The command will be shown immediately on the editor.
NOTE
Please mind chapter 3 (programming techniques) of the TMCL-IDE User Manual on www.trinamic.com.
Here you will find information about creating general structures of TMCL programs. In particular
initialization, main loop, symbolic constants, variables, and subroutines are described there. Further you
can learn how to mix direct mode and stand alone mode.
Chapter 4 of this manual (axis parameters) includes a diagram which points out the coolStep related axis
parameters and their functions. This can help you configuring your module to meet your needs.
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TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
2.2.1
10
Important Motor Settings
There are some axis parameters which have to be adjusted right in the beginning after installing your
module. Please set the upper limiting values for the speed (axis parameter 4), the acceleration (axis
parameter 5), and the current (axis parameter 6). Further set the standby current (axis parameter 7) and
choose your microstep resolution with axis parameter 140. Please use the SAP (Set Axis Parameter)
command for adjusting these values. The SAP command is described in paragraph 3.5.5. You can use the
TMCM-IDE direct mode for easily configuring your module.
ATTENTION
The most important motor setting is the absolute maximum motor current setting, since too high values
might cause motor damage!
IMPORTANT AXIS PARAMETERS FOR MOTOR SETTING
Number Axis Parameter Description
4
Maximum
Should not exceed the physically highest possible
positioning
value. Adjust the pulse divisor (axis parameter 154), if
speed
the speed value is very low (<50) or above the upper
limit.
5
Maximum
The limit for acceleration (and deceleration). Changing
acceleration
this parameter requires re-calculation of the
acceleration factor (no. 146) and the acceleration
divisor (no. 137), which is done automatically. See
TMC 429 datasheet for calculation of physical units.
6
Absolute max.
The maximum value is 255. This value means 100% of
current
the maximum current of the module. The current
(CS / Current
adjustment is within the range 0… 255 and can be
Scale)
adjusted in 32 steps.
0… 7
8… 15
16… 23
24… 31
32… 39
40… 47
48… 55
56… 63
64… 71
72… 79
7
Standby current
79…87
88… 95
96… 103
104… 111
112… 119
120… 127
128… 135
136… 143
144… 151
152… 159
160…
168…
176…
184…
192…
200…
208…
216…
224…
232…
167
175
183
191
199
207
215
223
231
239
Range [Unit]
0… 2047
[
16MHz 𝑝𝑢𝑙𝑠𝑒_𝑑𝑖𝑣𝑖𝑠𝑜𝑟 μsteps
∙2
]
65536
sec
0… 2047*1
0… 255
𝐼𝑝𝑒𝑎𝑘 =< 𝑣𝑎𝑙𝑢𝑒 >×
4𝐴
255
𝐼𝑅𝑀𝑆 =< 𝑣𝑎𝑙𝑢𝑒 >×
2.8𝐴
255
240… 247
248… 255
The most important motor setting, since too high
values might cause motor damage!
The current limit two seconds after the motor has 0… 255
stopped.
𝐼𝑝𝑒𝑎𝑘 =< 𝑣𝑎𝑙𝑢𝑒 >×
𝐼𝑅𝑀𝑆 =< 𝑣𝑎𝑙𝑢𝑒 >×
140
Microstep
resolution
*1 Unit of acceleration:
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0
1
2
3
4
5
6
7
8
full step
half step
4 microsteps
8 microsteps
16 microsteps
32 microsteps
64 microsteps
128 microsteps
256 microsteps
0… 8
16𝑀𝐻𝑧 2
microsteps
536870912∙2𝑝𝑢𝑙𝑠_𝑑𝑖𝑣𝑖𝑠𝑜𝑟+𝑟𝑎𝑚𝑝_𝑑𝑖𝑣𝑖𝑠𝑜𝑟
sec2
4𝐴
255
2.8𝐴
255
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
2.3 Testing with a Simple TMCL Program
Type in the following program:
Loop:
ROL 0, 500
WAIT TICKS, 0, 500
MST 0
ROR 0, 500
WAIT TICKS, 0, 500
MST 0
//Rotate motor 0 with speed 500
SAP 4, 0, 500
SAP 5, 0, 50
MVP ABS, 0, 10000
WAIT POS, 0, 0
MVP ABS, 0, -10000
WAIT POS, 0, 0
JA Loop
//Set max. Velocity
//Set max. Acceleration
//Move to Position 10000
//Wait until position reached
//Move to Position -10000
//Wait until position reached
//Infinite Loop
//Rotate motor 0 with 500
Assemble
Stop
Download
1.
2.
3.
4.
Run
Click the Assemble icon to convert the TMCL into machine code.
Then download the program to the TMCM-1161 module by clicking the Download icon.
Press icon Run. The desired program will be executed.
Click the Stop button to stop the program.
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TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
12
3 TMCL and the TMCL-IDE: Introduction
As with most TRINAMIC modules the software running on the microprocessor of the TMCM-1161 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-1161 supports TMCL direct mode (binary commands) and standalone TMCL program execution.
You can store up to 2048 TMCL instructions on it.
In direct mode and most cases the TMCL communication over RS485, RS232, or 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 TMCL-1161. The TMCL interpreter on the module will then interpret this command,
do the initialization of the motion controller, read inputs and write outputs or whatever is necessary
according to the specified command. As soon as this step has been done, the module will send a reply
back over RS485/RS232/USB to the bus master. Only then should the master transfer the next command.
Normally, the module will just switch to transmission and occupy the bus for a reply, otherwise it will stay
in receive mode. It will not send any data over the interface without receiving a command first. This way,
any collision on the bus will be avoided when there are more than two nodes connected to a single bus.
The Trinamic Motion Control Language [TMCL] provides a set of structured motion control commands.
Every motion control command can be given by a host computer or can be stored in an EEPROM on the
TMCM module to form programs that run standalone on the module. For this purpose there are not only
motion control commands but also commands to control the program structure (like conditional jumps,
compare and calculating).
Every command has a binary representation and a mnemonic. The binary format is used to send
commands from the host to a module in direct mode, whereas the mnemonic format is used for easy
usage of the commands when developing standalone TMCL applications using the TMCL-IDE (IDE means
Integrated Development Environment).
There is also a set of configuration variables for the axis and for global parameters which allow individual
configuration of nearly every function of a module. This manual gives a detailed description of all TMCL
commands and their usage.
3.1 Binary Command Format
Every command has a mnemonic and a binary representation. When commands are sent from a host to a
module, the binary format has to be used. Every command consists of a one-byte command field, a onebyte type field, a one-byte motor/bank field and a four-byte value field. So the binary representation of a
command always has seven bytes. When a command is to be sent via RS232, RS485 or USB interface, it
has to be enclosed by an address byte at the beginning and a checksum byte at the end. In this case it
consists of nine bytes.
The binary command format for RS232/RS485/USB is as follows:
Bytes
1
1
1
1
4
1
Meaning
Module address
Command number
Type number
Motor or Bank number
Value (MSB first!)
Checksum
The checksum is calculated by adding up all the other bytes using an 8-bit addition.
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TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
3.1.1
13
Checksum Calculation
As mentioned above, the checksum is calculated by adding up all bytes (including the module address
byte) using 8-bit addition. Here are two examples to show how to do this:
in C:
unsigned char i, Checksum;
unsigned char Command[9];
//Set the “Command” array to the desired command
Checksum = Command[0];
for(i=1; i<8; i++)
Checksum+=Command[i];
Command[8]=Checksum; //insert checksum as last byte of the command
//Now, send it to the module
in Delphi:
var
i, Checksum: byte;
Command: array[0..8] of byte;
//Set the “Command” array to the desired command
//Calculate the Checksum:
Checksum:=Command[0];
for i:=1 to 7 do Checksum:=Checksum+Command[i];
Command[8]:=Checksum;
//Now, send the “Command” array (9 bytes) to the module
3.2 Reply Format
Every time a command has been sent to a module, the module sends a reply. The reply format for
RS485/RS232/USB is as follows:
Bytes
1
1
1
1
4
1
Meaning
Reply address
Module address
Status (e.g. 100 means no error)
Command number
Value (MSB first!)
Checksum
The checksum is also calculated by adding up all the other bytes using an 8-bit addition.
Do not send the next command before you have received the reply!
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TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
3.2.1
14
Status Codes
The reply contains a status code. The status code can have one of the following values:
Code
100
101
1
2
3
4
5
6
Meaning
Successfully executed, no error
Command loaded into TMCL
program EEPROM
Wrong checksum
Invalid command
Wrong type
Invalid value
Configuration EEPROM locked
Command not available
3.3 Standalone Applications
The module is equipped with a TMCL memory for storing TMCL applications. You can use 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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TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
15
3.4 TMCL Command Overview
In this section a short overview of the TMCL commands is given.
3.4.1
TMCL Commands
Command
ROR
ROL
MST
MVP
Number
1
2
3
4
SAP
5
Parameter
<motor number>, <velocity>
<motor number>, <velocity>
<motor number>
ABS|REL|COORD, <motor number>,
<position|offset>
<parameter>, <motor number>, <value>
GAP
6
<parameter>, <motor number>
STAP
7
<parameter>, <motor number>
RSAP
SGP
8
9
<parameter>, <motor number>
<parameter>, <bank number>, value
GGP
10
<parameter>, <bank number>
STGP
11
<parameter>, <bank number>
RSGP
12
<parameter>, <bank number>
RFS
SIO
GIO
CALC
COMP
JC
JA
CSUB
RSUB
EI
DI
WAIT
STOP
SCO
13
14
15
19
20
21
22
23
24
25
26
27
28
30
START|STOP|STATUS, <motor number>
<port number>, <bank number>, <value>
<port number>, <bank number>
<operation>, <value>
<value>
<condition>, <jump address>
<jump address>
<subroutine address>
GCO
CCO
CALCX
AAP
AGP
VECT
RETI
ACO
31
32
33
34
35
37
38
39
www.trinamic.com
<interrupt number>
<interrupt number>
<condition>, <motor number>, <ticks>
<coordinate number>, <motor number>,
<position>
<coordinate number>, <motor number>
<coordinate number>, <motor number>
<operation>
<parameter>, <motor number>
<parameter>, <bank number>
<interrupt number>, <label>
<coordinate number>, <motor number>
Description
Rotate right with specified velocity
Rotate left with specified velocity
Stop motor movement
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 permanently (non
volatile)
Restore axis parameter
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
variable only)
Reference search
Set digital output to specified value
Get value of analogue/digital input
Process accumulator & value
Compare accumulator <-> value
Jump conditional
Jump absolute
Call subroutine
Return from subroutine
Enable interrupt
Disable interrupt
Wait with further program execution
Stop program execution
Set coordinate
Get coordinate
Capture coordinate
Process accumulator & X-register
Accumulator to axis parameter
Accumulator to global parameter
Set interrupt vector
Return from interrupt
Accu to coordinate
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
3.4.2
16
Commands Listed According to Subject Area
3.4.2.1 Motion Commands
These commands control the motion of the motor. They are the most important commands and can be
used in direct mode or in standalone mode.
Mnemonic
ROL
ROR
MVP
MST
RFS
SCO
CCO
GCO
Command number
2
1
4
3
13
30
32
31
Meaning
Rotate left
Rotate right
Move to position
Motor stop
Reference search
Store coordinate
Capture coordinate
Get coordinate
3.4.2.2 Parameter Commands
These commands are used to set, read and store axis parameters or global parameters. Axis parameters
can be set independently for each axis, whereas global parameters control the behavior of the module
itself. These commands can also be used in direct mode and in standalone mode.
Mnemonic
SAP
GAP
STAP
RSAP
SGP
GGP
STGP
RSGP
Command number
5
6
7
8
9
10
11
12
Meaning
Set axis parameter
Get axis parameter
Store axis parameter into EEPROM
Restore axis parameter from EEPROM
Set global parameter
Get global parameter
Store global parameter into EEPROM
Restore global parameter from EEPROM
3.4.2.3 Control Commands
These commands are used to control the program flow (loops, conditions, jumps etc.). It does not make
sense to use them in direct mode. They are intended for standalone mode only.
Mnemonic
JA
JC
COMP
Command number
22
21
20
CSUB
RSUB
WAIT
STOP
23
24
27
28
Meaning
Jump always
Jump conditional
Compare accumulator with
value
Call subroutine
Return from subroutine
Wait for a specified event
End of a TMCL™ program
constant
3.4.2.4 I/O Port Commands
These commands control the external I/O ports and can be used in direct mode and in standalone mode.
Mnemonic
SIO
GIO
Command number
14
15
www.trinamic.com
Meaning
Set output
Get input
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
17
3.4.2.5 Calculation Commands
These commands are intended to be used for calculations within TMCL™ applications. Although they could
also be used in direct mode it does not make much sense to do so.
Mnemonic
CALC
Command number
19
CALCX
33
AAP
AGP
ACO
34
35
39
Meaning
Calculate using the accumulator and a
constant value
Calculate using the accumulator and the
X register
Copy accumulator to an axis parameter
Copy accumulator to a global parameter
Copy accu to coordinate
For calculating purposes there is an accumulator (or accu or A register) and an X register. When executed
in a TMCL program (in standalone mode), all TMCL commands that read a value store the result in the
accumulator. The X register can be used as an additional memory when doing calculations. It can be
loaded from the accumulator.
When a command that reads a value is executed in direct mode the accumulator will not be affected. This
means that while a TMCL™ program is running on the module (standalone mode), a host can still send
commands like GAP and GGP to the module (e.g. to query the actual position of the motor) without
affecting the flow of the TMCL™ program running on the module.
3.4.2.6 Interrupt Commands
Due to some customer requests, interrupt processing has been introduced in the TMCL™ firmware for ARM
based modules.
Mnemonic
EI
DI
VECT
RETI
3.4.2.6.1
Command number
25
26
37
38
Meaning
Enable interrupt
Disable interrupt
Set interrupt vector
Return from interrupt
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 included file Interrupts.inc for
symbolic constants of the interrupt numbers.
3.4.2.6.2
Interrupt Processing
When an interrupt occurs and this interrupt is enabled and a valid interrupt vector has been defined for
that interrupt, the normal TMCL program flow will be interrupted and the interrupt handling routine will
be called. Before an interrupt handling routine gets called, the context of the normal program will be
saved automatically (i.e. accumulator register, X register, TMCL flags).
There is no interrupt nesting, i.e. all other interrupts are disabled while an interrupt handling routine is
being executed.
On return from an interrupt handling routine, the context of the normal program will automatically be
restored and the execution of the normal program will be continued.
www.trinamic.com
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
3.4.2.6.3
18
Interrupt Vectors
The following table shows all interrupt vectors that can be used.
Interrupt number
0
1
2
3
15
21
27
28
39
40
41
42
255
3.4.2.6.4
Interrupt type
Timer 0
Timer 1
Timer 2
Target position reached
stallGuard2
Deviation
Left stop switch
Right stop switch
Input change 0
Input change 1
Input change 2
Input change 3
Global interrupts
Further Configuration of Interrupts
Some interrupts need further configuration (e.g. the timer interval of a timer interrupt). This can be done
using SGP commands with parameter bank 3 (SGP <type>, 3, <value>). Please refer to the SGP command
(paragraph 3.5.9) for further information about that.
3.4.2.6.5
Using Interrupts in TMCL
For using an interrupt proceed as follows:
-
Define an interrupt handling routine using the VECT command.
If necessary, configure the interrupt using an SGP <type>, 3, <value> command.
Enable the interrupt using an EI <interrupt> command.
Globally enable interrupts using an EI 255 command.
An interrupt handling routine must always end with a RETI command
The following example shows the use of a timer interrupt:
VECT 0, Timer0Irq
SGP 0, 3, 1000
EI 0
EI 255
//define the interrupt vector
//configure the interrupt: set its period to 1000ms
//enable this interrupt
//globally switch on interrupt processing
//Main program: toggles output 3, using a WAIT command for the delay
Loop:
SIO 3, 2, 1
WAIT TICKS, 0, 50
SIO 3, 2, 0
WAIT TICKS, 0, 50
JA Loop
//Here is the interrupt handling routine
Timer0Irq:
GIO 0, 2
//check if OUT0 is high
JC NZ, Out0Off
//jump if not
SIO 0, 2, 1
//switch OUT0 high
RETI
//end of interrupt
Out0Off:
SIO 0, 2, 0
//switch OUT0 low
RETI
//end of interrupt
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TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
19
In the example above, the interrupt numbers are used directly. To make the program better readable use
the provided include file Interrupts.inc. This file defines symbolic constants for all interrupt numbers which
can be used in all interrupt commands. The beginning of the program above then looks like the following:
#include Interrupts.inc
VECT TI_TIMER0, Timer0Irq
SGP TI_TIMER0, 3, 1000
EI TI_TIMER0
EI TI_GLOBAL
Please also take a look at the other example programs.
www.trinamic.com
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
20
3.5 Commands
The module specific commands are explained in more detail on the following pages. They are listed
according to their command number.
3.5.1
ROR (rotate right)
With this command the motor will be instructed to rotate with a specified velocity in right direction
(increasing the position counter).
Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter
#0 (target velocity).
The module is based on the TMC429 stepper motor controller and the TMC262 power driver. This makes
possible choosing a velocity between 0 and 2047.
Related commands: ROL, MST, SAP, GAP
Mnemonic: ROR 0, <velocity>
Binary representation:
INSTRUCTION NO.
1
TYPE
(don't care)
MOT/BANK
0*
VALUE
<velocity>
0… 2047
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Rotate right, velocity = 350
Mnemonic: ROR 0, 350
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$01
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$01
7
Operand
Byte0
$5e
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
3.5.2
21
ROL (rotate left)
With this command the motor will be instructed to rotate with a specified velocity (opposite direction
compared to ROR, decreasing the position counter).
Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter
#0 (target velocity).
The module is based on the TMC429 stepper motor controller and the TMC262 power driver. This makes
possible choosing a velocity between 0 and 2047.
Related commands: ROR, MST, SAP, GAP
Mnemonic: ROL 0, <velocity>
Binary representation:
INSTRUCTION NO.
2
TYPE
(don't care)
MOT/BANK
0*
VALUE
<velocity>
0… 2047
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Rotate left, velocity = 1200
Mnemonic: ROL 0, 1200
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$02
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$04
7
Operand
Byte0
$b0
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
3.5.3
22
MST (motor stop)
With this command the motor will be instructed to stop with a soft stop.
Internal function: The axis parameter target velocity is set to zero.
Related commands: ROL, ROR, SAP, GAP
Mnemonic: MST 0
Binary representation:
INSTRUCTION NO.
3
TYPE
MOT/BANK
VALUE
(don't care)
0*
(don't care)
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Stop motor
Mnemonic: MST 0
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$03
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
3.5.4
23
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 are defined by axis parameters #4 and
#5.
The range of the MVP command is 32 bit signed (−2.147.483.648… +2.147.483.647). Positioning can be
interrupted using MST, ROL or ROR commands.
Two operation types are available:
Moving to an absolute position in the range from −2.147.483.648… +2.147.483.647 (-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.
Please note, that the distance between the actual position and the new one should not be more than
231-1 microsteps. Otherwise the motor will run in the opposite direction in order to take the shorter
distance.
Internal function: A new position value is transferred to the axis parameter #2 target position”.
Related commands: SAP, GAP, and MST
Mnemonic: MVP <ABS|REL>, 0, <position|offset| number>
Binary representation:
INSTRUCTION NO.
4
TYPE
0 ABS – absolute
MOT/BANK
0*
VALUE
<position>
0
<offset>
1 REL – relative
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
100 – OK
VALUE
(don't care)
Example:
Move motor to (absolute) position 90000
Mnemonic: MVP ABS, 0, 9000
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
1
Instruction
Number
$04
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$01
6
Operand
Byte1
$5f
7
Operand
Byte0
$90
Example:
Move motor from current position 1000 steps backward (move relative -1000)
Mnemonic: MVP REL, 0, -1000
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$04
2
Type
$01
3
Motor/
Bank
$00
4
Operand
Byte3
$ff
5
Operand
Byte2
$ff
6
Operand
Byte1
$fc
7
Operand
Byte0
$18
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
3.5.5
24
SAP (set axis parameter)
With this command most of the motion control parameters of the module can be specified. The settings
will be stored in SRAM and therefore are volatile. That is, information will be lost after power off. Please
use command STAP (store axis parameter) in order to store any setting permanently.
For a table with parameters and values which can be used together with this command please refer to
chapter 4.
Internal function: The parameter format is converted ignoring leading zeros (or ones for negative values).
The parameter is transferred to the correct position in the appropriate device.
Related commands: GAP, STAP, RSAP, AAP
Mnemonic: SAP <parameter number>, 0, <value>
Binary representation:
INSTRUCTION NO.
5
TYPE
MOT/BANK
VALUE
<parameter
number>
0*
<value>
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
100 – OK
VALUE
(don't care)
Example:
Set the absolute maximum current of motor to 200mA
Mnemonic: SAP 6, 0, 200
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$05
2
Type
$06
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$c8
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
3.5.6
25
GAP (get axis parameter)
Most parameters of the TMCM-1161 can be adjusted individually for the axis. With this parameter they can
be read out. In standalone mode the requested value is also transferred to the accumulator register for
further processing purposes (such as conditioned jumps). In direct mode the value read is only output in
the value field of the reply (without affecting the accumulator).
For a table with parameters and values which can be used together with this command please refer to
chapter 4.
Internal function: The parameter is read out of the correct position in the appropriate device. The
parameter format is converted adding leading zeros (or ones for negative values).
Related commands: SAP, STAP, AAP, RSAP
Mnemonic: GAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
6
TYPE
<parameter number>
MOT/BANK
0*
VALUE
(don't care)
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
100 – OK
VALUE
(don't care)
Example:
Get the actual position of motor
Mnemonic: GAP 0, 1
Binary:
Byte Index
0
1
2
Function
Target- Instruction
Type
address
Number
Value (hex)
$01
$06
$01
Reply:
Byte Index
Function
Value (hex)
0
Hostaddress
$02
1
Targetaddress
$01
 status=no error, position=711
www.trinamic.com
2
Status
$64
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
3
Instructio
n
$06
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$02
7
Operand
Byte0
$c7
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
3.5.7
STAP
26
(store axis parameter)
An axis parameter previously set with a Set Axis Parameter command (SAP) will be stored permanent. Most
parameters are automatically restored after power up (refer to axis parameter list in chapter 4).
For a table with parameters and values which can be used together with this command please refer to
chapter 4.
Internal function: An axis parameter value stored in SRAM will be transferred to EEPROM and loaded from
EEPORM after next power up.
Related commands: SAP, RSAP, GAP, AAP
Mnemonic: STAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
7
TYPE
<parameter number>
MOT/BANK
0*1
VALUE
(don't care)*2
*1motor number is always O as only one motor is involved
*2the value operand of this function has no effect. Instead, the currently used value (e.g. selected by SAP) is saved.
Reply in direct mode:
STATUS
100 – OK
Parameter ranges:
Parameter number
s. chapter 4
VALUE
(don't care)
Motor number
0
Value
s. chapter 4
Example:
Store the maximum speed of motor
Mnemonic: STAP 4, 0
Binary:
Byte Index
Function
0
Targetaddress
Value (hex) $01
1
2
Instruction Type
Number
$07
$04
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
Note: The STAP command will not have any effect when the configuration EEPROM is locked (refer to 5.1).
In direct mode, the error code 5 (configuration EEPROM locked, see also section 3.2.1) will be returned in
this case.
www.trinamic.com
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
3.5.8
27
RSAP (restore axis parameter)
For all configuration-related axis parameters non-volatile memory locations are provided. By default, most
parameters are automatically restored after power up (refer to axis parameter list in chapter 4). A single
parameter that has been changed before can be reset by this instruction also.
For a table with parameters and values which can be used together with this command please refer to
chapter 4.
Internal function: The specified parameter is copied from the configuration EEPROM memory to its RAM
location.
Relate commands: SAP, STAP, GAP, and AAP
Mnemonic: RSAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
8
TYPE
MOT/BANK
VALUE
<parameter number>
0*
(don't care)
*motor number is always O as only one motor is involved
Reply structure in direct mode:
STATUS
100 – OK
VALUE
(don't care)
Example:
Restore the maximum current of motor
Mnemonic: RSAP 6, 0
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
2
Instruction Type
Number
$08
$06
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
3.5.9
28
SGP (set global parameter)
With this command most of the module specific parameters not directly related to motion control can be
specified and the TMCL user variables can be changed. Global parameters are related to the host interface,
peripherals or application specific variables. The different groups of these parameters are organized in
banks to allow a larger total number for future products. Currently, only bank 0 and 1 are used for global
parameters, and bank 2 is used for user variables.
All module settings will automatically be stored non-volatile (internal EEPROM of the processor). The
TMCL user variables will not be stored in the EEPROM automatically, but this can be done by using
STGP commands.
For a table with parameters and bank numbers which can be used together with this command please
refer to chapter 5.
Internal function: the parameter format is converted ignoring leading zeros (or ones for negative values).
The parameter is transferred to the correct position in the appropriate (on board) device.
Related commands: GGP, STGP, RSGP, AGP
Mnemonic: SGP <parameter number>, <bank number>, <value>
Binary representation:
INSTRUCTION NO.
9
Reply in direct mode:
STATUS
100 – OK
TYPE
MOT/BANK
VALUE
<parameter
number>
<bank number>
<value>
VALUE
(don't care)
Example:
Set the serial address of the target device to 3
Mnemonic: SGP 66, 0, 3
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
2
Instruction Type
Number
$09
$42
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$03
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
29
3.5.10 GGP (get global parameter)
All global parameters can be read with this function. Global parameters are related to the host interface,
peripherals or application specific variables. The different groups of these parameters are organized in
banks to allow a larger total number for future products. Currently, only bank 0 and 1 are used for global
parameters, and bank 2 is used for user variables.
For a table with parameters and bank numbers which can be used together with this command please
refer to chapter 5.
Internal function: The parameter is read out of the correct position in the appropriate device. The
parameter format is converted adding leading zeros (or ones for negative values).
Related commands: SGP, STGP, RSGP, AGP
Mnemonic: GGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
10
TYPE
(see chapter 6)
Reply in direct mode:
STATUS
100 – OK
MOT/BANK
<bank number>
VALUE
(don't care)
VALUE
(don't care)
Example:
Get the serial address of the target device
Mnemonic: GGP 66, 0
Binary:
Byte Index
Function
Value (hex)
Reply:
Byte Index
Function
Value (hex)
0
1
Target- Instruction
address
Number
$01
$0a
0
Hostaddress
$02
1
Targetaddress
$01
 Status=no error, Value=1
www.trinamic.com
2
Type
$42
2
Status
$64
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
3
Instructio
n
$0a
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$01
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
30
3.5.11 STGP (store global parameter)
This command is used to store TMCL user variables permanently in the EEPROM of the module. Some
global parameters are located in RAM memory, so without storing modifications are lost at power down.
This instruction enables enduring storing. Most parameters are automatically restored after power up.
For a table with parameters and bank numbers which can be used together with this command please
refer to chapter 5.
Internal function: The specified parameter is copied from its RAM location to the configuration EEPROM.
Related commands: SGP, GGP, RSGP, AGP
Mnemonic: STGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
11
TYPE
(see chapter 8)
Reply in direct mode:
STATUS
100 – OK
MOT/BANK
<bank number>
(see chapter 5)
VALUE
(don't care)
VALUE
(don't care)
Example:
Store the user variable #42
Mnemonic: STGP 42, 2
Binary:
Byte Index
Function
Value (hex)
0
1
Target- Instruction
address
Number
$01
$0b
www.trinamic.com
2
Type
$2a
3
Motor/
Bank
$02
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
31
3.5.12 RSGP (restore global parameter)
With this command the contents of a TMCL user variable can be restored from the EEPROM. For all
configuration-related axis parameters, non-volatile memory locations are provided. By default, most
parameters are automatically restored after power up. A single parameter that has been changed before
can be reset by this instruction.
For a table with parameters and bank numbers which can be used together with this command please
refer to chapter 5.
Internal function: The specified parameter is copied from the configuration EEPROM memory to its RAM
location.
Relate commands: SAP, STAP, GAP, and AAP
Mnemonic: RSAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
8
TYPE
<parameter number>
MOT/BANK
0*
VALUE
(don't care)
*motor number is always O if only one motor is involved
Reply structure in direct mode:
STATUS
100 – OK
VALUE
(don't care)
Example:
Restore the maximum current of motor
Mnemonic: RSGP 6, 0
Binary:
Byte Index
0
1
2
Function
Target- Instruction
Type
address
Number
Value (hex)
$01
$0c
$2a
www.trinamic.com
3
Motor/
Bank
$02
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
32
3.5.13 RFS (reference search)
The TMCM-1161 has a built-in reference search algorithm which can be used. The reference search
algorithm provides switching point calibration and three switch modes. The status of the reference search
can also be queried to see if it has already finished. (In a TMCL program it is better to use the WAIT
command to wait for the end of a reference search.) Please see the appropriate parameters in the axis
parameter table to configure the reference search algorithm to meet your needs (chapter 4). The reference
search can be started, stopped, and the actual status of the reference search can be checked.
Internal function: the reference search is implemented as a state machine, so interaction is possible
during execution.
Related commands: WAIT
Mnemonic: RFS <START|STOP|STATUS>, <motor>
Binary representation:
INSTRUCTION NO.
13
TYPE
0 START – start ref. search
1 STOP – abort ref. search
2 STATUS – get status
MOT/BANK
VALUE
0
see below
REPLY IN DIRECT MODE:
When using type 0 (START) or 1 (STOP):
STATUS
VALUE
100 – OK
don’t care
When using type 2 (STATUS):
STATUS
100 – OK
0
other values
VALUE
ref. search active
no ref. search
active
Example:
Start reference search of motor 0
Mnemonic: RFS START, 0
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
1
Instruction
Number
$0d
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
With this module it is possible to use stall detection instead of a reference search.
www.trinamic.com
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
33
3.5.14 SIO (set input / output)
-
SIO sets the status of the general digital output either to low (0) or to high (1). Bank 2 is used for
this purpose.
SIO is used to switch the pull-up resistors for all digital inputs ON (1) and OFF (0). Bank 0 is used
for this purpose.
Internal function: the passed value is transferred to the specified output line.
Related commands: GIO, WAIT
Mnemonic: SIO <port number>, <bank number>, <value>
Binary representation:
INSTRUCTION NO.
14
TYPE
<port number>
Reply structure:
STATUS
100 – OK
MOT/BANK
<bank number>
2
VALUE
<value>
0/1
VALUE
don’t care
Example:
Set OUT_2 to high (bank 2, output 2)
Mnemonic: SIO 2, 2, 1
Binary:
Byte Index
Function
0
Targetaddress
$01
Value (hex)
1
Instruction
Number
$0e
2
Type
$07
1
Interface
1
USB
In/Out
1
Motor
1
Figure 3.1 Connectors
I/O PORTS USED FOR SIO AND COMMAND
Pin
3
4
I/O port
OUT_0
OUT_1
www.trinamic.com
Command
SIO 0, 2, <n>
SIO 1, 2, <n>
Range
1/0
1/0
3
Motor/
Bank
$02
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$01
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
34
ADDRESSING BOTH OUTPUT LINES WITH ONE SIO COMMAND:
-
Set the type parameter to 255 and the bank parameter to 2.
The value parameter must then be set to a value between 0… 255, where every bit represents one
output line.
Furthermore, the value can also be set to -1. In this special case, the contents of the lower 8 bits
of the accumulator are copied to the output pins.
Example:
Set all output pins high.
Mnemonic: SIO 255, 2, 3
THE FOLLOWING PROGRAM WILL SHOW THE STATES OF THE INPUT LINES ON THE OUTPUT LINES:
Loop: GIO 255, 0
SIO 255, 2,-1
JA Loop
SPECIAL COMMAND FOR SWITCHING THE PULL-UP RESISTORS FOR STOP_L, STOP_R, AND HOME
Pin
5
6
7
I/O port
STOP_L / IN_1
STOP_R / IN_2
HOME / IN_3
www.trinamic.com
Command
SIO 0, 0,<n>
Range
1/0
1: ON
0: OFF
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
35
3.5.15 GIO (get input /output)
With this command the status of all general purpose inputs of the module can be read out. The function
reads a digital or analogue input port. Digital lines will read 0 and 1, while the ADC channels deliver their
12 bit result in the range of 0… 4095.
GIO IN STANDALONE MODE
In standalone mode the requested value is copied to the accumulator (accu) for further processing
purposes such as conditioned jumps.
GIO IN DIRECT MODE
In direct mode the value is only output in the value field of the reply, without affecting the accumulator.
The actual status of a digital output line can also be read.
Internal function: the specified line is read.
Related commands: SIO, WAIT
Mnemonic: GIO <port number>, <bank number>
Binary representation:
INSTRUCTION NO.
15
TYPE
<port number>
Reply in direct mode:
STATUS
100 – OK
VALUE
<status of the port>
MOT/BANK
<bank number>
VALUE
don’t care
Example:
Get the analogue value of ADC channel 0
Mnemonic: GIO 0, 1
Binary:
Byte Index
Function
Value (hex)
Reply:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
Instruction
Number
1
$0f
$00
0
Hostaddress
$02
1
Targetaddress
$01
2
Status
Status = no error, value = 320
www.trinamic.com
2
Type
$64
3
Motor/
Bank
$01
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
3
Instructio
n
$0f
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$01
7
Operand
Byte0
$2e
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
36
1
Interface
USB
In/Out
1
1
Motor
1
Figure 3.2 Connectors
3.5.15.1 I/O Bank 0 – Digital Inputs
The ADIN lines can be read as digital or analogue inputs at the same time. The analogue values can
be accessed in bank 1.
Pin
5
6
7
8
I/O port
IN_0
IN_1
IN_2
IN_3
Command
GIO 0, 0 <n>
GIO 1, 0, <n>
GIO 2, 0, <n>
GIO 3, 0, <n>
Range
0/1
0/1
0/1
0/1
FURTHER READ-OUT COMMANDS
I/O port
S/D ENABLE input
0 active
1 off
Limited performance because of
double seizure of I/O port.
Command
GIO 12, 0
READING ALL DIGITAL INPUTS WITH ONE GIO COMMAND:
-
Set the type parameter to 255 and the bank parameter to 0.
In this case the status of all digital input lines will be read to the lower eight bits of the
accumulator.
USE FOLLOWING PROGRAM TO REPRESENT THE STATES OF THE INPUT LINES ON THE OUTPUT LINES:
Loop: GIO 255, 0
SIO 255, 2,-1
JA Loop
3.5.15.2 I/O Bank 1 – Analogue Inputs
The ADIN lines can be read back as digital or analogue inputs at the same time. The digital states
can be accessed in bank 0.
Pin
5
I/O port
IN_0
Command
GIO 0, 1, <n>
Range
0… 4095
READ OUT OPERATING VOLTAGE AND TEMPERATURE
I/O port
Operating voltage [1/10 V]
Temperature [˚C]
www.trinamic.com
Command
GIO 8, 1
GIO 9, 1
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
37
3.5.15.3 I/O Bank 2 –States of Digital Outputs
The states of the OUT lines (that have been set by SIO commands) can be read back using bank 2.
Pin
3
4
I/O port
OUT_0
OUT_1
Command
GIO 0, 2, <n>
GIO 1, 2, <n>
Range
1/0
1/0
3.5.16 CALC (calculate)
A value in the accumulator variable, previously read by a function such as GAP (get axis parameter) can be
modified with this instruction. Nine different arithmetic functions can be chosen and one constant operand
value must be specified. The result is written back to the accumulator, for further processing like
comparisons or data transfer.
Related commands: CALCX, COMP, JC, AAP, AGP, GAP, GGP
Mnemonic: CALC <operation>, <value>
where <op> is ADD, SUB, MUL, DIV, MOD, AND, OR, XOR, NOT or LOAD
Binary representation:
INSTRUCTION NO.
19
0
1
2
3
4
5
6
7
8
9
TYPE
MOT/BANK
VALUE
ADD – add to accu
SUB – subtract from accu
MUL – multiply accu by
DIV – divide accu by
MOD – modulo divide by
AND – logical and accu with
OR – logical or accu with
XOR – logical exor accu with
NOT – logical invert accu
LOAD – load operand to accu
(don't care)
<operand>
Example:
Multiply accu by -5000
Mnemonic: CALC MUL, -5000
Binary:
Byte Index
Function
Value (hex)
0
1
Target- Instruction
address
Number
$01
$13
www.trinamic.com
2
Type
$02
3
Motor/
Bank
$00
4
Operand
Byte3
$FF
5
Operand
Byte2
$FF
6
Operand
Byte1
$EC
7
Operand
Byte0
$78
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
38
3.5.17 COMP (compare)
The specified number is compared to the value in the accumulator register. The result of the comparison
can for example be used by the conditional jump (JC) instruction. This command is intended for use in
standalone operation only.
The host address and the reply are only used to take the instruction to the TMCL program memory
while the program loads down. It does not make sense to use this command in direct mode.
Internal function: The specified value is compared to the internal accumulator, which holds the value of a
preceding get or calculate instruction (see GAP/GGP/ CALC/CALCX). The internal arithmetic status flags are
set according to the comparison result.
Related commands: JC (jump conditional), GAP, GGP, CALC, CALCX
Mnemonic: COMP <value>
Binary representation:
INSTRUCTION NO.
20
TYPE
(don't care)
MOT/BANK
(don't care)
VALUE
<comparison value>
Example:
Jump to the address given by the label when the position of motor is greater than or equal to
1000.
GAP 1, 2, 0
COMP 1000
JC GE, Label
//get axis parameter, type: no. 1 (actual position), motor: 0, value: 0 (don't care)
//compare actual value to 1000
//jump, type: 5 greater/equal, the label must be defined somewhere else in the
program
Binary format of the COMP 1000 command:
Byte Index
0
1
2
Function
Target- Instruction
Type
address
Number
Value (hex)
$01
$14
$00
www.trinamic.com
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$03
7
Operand
Byte0
$e8
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
39
3.5.18 JC (jump conditional)
The JC instruction enables a conditional jump to a fixed address in the TMCL program memory, if the
specified condition is met. The conditions refer to the result of a preceding comparison. Please refer to
COMP instruction for examples. This function is for standalone operation only.
The host address and the reply are only used to take the instruction to the TMCL program memory
while the program loads down. It does not make sense to use this command in direct mode. See the
host-only control functions for details.
Internal function: the TMCL program counter is set to the passed value if the arithmetic status flags are in
the appropriate state(s).
Related commands: JA, COMP, WAIT, CLE
Mnemonic: JC <condition>, <label>
where <condition>=ZE|NZ|EQ|NE|GT|GE|LT|LE|ETO|EAL|EDV|EPO
Binary representation:
INSTRUCTION NO.
21
TYPE
MOT/BANK
VALUE
0 ZE - zero
1 NZ - not zero
2 EQ - equal
3 NE - not equal
4 GT - greater
5 GE - greater/equal
6 LT - lower
7 LE - lower/equal
8 ETO - time out error
9 EAL – external alarm
12 ESD – shutdown error
(don't care)
<jump address>
Example:
Jump to address given by the label when the position of motor is greater than or equal to 1000.
GAP 1, 0, 0
//get axis parameter, type: no. 1 (actual position), motor: 0, value: 0 (don't care)
COMP 1000
//compare actual value to 1000
JC GE, Label
//jump, type: 5 greater/equal
...
...
Label: ROL 0, 1000
Binary format of JC GE, Label when Label is at address 10:
Byte Index
0
1
2
3
4
Function
Target- Instruction
Type
Motor/
Operand
address
Number
Bank
Byte3
Value (hex)
$01
$15
$05
$00
$00
www.trinamic.com
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$0a
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
40
3.5.19 JA (jump always)
Jump to a fixed address in the TMCL program memory. This command is intended for standalone operation
only.
The host address and the reply are only used to take the instruction to the TMCL program memory
while the program loads down. This command cannot be used in direct mode.
Internal function: the TMCL program counter is set to the passed value.
Related commands: JC, WAIT, CSUB
Mnemonic: JA <Label>
Binary representation:
INSTRUCTION NO.
22
TYPE
(don't care)
MOT/BANK
(don't care)
VALUE
<jump address>
Example: An infinite loop in TMCL™
Loop: MVP ABS, 0, 10000
WAIT POS, 0, 0
MVP ABS, 0, 0
WAIT POS, 0, 0
JA Loop
//Jump to the label Loop
Binary format of JA Loop assuming that the label Loop is at address 20:
Byte Index
0
1
2
3
4
5
Function
Target- Instruction
Type
Motor/
Operand
Operand
address
Number
Bank
Byte3
Byte2
Value (hex)
$01
$16
$00
$00
$00
$00
www.trinamic.com
6
Operand
Byte1
$00
7
Operand
Byte0
$14
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
41
3.5.20 CSUB (call subroutine)
This function calls a subroutine in the TMCL program memory. It is intended for standalone operation only.
The host address and the reply are only used to take the instruction to the TMCL program memory
while the program loads down. This command cannot be used in direct mode.
Internal function: The actual TMCL program counter value is saved to an internal stack, afterwards
overwritten with the passed value. The number of entries in the internal stack is limited to 8. This also
limits nesting of subroutine calls to 8. The command will be ignored if there is no more stack space left.
Related commands: RSUB, JA
Mnemonic: CSUB <Label>
Binary representation:
INSTRUCTION NO.
23
TYPE
(don't care)
MOT/BANK
(don't care)
VALUE
<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
JA Loop
SubW: WAIT POS, 0, 0
WAIT TICKS, 0, 50
RSUB
//Continue with the command following the CSUB command
Binary format of the CSUB SubW command assuming that the label SubW is at address 100:
Byte Index
0
1
2
3
4
5
6
Function
Target- Instruction
Type
Motor/
Operand
Operand
Operand
address
Number
Bank
Byte3
Byte2
Byte1
Value (hex)
$01
$17
$00
$00
$00
$00
$00
www.trinamic.com
7
Operand
Byte0
$64
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
42
3.5.21 RSUB (return from subroutine)
Return from a subroutine to the command after the CSUB command. This command is intended for use in
standalone mode only.
The host address and the reply are only used to take the instruction to the TMCL program memory
while the program loads down. This command cannot be used in direct mode.
Internal function: The TMCL program counter is set to the last value of the stack. The command will be
ignored if the stack is empty.
Related command: CSUB
Mnemonic: RSUB
Binary representation:
INSTRUCTION NO.
24
TYPE
(don't care)
MOT/BANK
(don't care)
VALUE
(don't care)
Example: please see the CSUB example (section 3.5.20).
Binary format of RSUB:
Byte Index
0
1
Function
Target- Instruction
address
Number
Value (hex)
$01
$18
www.trinamic.com
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
43
3.5.22 WAIT (wait for an event to occur)
This instruction interrupts the execution of the TMCL program until the specified condition is met. This
command is intended for standalone operation only.
The host address and the reply are only used to take the instruction to the TMCL program memory
while the program loads down. This command cannot be used in direct mode.
There are five different wait conditions that can be used:
 TICKS: Wait until the number of timer ticks specified by the <ticks> parameter has been
reached.
 POS: Wait until the target position of the motor specified by the <motor> parameter has been
reached. An optional timeout value (0 for no timeout) must be specified by the <ticks>
parameter.
 REFSW: Wait until the reference switch of the motor specified by the <motor> parameter has
been triggered. An optional timeout value (0 for no timeout) must be specified by the <ticks>
parameter.
 LIMSW: Wait until a limit switch of the motor specified by the <motor> parameter has been
triggered. An optional timeout value (0 for no timeout) must be specified by the <ticks>
parameter.
 RFS: Wait until the reference search of the motor specified by the <motor> field has been
reached. An optional timeout value (0 for no timeout) must be specified by the <ticks>
parameter.
The timeout flag (ETO) will be set after a timeout limit has been reached. You can then use a JC ETO
command to check for such errors or clear the error using the CLE command.
Internal function: The TMCL program counter is held until the specified condition is met.
Related commands: JC, CLE
Mnemonic: WAIT <condition>, 0, <ticks>
where <condition> is TICKS|POS|REFSW|LIMSW|RFS
Binary representation:
INSTRUCTION NO.
TYPE
0 TICKS - timer ticks*1
1 POS - target position reached
2 REFSW – reference switch
27
MOT/BANK
don’t care
<motor>*2
<motor>*2
<motor>*2
3 LIMSW – limit switch
4 RFS – reference search
completed
<motor>*2
VALUE
<no. of ticks*1>
<no. of ticks*1 for
0 for no timeout
<no. of ticks*1 for
0 for no timeout
<no. of ticks*1 for
0 for no timeout
<no. of ticks*1 for
0 for no timeout
timeout>,
timeout>,
timeout>,
timeout>,
*1 one tick is 10 milliseconds (in standard firmware)
*2 motor number is always O as only one motor is involved
Example:
Wait for motor to reach its target position, without timeout
Mnemonic: WAIT POS, 0, 0
Binary:
Byte Index
Function
Value (hex)
0
1
Target- Instruction
address
Number
$01
$1b
www.trinamic.com
2
Type
$01
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
44
3.5.23 STOP (stop TMCL program execution)
This function stops executing a TMCL program. The host address and the reply are only used to transfer
the instruction to the TMCL program memory.
This command should be placed at the end of every standalone TMCL program. It is not to be used in
direct mode.
Internal function: TMCL instruction fetching is stopped.
Related commands: none
Mnemonic: STOP
Binary representation:
INSTRUCTION NO.
28
TYPE
(don't care)
MOT/BANK
(don't care)
VALUE
(don't care)
Example:
Mnemonic: STOP
Binary:
Byte Index
Function
Value (hex)
0
1
Target- Instruction
address
Number
$01
$1c
www.trinamic.com
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
45
3.5.24 CALCX (calculate using the X register)
This instruction is very similar to CALC, but the second operand comes from the X register. The X register
can be loaded with the LOAD or the SWAP type of this instruction. The result is written back to the
accumulator for further processing like comparisons or data transfer.
Related commands: CALC, COMP, JC, AAP, AGP
Mnemonic: CALCX <operation>
with <operation>=ADD|SUB|MUL|DIV|MOD|AND|OR|XOR|NOT|LOAD|SWAP
Binary representation:
INSTRUCTION NO.
33
TYPE
0 ADD – add X register to accu
1 SUB – subtract X register from accu
2 MUL – multiply accu by X register
3 DIV – divide accu by X-register
4 MOD – modulo divide accu by x-register
5 AND – logical and accu with X-register
6 OR – logical or accu with X-register
7 XOR – logical exor accu with X-register
8 NOT – logical invert X-register
9 LOAD – load accu to X-register
10 SWAP – swap accu with X-register
Example:
Multiply accu by X-register
Mnemonic: CALCX MUL
Binary:
Byte Index
0
1
Function
Target- Instruction
address
Number
Value (hex)
$01
$21
www.trinamic.com
2
Type
$02
3
Motor/
Bank
$00
4
Operand
Byte3
$00
MOT/BANK
(don't care)
5
Operand
Byte2
$00
VALUE
(don't care)
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
46
3.5.25 AAP (accumulator to axis parameter)
The content of the accumulator register is transferred to the specified axis parameter. For practical usage,
the accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have been
modified by the CALC or CALCX (calculate) instruction.
For a table with parameters and values which can be used together with this command please refer to
chapter 4.
Related commands: AGP, SAP, GAP, SGP, GGP, CALC, CALCX
Mnemonic: AAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
34
TYPE
<parameter
number>
MOT/BANK
0*
VALUE
<don't care>
* Motor number is always 0 as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Positioning motor by a potentiometer connected to the analogue input #0:
Start:
GIO 0,1
CALC MUL, 4
AAP 0,0
JA Start
//
//
//
//
get value of analogue input line 0
multiply by 4
transfer result to target position of motor 0
jump back to start
Binary format of the AAP 0,0 command:
Byte Index
0
1
2
Function
Target- Instruction
Type
address
Number
Value (hex)
$01
$22
$00
www.trinamic.com
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
47
3.5.26 AGP (accumulator to global parameter)
The content of the accumulator register is transferred to the specified global parameter. For practical
usage, the accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have
been modified by the CALC or CALCX (calculate) instruction. Note that the global parameters in bank 0
are EEPROM-only and thus should not be modified automatically by a standalone application. (See
chapter 5 for a complete list of global parameters).
Related commands: AAP, SGP, GGP, SAP, GAP
Mnemonic: AGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
35
TYPE
MOT/BANK
VALUE
<parameter
number>
<bank number>
(don't care)
Reply in direct mode:
STATUS
100 – OK
VALUE
(don't care)
Example:
Copy accumulator to TMCL user variable #3
Mnemonic: AGP 3, 2
Binary:
Byte Index
Function
Value (hex)
0
1
Target- Instruction
address
Number
$01
$23
www.trinamic.com
2
Type
$03
3
Motor/
Bank
$02
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
48
3.5.27 CLE (clear error flags)
This command clears the internal error flags. It is intended for use in standalone mode only and must
not be used in direct mode.
The following error flags can be cleared by this command (determined by the <flag> parameter):
ALL: clear all error flags.
ETO: clear the timeout flag.
EAL: clear the external alarm flag
EDV: clear the deviation flag
EPO: clear the position error flag
Related commands: JC
Mnemonic: CLE <flags>
where <flags>=ALL|ETO|EDV|EPO
Binary representation:
INSTRUCTION NO.
36
0
1
2
3
4
5
–
–
–
–
–
–
TYPE
(ALL) all flags
(ETO) timeout flag
(EAL) alarm flag
(EDV) deviation flag
(EPO) position flag
(ESD) shutdown flag
MOT/BANK
(don't care)
VALUE
(don't care)
Example:
Reset the timeout flag
Mnemonic: CLE ETO
Binary:
Byte Index
Function
Value (hex)
0
1
Target- Instruction
address
Number
$01
$24
www.trinamic.com
2
Type
$01
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
49
3.5.28 VECT (set interrupt vector)
The VECT command defines an interrupt vector. It needs an interrupt number and a label as parameter
(like in JA, JC and CSUB commands).
This label must be the entry point of the interrupt handling routine.
Related commands: EI, DI, RETI
Mnemonic: VECT <interrupt number>, <label>
Binary representation:
INSTRUCTION NO.
37
TYPE
<interrupt number>
MOT/BANK
don’t care
VALUE
<label>
THE FOLLOWING TABLE SHOWS ALL INTERRUPT VECTORS THAT CAN BE USED:
Interrupt number
0
1
2
3
15
21
27
28
39
40
41
42
Interrupt type
Timer 0
Timer 1
Timer 2
(Target) position reached
Stall (stallGuard2™)
Deviation
Stop left
Stop right
IN_0 change
IN_1 change
IN_2 change
IN_3 change
Example: Define interrupt vector at target position 500
VECT 3, 500
Binary format of VECT:
Byte Index
0
Function
Targetaddress
Value (hex)
$01
www.trinamic.com
1
Instruction
Number
$25
2
Type
$03
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$01
7
Operand
Byte0
$F4
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
50
3.5.29 EI (enable interrupt)
The EI command enables an interrupt. It needs the interrupt number as parameter. Interrupt number 255
globally enables interrupts.
Related command: DI, VECT, RETI
Mnemonic: EI <interrupt number>
Binary representation:
INSTRUCTION NO.
25
TYPE
<interrupt number>
MOT/BANK
don’t care
VALUE
don’t care
THE FOLLOWING TABLE SHOWS ALL INTERRUPT VECTORS THAT CAN BE USED:
Interrupt number
0
1
2
3
15
21
27
28
39
40
41
42
Interrupt type
Timer 0
Timer 1
Timer 2
(Target) position reached
Stall (stallGuard2™)
Deviation
Stop left
Stop right
IN_0 change
IN_1 change
IN_2 change
IN_3 change
Examples:
Enable interrupts globally
EI, 255
Binary format of EI:
Byte Index
0
1
Function
Target- Instruction
address
Number
Value (hex)
$01
$19
2
Type
$FF
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
Enable interrupt when target position reached
EI, 3
Binary format of EI:
Byte Index
0
1
Function
Target- Instruction
address
Number
Value (hex)
$01
$19
www.trinamic.com
2
Type
$03
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
51
3.5.30 DI (disable interrupt)
The DI command disables an interrupt. It needs the interrupt number as parameter. Interrupt number 255
globally disables interrupts.
Related command: EI, VECT, RETI
Mnemonic: DI <interrupt number>
Binary representation:
INSTRUCTION NO.
26
TYPE
<interrupt number>
MOT/BANK
don’t care
VALUE
don’t care
THE FOLLOWING TABLE SHOWS ALL INTERRUPT VECTORS THAT CAN BE USED:
Interrupt number
0
1
2
3
15
21
27
28
39
40
41
42
Interrupt type
Timer 0
Timer 1
Timer 2
(Target) position reached
Stall (stallGuard2™)
Deviation
Stop left
Stop right
IN_0 change
IN_1 change
IN_2 change
IN_3 change
Examples:
Disable interrupts globally
DI, 255
Binary format of DI:
Byte Index
0
Function
Targetaddress
Value (hex)
$01
1
Instruction
Number
$1A
2
Type
$FF
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
Disable interrupt when target position reached
DI, 3
Binary format of DI:
Byte Index
0
Function
Targetaddress
Value (hex)
$01
www.trinamic.com
1
Instruction
Number
$1A
2
Type
$03
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
52
3.5.31 RETI (return from interrupt)
This command terminates the interrupt handling routine, and the normal program execution continues.
At the end of an interrupt handling routine the RETI command must be executed.
Internal function: the saved registers (A register, X register, flags) are copied back. Normal program
execution continues.
Related commands: EI, DI, VECT
Mnemonic: RETI
Binary representation:
INSTRUCTION NO.
38
TYPE
don’t care
MOT/BANK
don’t care
VALUE
don’t care
Example: Terminate interrupt handling and continue with normal program execution
RETI
Binary format of RETI:
Byte Index
0
Function
Targetaddress
Value (hex)
$01
www.trinamic.com
1
Instruction
Number
$26
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$01
7
Operand
Byte0
$00
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
53
3.5.32 Customer specific TMCL command extension (UF0… UF7/user
function)
The user definable functions UF0… UF7 are predefined, functions without topic for user specific purposes.
Contact TRINAMIC for the customer specific programming of these functions.
Internal function: Call user specific functions implemented in C by TRINAMIC.
Related commands: none
Mnemonic: UF0… UF7
Binary representation:
INSTRUCTION NO.
64… 71
Reply in direct mode:
Byte Index
0
Function
Targetaddress
Value (hex)
$02
TYPE
MOT/BANK
VALUE
(user defined)
(user defined)
(user defined)
1
Targetaddress
$01
2
Status
(user
defined)
3
Instructio
n
64… 71
4
Operand
Byte3
(user
defined)
5
Operand
Byte2
(user
defined)
6
Operand
Byte1
(user
defined)
7
Operand
Byte0
(user
defined)
3.5.33 Request target position reached event
This command is the only exception to the TMCL protocol, as it sends two replies: One immediately after
the command has been executed (like all other commands also), and one additional reply that will be sent
when the motor has reached its target position. This instruction can only be used in direct mode (in
standalone mode, it is covered by the WAIT command) and hence does not have a mnemonic.
Internal function: Send an additional reply when the motor has reached its target position
Mnemonic: --Binary representation:
INSTRUCTION NO.
138
TYPE
MOT/BANK
VALUE
(don’t care)
(don’t care)
0*
* Motor number
Reply in direct mode (right after execution of this command):
Byte Index
0
1
2
3
4
Function
TargetTargetStatus
Instructio Operand
address
address
n
Byte3
Value (hex)
$02
$01
100
138
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
Additional reply in direct mode (after motors have reached their target positions):
Byte Index
0
1
2
3
4
5
6
Function
TargetTargetStatus
Instructio Operand
Operand
Operand
address
address
n
Byte3
Byte2
Byte1
Value (hex)
$02
$01
128
138
$00
$00
$00
www.trinamic.com
7
Operand
Byte0
Motor bit
mask
7
Operand
Byte0
Motor bit
mask
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
54
3.5.34 TMCL Control Functions
The following functions are for host control purposes only and are not allowed for standalone mode.
In most cases, there is no need for the customer to use one of those functions (except command 139).
They are mentioned here only for reasons of completeness. These commands have no mnemonics, as they
cannot be used in TMCL programs. The Functions are to be used only by the TMCL-IDE to communicate
with the module, for example to download a TMCL application into the module.
The only control commands that could be useful for a user host application are:
-
get firmware revision (command 136, please note the special reply format of this command,
described at the end of this section)
run application (command 129)
All other functions can be achieved by using the appropriate functions of the TMCL-IDE.
Instruction
128 – stop application
129 – run application
Description
a running TMCL standalone
application is stopped
TMCL execution is started (or
continued)
Type
(don't care)
0 - run from
current address
1 - run from
specified address
130 – step application only the next command of a (don't care)
TMCL application is executed
131 – reset application the program counter is set to (don't care)
zero, and the standalone
application is stopped (when
running or stepped)
132 – start download target command execution is (don't care)
mode
stopped and all following
commands are transferred to
the TMCL memory
133 – quit download
target command execution is (don't care)
mode
resumed
134 – read TMCL
the specified program memory (don't care)
memory
location is read
135 – get application
one of these values is (don't care)
status
returned:
0 – stop
1 – run
2 – step
3 – reset
136 – get firmware
return the module type and 0 – string
version
firmware revision either as a 1 – binary
string or in binary format
137 – restore factory
reset all settings stored in the (don’t care)
settings
EEPROM
to
their
factory
defaults
This command does not send
back a reply.
www.trinamic.com
Mot/Bank Value
(don't care) (don't care)
(don't care) (don't care)
starting address
(don't care) (don't care)
(don't care) (don't care)
(don't care) starting address of
the application
(don't care) (don't care)
(don't care) <memory address>
(don't care) (don't care)
(don’t care) (don’t care)
(don’t care) must be 1234
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
Special reply format of command 136:
Type set to 0 - reply as a string:
Byte index
1
2… 9
Contents
Host Address
Version string (8 characters, e.g. 1161V1.27)
There is no checksum in this reply format!
Type set to 1 - version number in binary format:
-
Please use the normal reply format.
The version number is output in the value field of the reply in the following way:
Byte index in value field
1
2
3
4
www.trinamic.com
Contents
Version number, low byte
Version number, high byte
Type number, low byte
Type number, high byte
55
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
56
4 Axis parameters
The following sections describe all axis parameters that can be used with the SAP, GAP, AAP, STAP and
RSAP commands.
Meaning of the letters in column Access:
Access
type
R
W
E
Related
command(s)
GAP
SAP, AAP
STAP, RSAP
Description
Parameter readable
Parameter writable
Parameter automatically restored from EEPROM after reset or power-on. These
parameters can be stored permanently in EEPROM using STAP command and
also explicitly restored (copied back from EEPROM into RAM) using RSAP.
Basic parameters should be adjusted to motor / application for proper module operation.
Parameters for the more experienced user – please do not change unless you are absolutely
sure.
Number
0
1
2
3
Axis Parameter
Target (next)
position
Actual position
Target (next)
speed
Actual speed
Description
The desired position in position mode (see
ramp mode, no. 138).
The current position of the motor. Should
only be overwritten for reference point
setting.
The desired speed in velocity mode (see ramp
mode, no. 138). In position mode, this
parameter is set by hardware: to the
maximum speed during acceleration, and to
zero during deceleration and rest.
The current rotation speed.
Range [Unit]
 231-1
[µsteps]
 231-1
[µsteps]
Acc.
RW
2047
RW
16MHz 𝑝𝑢𝑙𝑠𝑒_𝑑𝑖𝑣𝑖𝑠𝑜𝑟 μsteps
[
∙2
]
65536
sec
2047
[
4
Maximum
positioning
speed
5
Maximum
acceleration
6
Absolute max.
current
(CS / Current
Scale)
RW
16MHz 𝑝𝑢𝑙𝑠𝑒_𝑑𝑖𝑣𝑖𝑠𝑜𝑟 μsteps
∙2
]
65536
sec
Should not exceed the physically highest 0… 2047
RWE
possible value. Adjust the pulse divisor (axis
parameter 154), if the speed value is very low [16MHz ∙ 2𝑝𝑢𝑙𝑠𝑒_𝑑𝑖𝑣𝑖𝑠𝑜𝑟 μsteps]
65536
sec
(<50) or above the upper limit.
The limit for acceleration (and deceleration). 0… 2047*1
RWE
Changing this parameter requires recalculation of the acceleration factor (no. 146)
and the acceleration divisor (no. 137), which is
done automatically. See TMC 429 datasheet for
calculation of physical units.
The maximum value is 255. This value means 0… 255
RWE
100% of the maximum current of the module. 𝐼𝑝𝑒𝑎𝑘 =< 𝑣𝑎𝑙𝑢𝑒 >× 4𝐴
255
The current adjustment is within the range 0…
2.8𝐴
255 and can be adjusted in 32 steps.
𝐼𝑅𝑀𝑆 =< 𝑣𝑎𝑙𝑢𝑒 >×
0… 7
8… 15
16… 23
24… 31
32… 39
40… 47
48… 55
56… 63
64… 71
72… 79
79…87
88… 95
96… 103
104… 111
112… 119
120… 127
128… 135
136… 143
144… 151
152… 159
160…
168…
176…
184…
192…
200…
208…
216…
224…
232…
167
175
183
191
199
207
215
223
231
239
240… 247
248… 255
The most important motor setting, since too
high values might cause motor damage!
www.trinamic.com
RW
255
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
Number
7
Axis Parameter
Standby current
57
Description
Range [Unit]
The current limit two seconds after the motor 0… 255
4𝐴
has stopped.
𝐼𝑝𝑒𝑎𝑘 =< 𝑣𝑎𝑙𝑢𝑒 >×
Acc.
RWE
255
𝐼𝑅𝑀𝑆 =< 𝑣𝑎𝑙𝑢𝑒 >×
8
9
10
11
12
13
130
Target pos.
reached
Ref. switch
status
Right limit
switch status
Left limit switch
status
Right limit
switch disable
Left limit switch
disable
Minimum speed
Indicates that the actual position equals the 0/1
target position.
The logical state of the reference home 0/1
switch.
The logical state of the (right) limit switch.
0/1
The logical state of the left limit switch (in
three switch mode)
If set, deactivates the stop function of the
right switch
Deactivates the stop function of the left
switch resp. reference switch if set.
Should always be set 1 to ensure exact
reaching of the target position.
138
Actual
acceleration
Ramp mode
140
Microstep
resolution
149
Soft stop flag
153
Ramp divisor
154
Pulse divisor
www.trinamic.com
R
R
R
0/1
R
0/1
RWE
0/1
RWE
0… 2047
Default = 1
RWE
[
135
2.8𝐴
255
16MHz 𝑝𝑢𝑙𝑠𝑒_𝑑𝑖𝑣𝑖𝑠𝑜𝑟 μsteps
∙2
]
65536
sec
The current acceleration (read only).
0… 2047*
R
Automatically set when using ROR, ROL, MST
and MVP.
0: position mode. Steps are generated, when
the parameters actual position and target
position differ. Trapezoidal speed ramps are
provided.
2: velocity mode. The motor will run
continuously and the speed will be changed
with constant (maximum) acceleration, if the
parameter target speed is changed.
For special purposes, the soft mode (value 1)
with exponential decrease of speed can be
selected.
0
full step
1
half step
2
4 microsteps
3
8 microsteps
4
16 microsteps
5
32 microsteps
6
64 microsteps
7
128 microsteps
8
256 microsteps
If cleared, the motor will stop immediately
(disregarding motor limits), when the
reference or limit switch is hit.
The exponent of the scaling factor for the
ramp generator- should be de/incremented
carefully (in steps of one).
The exponent of the scaling factor for the
pulse (step) generator – should be
de/incremented carefully (in steps of one).
0/1/2
RWE
0… 8
RWE
0/1
RWE
0… 13
RWE
0… 13
RWE
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
Number
160
161
162
163
164
165
166
167
Axis Parameter
Step
interpolation
enable
Description
Step interpolation is supported with a 16
microstep setting only. In this setting, each
step impulse at the input causes the
execution of 16 times 1/256 microsteps. This
way, a smooth motor movement like in 256
microstep resolution is achieved.
0 – step interpolation off
1 – step interpolation on
Double step
Every edge of the cycle releases a
enable
step/microstep. It does not make sense to
activate this parameter for internal use.
Double step enable can be used with Step/Dir
interface.
0 – double step off
1 – double step on
Chopper blank
Selects the comparator blank time. This time
time
needs to safely cover the switching event and
the duration of the ringing on the sense
resistor. For low current drivers, a setting of 1
or 2 is good.
Chopper mode
Selection of the chopper mode:
0 – spread cycle
1 – classic const. off time
Chopper
Hysteresis decrement setting. This setting
hysteresis
determines the slope of the hysteresis during
decrement
on time and during fast decay time.
0 – fast decrement
3 – very slow decrement
Chopper
Hysteresis end setting. Sets the hysteresis end
hysteresis end
value after a number of decrements.
Decrement interval time is controlled by axis
parameter 164.
-3… -1 negative hysteresis end setting
0 zero hysteresis end setting
1… 12 positive hysteresis end setting
Chopper
Hysteresis start setting. Please remark, that
hysteresis start
this value is an offset to the hysteresis end
value.
Chopper off time The off time setting controls the minimum
chopper frequency. An off time within the
range of 5µs to 20µs will fit.
58
Range [Unit]
0/1
Acc.
RW
0/1
RW
0… 3
RW
0/1
RW
0… 3
RW
-3… 12
RW
0… 8
RW
0 / 2… 15
RW
Off time setting for constant tOff chopper:
NCLK= 12 + 32*tOFF (Minimum is 64 clocks)
168
Setting this parameter to zero completely
disables all driver transistors and the motor
can free-wheel.
smartEnergy
Sets the lower motor current limit for
0/1
current minimum coolStep™ operation by scaling the CS
(SEIMIN)
(Current Scale, see axis parameter 6) value.
minimum motor current:
0 – 1/2 of CS
1 – 1/4 of CS
www.trinamic.com
RW
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
Number
169
Axis Parameter
smartEnergy
current down
step
59
Description
Range [Unit]
Sets the number of stallGuard2™ readings 0… 3
above the upper threshold necessary for each
current decrement of the motor current.
Acc.
RW
Number of stallGuard2™ measurements per
decrement:
170
smartEnergy
hysteresis
Scaling: 0… 3: 32, 8, 2, 1
0: slow decrement
3: fast decrement
Sets the distance between the lower and the 0… 15
upper threshold for stallGuard2™ reading.
Above the upper threshold the motor current
becomes decreased.
RW
Hysteresis:
(smartEnergy hysteresis value + 1) * 32
171
smartEnergy
current up step
Upper stallGuard threshold:
(smartEnergy hysteresis start + smartEnergy
hysteresis + 1) * 32
Sets the current increment step. The current 1… 3
becomes incremented for each measured
stallGuard2™ value below the lower threshold
(see smartEnergy hysteresis start).
RW
current increment step size:
172
173
smartEnergy
hysteresis start
stallGuard2™
filter enable
174
stallGuard2™
threshold
175
Slope control
high side
176
Slope control
low side
www.trinamic.com
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 Indifferent value
1… 63 less sensitivity
-1… -64 higher sensitivity
Determines the slope of the motor driver
outputs. Set to 2 or 3 for this module or
rather use the default value.
0: lowest slope
3: fastest slope
Determines the slope of the motor driver
outputs. Set identical to slope control high
side.
0… 15
RW
0/1
RW
-64… 63
RW
0… 3
RW
0… 3
RW
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
Number
177
Axis Parameter
short protection
disable
178
Short detection
timer
179
Vsense
180
smartEnergy
actual current
Description
0: Short to GND protection is on
1: Short to GND protection is disabled
Use default value!
0: 3.2µs
1: 1.6µs
2: 1.2µs
3: 0.8µs
Use default value!
sense resistor voltage based current scaling
0: Full scale sense resistor voltage is 1/18 VDD
1: Full scale sense resistor voltage is 1/36 VDD
(refers to a current setting of 31 and DAC
value 255)
Use default value. Do not change!
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.
60
Range [Unit]
0/1
Acc.
RW
0..3
RW
0/1
RW
0… 31
RW
actual motor current scaling factor:
0 … 31: 1/32, 2/32, … 32/32
181
Stop on stall
182
smartEnergy
threshold speed
Below this speed motor will not be stopped. 0… 2047
RW
Above this speed motor will stop in case
stallGuard2™ load value reaches zero.
Above this speed coolStep™ becomes 0… 2047
RW
16MHz 𝑝𝑢𝑙𝑠𝑒_𝑑𝑖𝑣𝑖𝑠𝑜𝑟 μsteps
enabled.
[
∙2
]
183
smartEnergy
slow run current
Sets the motor current which is used below 0… 255
the threshold speed.
𝐼𝑝𝑒𝑎𝑘 =< 𝑣𝑎𝑙𝑢𝑒 >×
65536
𝐼𝑅𝑀𝑆 =< 𝑣𝑎𝑙𝑢𝑒 >×
193
Ref. search mode
1
2
3
4
5
6
7
8
search left stop switch only
1… 8
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
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
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 driving the right
instead of the left reference switch (can
be used with mode 1… 4).
www.trinamic.com
sec
RW
4𝐴
255
2.8𝐴
255
RWE
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
61
Number
194
Axis Parameter
Referencing
search speed
Description
Range [Unit]
For the reference search this value directly 0… 2047
specifies the search speed.
Acc.
RWE
195
Referencing
switch speed
0… 2047
RWE
196
Distance end
switches
0… 2.147.483.647
R
197
Last reference
position
Boost current
Similar to parameter no. 194, the speed for
the switching point calibration can be
selected.
This parameter provides the distance between
the end switches after executing the RFS
command (mode 2 or 3).
Reference search: the last position before
setting the counter to zero can be read out.
Current used for acceleration and deceleration
phases.
If set to 0 the same current as set by axis
parameter 6 will be used.
-231… 231-1
[µsteps]
0… 255
R
200
204
206
207
208
Freewheeling
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
209
210
4𝐴
255
𝐼𝑅𝑀𝑆 =< 𝑣𝑎𝑙𝑢𝑒 >×
2.8𝐴
255
Time after which the power to the motor will 0… 65535
be cut when its velocity has reached zero.
0 = never
[msec]
Actual load value Readout of the actual load value with used 0… 1023
for stall detection (stallGuard2™).
Extended error
1
Motor stopped because of
1… 3
flags
stallGuard2 detection.
2
Motor stopped because of encoder
deviation.
3
Motor stopped because of (1) and
(2).
Will be reset automatically by the next motion
command.
Bit 0
stallGuard2 status
TMC262 driver
0/1
(1: threshold reached)
error flags
Bit 1
RWE
𝐼𝑝𝑒𝑎𝑘 =< 𝑣𝑎𝑙𝑢𝑒 >×
R
R
R
Overtemperature
(1: driver is shut down due to
overtemperature)
Pre-warning overtemperature
(1: Threshold is exceeded)
Short to ground A
(1: Short condition detected, driver
currently shut down)
Short to ground B
(1: Short condition detected, driver currently
shut down)
Open load A
(1: no chopper event has happened during
the last period with constant coil polarity)
Open load B
(1: no chopper event has happened during
the last period with constant coil polarity)
Stand still
(1: No step impulse occurred on the step
input during the last 2^20 clock cycles)
Please refer to the TMC262 Datasheet for more
information.
Encoder position The value of an encoder register can be read [encoder steps]
out or written.
Encoder
Prescaler for the encoder.
See paragraph 6.2
prescaler
www.trinamic.com
RWE
RW
RWE
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
Number
212
Axis Parameter
Maximum
encoder
deviation
214
Power down
delay
254
Step/dir mode
Description
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.
Standstill period before the current is changed
down to standby current. The standard value
is 200 (value equates 2000msec).
0
1
2
3
4
5
* Unit of acceleration:
www.trinamic.com
Normal mode. Step/dir mode off.
Use of the ENABLE input 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 automatically switches back to hold
current. The ENABLE input on the step/dir
connector does not have any functionality.
Always use run current, never switch to hold
current. The ENABLE input on the step/dir
connector does not have any functionality.
Automatic current switching like (2), but the
ENABLE input is used to switch the driver stage
completely off or on.
Always use run current like (3), but the ENABLE
pin is used to switch the driver stage completely
off or on.
16𝑀𝐻𝑧 2
microsteps
536870912∙2𝑝𝑢𝑙𝑠_𝑑𝑖𝑣𝑖𝑠𝑜𝑟+𝑟𝑎𝑚𝑝_𝑑𝑖𝑣𝑖𝑠𝑜𝑟
sec2
62
Range [Unit]
0… 65535
Acc.
RWE
[encoder steps]
1… 65535
[10msec]
RWE
1… 5
RWE
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
63
4.1 stallGuard2
The module is equipped with TMC262 motor driver chip. The TMC262 features load measurement that can
be used for stall detection. stallGuard2 delivers a sensorless load measurement of the motor as well as a
stall detection signal. The measured value changes linear with the load on the motor in a wide range of
load, velocity and current settings. At maximum motor load the stallGuard2 value goes to zero. This
corresponds to a load angle of 90° between the magnetic field of the stator and magnets in the rotor. This
also is the most energy efficient point of operation for the motor.
Stall detection means that the motor will be stopped when the load gets too high. It is configured by axis
parameter #174.
Stall detection can also be used for finding the reference point. Do not use RFS in this case.
4.2 coolStep Related Axis Parameters
The figure below gives an overview of the coolStep related parameters. Please have in mind that the
figure shows only one example for a drive. There are parameters which concern the configuration of the
current. Other parameters are for velocity regulation and for time adjustment.
It is necessary to identify and configure the thresholds for current (I6, I7 and I183) and velocity (V182).
Furthermore the stallGuard2 feature has to be adjusted and enabled (SG170 and SG181).
The reduction or increasing of the current in the coolStep area (depending on the load) has to be
configured with parameters I169 and I171.
In this chapter only basic axis parameters are mentioned which concern coolStep and stallGuard2. The
complete list of axis parameters in chapter 4 contains further parameters which offer more configuration
possibilities.
coolStep™ adjustment points and thresholds
Velocity
Current
I6
SG170
SG181
The current depends on
the load of the motor.
I183
I6
I6/2*
V182
I7
I183
I183
I7
I7
coolStep™ area
Time
T214
area without coolStep™
I123 Current and parameter
V123 Velocity and parameter
T123 Time parameter
SG123 stallGuard2™ parameter
*
The lower threshold of the coolStep™ current can be adjusted up to I6/4. Refer to parameter 168.
Figure 4.1: coolStep™ adjustment points and thresholds
www.trinamic.com
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
Number
I6
I7
I168
I169
I171
I183
64
Axis parameter
Description
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…
absolute max. current (CS /
255 divided by eight; e.g. step 0 = 0… 7, step 1 = 8… 15 and so
Current Scale)
on).
The most important motor setting, since too high values might
cause motor damage!
standby current
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.
smartEnergy current minimum
Minimum motor current:
(SEIMIN)
0 – 1/2 of CS
1 – 1/4 of CS
Sets the number of stallGuard2™ readings above the upper
threshold necessary for each current decrement of the motor
smartEnergy current down
current. Number of stallGuard2™ measurements per decrement:
step
Scaling: 0… 3: 32, 8, 2, 1
0: slow decrement
3: fast decrement
Sets the current increment step. The current becomes
incremented for each measured stallGuard2™ value below the
lower threshold (see smartEnergy hysteresis start).
smartEnergy current up step
smartEnergy slow run current
SG170
smartEnergy hysteresis
SG181
stop on stall
V182
smartEnergy threshold speed
T214
power down delay
current increment step size:
Scaling: 0… 3: 1, 2, 4, 8
0: slow increment
3: fast increment / fast reaction to rising load
Sets the motor current which is used below the threshold
speed. Please adjust the threshold speed with axis parameter
182.
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 (value equates 2000msec).
For further information about the coolStep™ feature please refer to the TMC262 Datasheet.
www.trinamic.com
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
65
5 Global parameters
Global parameters are grouped into 4 banks:
-
bank
bank
bank
bank
0
1
2
3
(global configuration of the module)
(user C variables)
(user TMCL variables)
(interrupt configuration)
Please use SGP and GGP commands to write and read global parameters.
5.1 Bank 0
Parameters with numbers from 64 on configure stuff like the serial address of the module RS232/RS485
baud rate. Change these parameters to meet your needs. The best and easiest way to do this is to use the
appropriate functions of the TMCL-IDE. The parameters with numbers between 64 and 128 are stored in
EEPROM only.
An SGP command on such a parameter will always store it permanently and no extra STGP command
is needed.
Take care when changing these parameters, and use the appropriate functions of the TMCL-IDE to do
it in an interactive way.
Meaning of the letters in column Access:
Access
Type
R
W
E
Related
Command(s)
GGP
SGP, AGP
STGP, RSGP
Number
64
Parameter
EEPROM magic
65
RS232/RS485
baud rate
66
serial address
www.trinamic.com
Description
Parameter readable
Parameter writable
Parameter automatically restored from EEPROM after reset or power-on. These
parameters can be stored permanently in EEPROM using STGP command and
also explicitly restored (copied back from EEPROM into RAM) using RSGP.
Description
Range
Setting this parameter to a different value as 0… 255
$E4 will cause re-initialization of the axis and
global parameters (to factory defaults) after
the next power up. This is useful in case of
miss-configuration.
0
9600 baud
Default
0… 11
1
2
3
4
5
6
7
8
9
10
11
14400 baud
19200 baud
28800 baud
38400 baud
57600 baud
76800 baud
115200 baud
230400 baud
250000 baud
500000 baud
1000000 baud
Access
RWE
RWE
Not supported by Windows!
Not supported by Windows!
Not supported by Windows!
Not supported by Windows!
Attention!
The upper speed for RS232 is 115200 baud
limited by the RS232 transceiver.
The RS232 might work with higher speed but
out of specification.
The module (target) address for RS232/RS485. 0… 255
RWE
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
Number
67
Parameter
ASCII mode
73
configuration
EEPROM lock flag
75
telegram pause
time
76
serial host
address
auto start mode
77
79
81
End switch
polarity
TMCL code
protection
84
Coordinate
storage
85
Do not restore
user variables
Serial secondary
address
TMCL application
status
87
128
129
download mode
130
132
TMCL program
counter
tick timer
133
random number
www.trinamic.com
66
Description
Configure the TMCL ASCII interface:
Bit 0: 0 – start up in binary (normal) mode
1 – start up in ASCII mode
Bits 4 and 5:
00 – echo back each character
01 – echo back complete command
10 – do not send echo, only send command
reply
Write: 1234 to lock the EEPROM, 4321 to
unlock it.
Read: 1=EEPROM locked, 0=EEPROM unlocked.
Pause time before the reply via RS232 or
RS485 is sent. For RS232 set to 0.
For RS485 it is often necessary to set it to 15
(for RS485 adapters controlled by the RTS pin).
Host address used in the reply telegrams sent
back via RS232 or RS485.
0: Do not start TMCL application after power
up (default).
1: Start TMCL application automatically after
power up.
0: normal polarity
1: reverse polarity
Protect a TMCL program against disassembling
or overwriting.
0 – no protection
1 – protection against disassembling
2 – protection against overwriting
3 – protection against disassembling and
overwriting
If you switch off the protection against
disassembling, the program will be erased
first!
Changing this value from 1 or 3 to 0 or 2, the
TMCL program will be wiped off.
0 – coordinates are stored in the RAM only
(but can be copied explicitly between RAM
and EEPROM)
1 – coordinates are always stored in the
EEPROM only
0 – user variables are restored (default)
1 – user variables are not restored (default)
Second module (target) address for RS485.
Range
Access
RWE
0/1
RWE
0… 255
RWE
0… 255
RWE
0/1
RWE
0/1
RWE
0,1,2,3
RWE
0/1
RWE
0/1
RWE
0… 255
RWE
0 –stop
1 – run
2 – step
3 – reset
0 – normal mode
1 – download mode
The index of the currently executed TMCL
instruction.
A 32 bit counter that gets incremented by one
every millisecond. It can also be reset to any
start value.
Choose a random number. Read only!
0… 3
R
0/1
R
R
0… 232
RW
0… 2147483647
R
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
67
5.2 Bank 1
The global parameter bank 1 is normally not available. It may be used for customer specific extensions of
the firmware. Together with user definable commands (see section 7.3) these variables form the interface
between extensions of the firmware (written in C) and TMCL applications.
5.3 Bank 2
Bank 2 contains general purpose 32 bit variables for the use in TMCL applications. They are located in RAM
and the first 56 variables can be stored permanently in EEPROM, also. After booting, their values are
automatically restored to the RAM. Up to 256 user variables are available.
Meaning of the letters in column Access:
Access
Type
R
W
E
Related
Command(s)
GGP
SGP, AGP
STGP, RSGP
Description
Parameter readable
Parameter writable
Parameter automatically restored from EEPROM after reset or power-on. These
parameters can be stored permanently in EEPROM using STGP command and
also explicitly restored (copied back from EEPROM into RAM) using RSGP.
GENERAL PURPOSE VARIABLES FOR TMCL APPLICATIONS (BANK 2)
Number
0… 55
56… 255
Global parameter
Description
general purpose variables #0… for use in TMCL applications
#55
general purpose variables #56… for use in TMCL applications
#255
www.trinamic.com
Range
-231… +231
Access
RWE
-231… +231
RW
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
68
5.4 Bank 3
Bank 3 contains interrupt parameters. Some interrupts need configuration (e.g. the timer interval of a timer
interrupt). This can be done using the SGP commands with parameter bank 3 (SGP <type>, 3, <value>). The
parameter number defines the priority of an interrupt. Interrupts with a lower number have a higher
priority.
Meaning of the letters in column Access:
Access
type
R
W
Related
command(s)
GGP
SGP, AGP
Description
Parameter readable
Parameter writable
The following table shows all interrupt parameters that can be set.
Number
Global parameter
Description
Range
0
Timer 0 period (ms)
Time between two interrupts (ms)
1
Timer 1 period (ms)
Time between two interrupts (ms)
2
Timer 2 period (ms)
Time between two interrupts (ms)
27
Stop left 0 trigger transition
28
39
Stop
right
0
trigger
transition
Input 0 trigger transition
40
Input 1 trigger transition
41
Input 2 trigger transition
42
Input 3 trigger transition
0=off,
3=both
0=off,
3=both
0=off,
3=both
0=off,
3=both
0=off,
3=both
0=off,
3=both
www.trinamic.com
Acce
ss
RW
1=low-high,
2=high-low,
0… 4.294.967.295
[ms]
0… 4.294.967.295
[ms]
0… 4.294.967.295
[ms]
0… 3
1=low-high,
2=high-low,
0… 3
RW
1=low-high,
2=high-low,
0… 3
RW
1=low-high,
2=high-low,
0… 3
RW
1=low-high,
2=high-low,
0… 3
RW
1=low-high,
2=high-low,
0… 3
RW
RW
RW
RW
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
69
6 Hints and Tips
This chapter gives some hints and tips on using the functionality of TMCL, for example how to use and
parameterize the built-in reference point search algorithm or the incremental sensOstep encoder. Further
you will find basic information about stallGuard2 and coolStep.
6.1 Reference Search
The built-in reference search features switching point calibration and support of one or two reference
switches. The internal operation is based on a state machine that can be started, stopped and monitored
(instruction RFS, no. 13). The settings of the automatic stop functions corresponding to the switches (axis
parameters 12 and 13) have no influence on the reference search.
Please note:
- Until the reference switch is found for the first time, the searching speed is identical to the
maximum positioning speed (axis parameter 4), unless reduced by axis parameter 194.
- After hitting the reference switch, the motor slowly moves until the switch is released. Finally the
switch is re-entered in the other direction, setting the reference point to the center of the two
switching points. This low calibrating speed is a quarter of the maximum positioning speed by
default (axis parameter 195).
- The reference switch is connected in series with the left limit switch. The differentiation between
the left limit switch and the home switch is made through software. Switches with open contacts
(normally closed) are used.
Choose one of these values for axis parameter 193:
Value
1
2
3
4
5
6
7
8
Description
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
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
Adding 128 to these values reverses the polarity of the home switch input.
The next two pages show all possible modes of reference search according to the specific commands
on top of each drawing.
www.trinamic.com
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
SAP 193, 0, 1
negative limit switch
Search left stop switch only.
SAP 193, 0, 2
negative limit switch
positive limit switch
Search right stop switch, then search left stop switch.
SAP 193, 0, 3
negative limit switch
positive limit switch
Search right stop switch, then search left stop switch from both sides.
SAP 193, 0, 4
negative limit switch
Search left stop switch from both sides.
www.trinamic.com
70
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
SAP 193, 0, 5
negative limit switch
positive limit switch
home switch
Search home switch in negative direction, reverse the direction when
left stop switch reached.
SAP 193, 0, 6
negative limit switch
positive limit switch
home switch
Search home switch in positive direction, reverse the direction when
right stop switch reached.
SAP 193, 0, 7
home switch
Search home switch in positive direction, ignore end switches.
SAP 193, 0, 8
home switch
Search home switch in negative direction, ignore end switches.
www.trinamic.com
71
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
72
6.2 Changing the Prescaler Value of an Encoder
The TMCM-1161 offers an integrated sensOstep encoder. The built-in encoder has 1024 steps/rotation.
For the operation with encoder please consider the following hints:




The encoder counter can be read by software and can be used to control the exact position of the
motor. This also makes closed loop operation possible.
To read out or to change the position value of the encoder, axis parameter #209 is used.
So, to read out the position of your encoder 0 use GAP 209, 0. The position values can also be
changed using command SAP 209, 0, <n>, with n = ± 0,1,2,…
To change the encoder settings, axis parameter #210 is used. For changing the prescaler of the
encoder 0 use SAP 210, 0, <p>.
Automatic motor stop on deviation error is also usable. This can be set using axis parameter 212
(maximum deviation). This function is turned off when the maximum deviation is set to 0.
To select a prescaler, the following values can be used for <p>:
Value for
<p>
25600
12800
6400
3200
1600
800
400
200
Resulting prescaler
50 (default)
25
12.5
6.25
3.125
1.5625
0.78125
0.390625
SAP command for motor 0
SAP 210, 0, <p>
SAP 210, 0, 25600
SAP 210, 0, 12800
SAP 210, 0, 6400
SAP 210, 0, 3200
SAP 210, 0, 1600
SAP 210, 0, 800
SAP 210, 0, 400
SAP 210, 0, 200
Microstep solution of
axis parameter 140
8 (256 micro steps)
7 (128 micro steps)
6 (64 micro steps)
5 (32 micro steps)
4 (16 micro steps)
3 (8 micro steps)
2 (4 micro steps)
1 (2 micro steps)
The table above just shows a subset of those prescalers that can be selected. Also other values between
those given in the table can be used. Only the values 1, 2, 4, and 16 must not be used for <p> (because
they are needed to select the special encoder function below or rather are reserved for intern usage).
Consider the following formula for your calculation:
Example:
𝑃𝑟𝑒𝑠𝑐𝑎𝑙𝑒𝑟 =
𝑝
512
<p> = 6400
6400/512 = 12.5 (prescaler)
There is one special function that can also be configured using <p>. To select it just add the following
value to <p>:
Adder for
<p>
4
SAP command for motor 0
SAP 210, M0, <p>
Clear encoder with next null channel event
Add up both <p> values from these tables to get the required value for the SAP 210 command. The
resulting prescaler is Value/512.
6.3 Using the RS485 Interface
With most RS485 converters that can be attached to the COM port of a PC the data direction is controlled
by the RTS pin of the COM port. Please note that this will only work with Windows 2000, Windows XP or
Windows NT4, not with Windows 95, Windows 98 or Windows ME (due to a bug in these operating
systems). Another problem is that Windows 2000/XP/NT4 switches the direction back to receive too late. To
overcome this problem, set the telegram pause time (global parameter #75) of the module to 15 (or more
if needed) by issuing an SGP 75, 0, 15 command in direct mode. The parameter will automatically be
stored in the configuration EEPROM.
www.trinamic.com
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
7 Life Support Policy
TRINAMIC Motion Control GmbH & Co. KG does not
authorize or warrant any of its products for use in life
support systems, without the specific written consent of
TRINAMIC Motion Control GmbH & Co. KG.
Life support systems are equipment intended to support or
sustain life, and whose failure to perform, when properly
used in accordance with instructions provided, can be
reasonably expected to result in personal injury or death.
© TRINAMIC Motion Control GmbH & Co. KG 2013
Information given in this data sheet is believed to be
accurate and reliable. However neither responsibility is
assumed for the consequences of its use nor for any
infringement of patents or other rights of third parties,
which may result from its use.
Specifications are subject to change without notice.
All trademarks used are property of their respective
owners.
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TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
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8 Revision History
8.1 Firmware Revision
Version
1.15
1.16
1.19
1.20
Date
2012-FEB-28
2012-MAY-16
2012-JUN-25
2012-OKT-04
1.21
1.22
2012-NOV-16
2013-JAN-21
1.23
2013-FEB-05
1.24
1.24
1.25
1.26
1.27
1.29
2013-FEB-20
2013-FEB-20
2013-AUG-30
2013-AUG-30
2013-AUG-30
2014-OKT-10
Description
Release
Global parameter 84 added
Global parameter 79 added
- Global parameter 87 (secondary address for RS232/RS485) added.
- Reference search: the last position before setting the counter to zero
can be read out with axis parameter 197.
Parameter VSENSE set to 1.
- Maximum read number of encoder increased.
- Additional functions of axis parameter 193 (reference search mode):
 Add 128 to a value for inverting the home switch (interesting for
mode 5… 8).
 Add 64 to a value for driving the right instead of the left reference
switch (interesting for mode 1… 4).
Reference search modes corrected. Mode 7 and mode 8: end switches are
always deactivated.
No changes related to the TMCM-1161.
No changes related to the TMCM-1161.
No changes related to the TMCM-1161
No changes related to the TMCM-1161
Problem with magnetic encoder fixed
Problem with magnetic encoder fixed
Table 8.1 Firmware revision
8.2 Document Revision
Version
Date
Author
SD – Sonja Dwersteg
JP – Jonas P. Proeger
1.00
1.01
1.02
2011-JUN-30
2012-MAR-09
2012-MAY-17
SD
SD
SD
1.03
2012-JUL-30
SD
1.04
2012-NOV-19
SD
1.05
2013-MAR-27
SD
1.06
1.07
1.08
2013-SEP-03
2014-JUL-18
2014-OKT-10
JP
JP
JP
Table 8.2 Document revision
www.trinamic.com
Description
Preliminary version
First complete version
Minor changes
- Global parameter 79 added
- Global parameter 84 added
- Axis parameter 141 deleted
- SIO, GIO, RFS added
Global parameter 65 updated
- Interrupt command description completed.
- Global parameters 84 and 85 added.
- GIO command description and SIO command description
updated.
- Global parameter 67 (ASCII) added.
- Global parameter 87 (secondary address for RS485) added.
- Reference search: the last position before setting the
counter to zero can be read out with axis parameter 197.
- Axis parameter 193: new functions added.
Revision history updated
Axis Parameter 254 Value 0 addded
Update to Firmware V1.29
TMCM-1161 TMCL Firmware V1.29 Manual (Rev. 1.08 / 2014-OKT-07)
9 References
[TMCM-1161 / PD57/60-1161]
[TMC262]
[TMC429]
[TMCL-IDE]
[QSH5718]
[QSH6018]
TMCM-1161 and PD57/60-1161 Hardware Manual
TMC262 Datasheet
TMC429 Datasheet
TMCL-IDE User Manual
QSH5718 Manual
QSH6018 Manual
Please refer to www.trinamic.com.
www.trinamic.com
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