TMCM-1180 Firmware

MECHATRONIC DRIVE WITH STEPPER MOTOR
PANdrive
Firmware Version V4.45
TMCL™ FIRMWARE MANUAL
+
+
TMCM-1180
PD86-1180
1-Axis Stepper
Controller / Driver
5.5A RMS/ 24 or 48V DC
USB, RS232, RS485, and CAN
+
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
+
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
Table of Contents
1
2
3
Features ........................................................................................................................................................................... 4
Overview ......................................................................................................................................................................... 5
Putting the PD86-1180 into Operation ................................................................................................................... 6
3.1
Starting up ............................................................................................................................................................. 6
3.2
Testing with a Simple TMCL Program ........................................................................................................... 9
3.3
Operating the Module in Direct Mode ......................................................................................................... 10
4
TMCL and TMCL-IDE ................................................................................................................................................... 11
4.1
Binary Command Format ................................................................................................................................ 11
4.2
Reply Format ....................................................................................................................................................... 12
4.2.1 Status Codes ................................................................................................................................................. 13
4.3
Standalone Applications .................................................................................................................................. 13
4.4
TMCL Command Overview .............................................................................................................................. 14
4.4.1 TMCL Commands ......................................................................................................................................... 14
4.4.2 Commands Listed According to Subject Area .................................................................................... 15
4.5
The ASCII Interface ........................................................................................................................................... 19
4.5.1 Format of the Command Line ................................................................................................................. 19
4.5.2 Format of a Reply........................................................................................................................................ 19
4.5.3 Configuring the ASCII Interface .............................................................................................................. 20
4.6
Commands ........................................................................................................................................................... 21
4.6.1 ROR (rotate right) ........................................................................................................................................ 21
4.6.2 ROL (rotate left)............................................................................................................................................ 22
4.6.3 MST (motor stop) ......................................................................................................................................... 23
4.6.4 MVP (move to position) ............................................................................................................................. 24
4.6.5 SAP (set axis parameter) ........................................................................................................................... 26
4.6.6 GAP (get axis parameter) .......................................................................................................................... 27
4.6.7 STAP (store axis parameter) ..................................................................................................................... 28
4.6.8 RSAP (restore axis parameter) ................................................................................................................. 29
4.6.9 SGP (set global parameter) ....................................................................................................................... 30
4.6.10 GGP (get global parameter) ...................................................................................................................... 31
4.6.11 STGP (store global parameter) ................................................................................................................ 32
4.6.12 RSGP (restore global parameter) ............................................................................................................ 33
4.6.13 RFS (reference search) ................................................................................................................................ 34
4.6.14 SIO (set input / output) ............................................................................................................................. 35
4.6.15 GIO (get input/output) ............................................................................................................................... 37
4.6.16 CALC (calculate) ............................................................................................................................................ 39
4.6.17 COMP (compare) ........................................................................................................................................... 40
4.6.18 JC (jump conditional) ................................................................................................................................. 41
4.6.19 JA (jump always) ......................................................................................................................................... 42
4.6.20 CSUB (call subroutine)................................................................................................................................ 43
4.6.21 RSUB (return from subroutine) ................................................................................................................ 44
4.6.22 WAIT (wait for an event to occur) ......................................................................................................... 45
4.6.23 STOP (stop TMCL program execution) ................................................................................................... 46
4.6.24 SCO (set coordinate) ................................................................................................................................... 47
4.6.25 GCO (get coordinate) .................................................................................................................................. 48
4.6.26 CCO (capture coordinate) .......................................................................................................................... 49
4.6.27 ACO (accu to coordinate; valid from TMCL version 4.18 on) .......................................................... 50
4.6.28 CALCX (calculate using the X register) .................................................................................................. 51
4.6.29 AAP (accumulator to axis parameter) .................................................................................................... 52
4.6.30 AGP (accumulator to global parameter) ............................................................................................... 53
4.6.31 CLE (clear error flags) ................................................................................................................................. 54
4.6.32 VECT (set interrupt vector) ........................................................................................................................ 55
4.6.33 EI (enable interrupt) ................................................................................................................................... 56
4.6.34 DI (disable interrupt) .................................................................................................................................. 57
4.6.35 RETI (return from interrupt) ..................................................................................................................... 58
4.6.36 Customer Specific TMCL Command Extension (UF0… UF7 / User Function) ............................... 58
4.6.37 Request Target Position Reached Event ............................................................................................... 59
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.6.38 BIN (return to binary mode) .................................................................................................................... 59
4.6.39 TMCL Control Functions ............................................................................................................................. 60
5
Axis Parameters .......................................................................................................................................................... 62
5.1
coolStep Related Parameters ......................................................................................................................... 68
6
Global Parameters ...................................................................................................................................................... 70
6.1
Bank 0 ................................................................................................................................................................... 70
6.2
Bank 1 ................................................................................................................................................................... 72
6.3
Bank 2 ................................................................................................................................................................... 73
6.4
Bank 3 ................................................................................................................................................................... 73
7
Hints and Tips ............................................................................................................................................................. 74
7.1
Reference Search................................................................................................................................................ 74
7.2
Changing the Prescaler Value of an Encoder ............................................................................................ 75
7.3
stallGuard2 ........................................................................................................................................................... 76
7.4
Using the RS485 interface ............................................................................................................................... 76
8
TMCL Programming Techniques and Structure ................................................................................................. 77
8.1
Initialization ........................................................................................................................................................ 77
8.2
Main Loop ............................................................................................................................................................ 77
8.3
Using Symbolic Constants .............................................................................................................................. 77
8.4
Using Variables................................................................................................................................................... 78
8.5
Using Subroutines ............................................................................................................................................. 78
8.6
Mixing Direct Mode and Standalone Mode ................................................................................................ 79
9
Life Support Policy ..................................................................................................................................................... 80
10 Revision History .......................................................................................................................................................... 81
10.1 Firmware Revision ............................................................................................................................................. 81
10.2 Document Revision ........................................................................................................................................... 81
11 References .................................................................................................................................................................... 82
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
1 Features
The PD86-1180 is a full mechatronic solution with state of the arte feature set. It is highly integrated and
offers a convenient handling. The PD86-1180 consists of a NEMA 34 (flange size 86mm) stepper motor,
controller/driver electronics and integrated encoder.
The TMCM-1180 is an intelligent stepper motor controller/driver module featuring the new outstanding
coolStep™ technology for sensorless load dependent current control. This allows energy efficient motor
operation. With the advanced stallGuard2™ feature the load of the motor can be detected with high
resolution. The module is designed to be mounted directly on an 86mm flange QMot stepper motor.
Electrical data
Supply voltage: +24V DC or +48V DC nominal
Motor current: up to 5.5A RMS (programmable)
PANdrive motor
Two phase bipolar stepper motor with up to 5.5A RMS nom. coil current
Holding torque: 7Nm
Encoder
Integrated sensOstep™ magnetic encoder (max. 256 increments per rotation) e.g. for step-loss
detection under all operating conditions and positioning
Integrated motion controller
Motion profile calculation in real-time (TMC428/429 motion controller)
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
Interfaces
inputs for stop switches (left and right) and home switch
general purpose inputs and 2 general purpose outputs
USB, RS232, RS485 and CAN (2.0B up to 1Mbit/s) communication interfaces
Safety features
Shutdown input. The driver will be disabled in hardware as long as this pin is left open or shorted
to ground
Separate supply voltage inputs for driver and digital logic – driver supply voltage may be switched
off externally while supply for digital logic and therefore digital logic remains active
Software
Available with TMCL or CANopen
Standalone TMCL operation or remote controlled operation
Program memory (non volatile) for up to 2048 TMCL commands
PC-based application development software TMCL-IDE available for free
CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported
Please refer to separate Hardware Manual for further information.
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
2 Overview
As with most TRINAMIC modules the software running on the microprocessor of the TMCM-1180 consists
of two parts, a boot loader and the firmware itself. Whereas the boot loader is installed during
production and testing at TRINAMIC and remains normally untouched throughout the whole lifetime, the
firmware can be updated by the user. New versions can be downloaded free of charge from the
TRINAMIC website (http://www.trinamic.com).
The firmware shipped with this module is related to the standard TMCL firmware shipped with most of
TRINAMIC modules with regard to protocol and commands. Corresponding, this module is based on the
TMC428/429 stepper motor controller and the TMC262A-PC power driver and supports the standard TMCL
with a special range of values.
The TMC262A-PC is a new energy efficient high current high precision microstepping driver IC for bipolar
stepper motors and offers TRINAMICs patented coolStep feature with its special commands. Please mind
this technical innovation.
All commands and parameters available with this unit are explained on the following pages.
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
3 Putting the PD86-1180 into Operation
Here you can find basic information for putting your PANdrive into operation. The further text contains a
simple example for a TMCL program and a short description of operating the module in direct mode.
The things you need:
-
PD83-1180
Interface (RS232, RS485, USB or CAN) suitable to your PANdrive with cables
Nominal supply voltage +24V DC (+24 or +48V DC) for your module
TMCL-IDE program and PC
External encoder optional. The PANdrive™ has an integrated sensOstep encoder.
Precautions:
-
Do not connect or disconnect the PD86-1180 while powered!
Do not connect or disconnect the motor while powered!
Do not exceed the maximum power supply of 55V DC.
Start with power supply OFF!
3.1 Starting up
Encoder Step/Dir Input Output
1
1
1
1
Serial
communication
1
Power
USB
1
1
Motor
Figure 3.1 Overview connectors
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
1.
Connect the interface
a) Connect the RS232, the RS485, or the CAN interface
A 2mm pitch 8 pin JST B8B-PH-K connector is used for serial communication. With this connector
the module supports RS232, RS485, and CAN communication.
Pi
n
1
2
1
8
3
4
5
6
7
8
Label
Description
RS232_Tx
D
RS232_Rx
D
GND
CAN_H
CAN_L
GND
RS485+
RS485-
RS232 transmit data
RS232 receive data
Module ground (system and signal ground)
CAN_H bus line (dominant high)
CAN_L bus line (dominant low)
Module ground (system and signal ground)
RS485 non-inverted bus signal
RS485 inverted bus signal
Figure 3.2: RS232, RS485, and CAN connector
b) Connect the USB interface
A 5-pin mini-USB connector is available on the board.
Download and install the file TMCM-1180.inf (www.trinamic.com).
1
2.
5
Label
VBUS
DD+
ID
GND
Description
+5V power
Data –
Data +
Not connected
ground
Connect the power supply
A 4-pin JST B04P-VL connector is used for power supply.
1
3.
Pin
1
2
3
4
5
4
Pin
Label
1
+UDriver
2
+ULogic
Description
Module + driver stage power supply input
(nom. +48V DC)
(Optional) separate digital logic power supply input
(nom. +48V DC)
3
GND
Module ground (power supply and signal ground)
4
GND
Module ground (power supply and signal ground)
Switch ON the power supply
The LED for power should glow now. This indicates that the on-board +5V supply is available.
If this does not occur, switch power OFF and check your connections as well as the power
supply.
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.
Start the TMCL-IDE software development environment
The TMCL-IDE is available on the TechLibCD and on www.trinamic.com.
Installing the TMCL-IDE:
-
Make sure the COM port you intend to use is not blocked by another program.
Open TMCL-IDE by clicking TMCL.exe.
Choose Setup and Options and thereafter the Connection tab.
-
For RS232 and RS485 choose COM port and type with the parameters shown below
(baud rate 9600). Click OK.
Please refer to the TMCL-IDE User Manual for more information about connecting the other interfaces (see
www.TRINAMIC.com).
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
3.2 Testing with a Simple TMCL Program
Open the file test2.tmc. Change the motor number 2 in the second paragraph in motor number 0
(because there is only one motor involved). Now your test program looks as follows:
//A simple example for using TMCL and TMCL-IDE
ROL 0, 500
WAIT TICKS, 0, 500
MST 0
ROR 0, 250
WAIT TICKS, 0, 500
MST 0
Loop:
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
//Rotate motor 0 with speed 500
//Rotate motor 0 with 250
//Set max. Velocity
//Set max. Acceleration
//Move to Position 10000
//Wait until position reached
//Move to Position -10000
//Wait until position reached
//Infinite Loop
Assemble
Stop
Download
1.
2.
3.
4.
Run
Click on Icon Assemble to convert the TMCL into machine code.
Then download the program to the TMCM-1180 module via the icon Download.
Press icon Run. The desired program will be executed.
Click Stop button to stop the program.
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
10
3.3 Operating the Module in Direct Mode
1.
Start TMCL Direct Mode.
Direct Mode
2.
3.
If the communication is established the PD86-1180 is automatically detected. If the module is
not detected, please check all points above (cables, interface, power supply, COM port, baud
rate).
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 100
MST motor stop, motor 0
-> Click Execute. The first motor is rotating now.
-> Click Execute. The first motor stops now.
Note
Chapter 5 (axis parameters) includes a diagram which shows important coolStep related axis parameters
and their functions.
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
11
4 TMCL and TMCL-IDE
The TMCM-1180 supports TMCL direct mode (binary commands or ASCII interface) 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, USB or CAN follows a strict
master/slave relationship. That is, a host computer (e.g. PC/PLC) acting as the interface bus master will
send a command to the TMCL-1180. 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/CAN to the bus master. Only then should the master transfer the
next command. Normally, the module will just switch to transmission and occupy the bus for a reply,
otherwise it will stay in receive mode. It will not send any data over the interface without receiving a
command first. This way, any collision on the bus will be avoided when there are more than two nodes
connected to a single bus.
The Trinamic Motion Control Language [TMCL] provides a set of structured motion control commands.
Every motion control command can be given by a host computer or can be stored in an EEPROM on the
TMCM module to form programs that run 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.
4.1 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.
This is different when communicating is via the CAN bus. Address and checksum are included in the CAN
standard and do not have to be supplied by the user.
The binary command format for RS232/RS485/USB is as follows:
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.
When using CAN bus, just leave out the first byte (module address) and the last byte (checksum).
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
12
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
4.2 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.
When using CAN bus, the first byte (reply address) and the last byte (checksum) are left out.
Do not send the next command before you have received the reply!
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.2.1
13
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
4.3 Standalone Applications
The module is equipped with an EEPROM for storing TMCL applications. You can use TMCL-IDE for
developing standalone TMCL applications. You can load them down into the EEPROM and then it will run
on the module. The TMCL-IDE contains an editor and the TMCL assembler where the commands can be
entered using their mnemonic format. They will be assembled automatically into their binary
representations. Afterwards this code can be downloaded into the module to be executed there.
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.4 TMCL Command Overview
In this section a short overview of the TMCL commands is given.
4.4.1
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
13
14
GIO
CALC
COMP
JC
JA
CSUB
RSUB
EI
DI
WAIT
STOP
SCO
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
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<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
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.4.2
15
Commands Listed According to Subject Area
4.4.2.1 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
4.4.2.2 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
4.4.2.3 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
CSUB
RSUB
WAIT
STOP
Command number
22
21
20
23
24
27
28
Meaning
Jump always
Jump conditional
Compare accumulator with constant value
Call subroutine
Return from subroutine
Wait for a specified event
End of a TMCL program
4.4.2.4 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
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Meaning
Set output
Get input
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
16
4.4.2.5 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
CALCX
AAP
AGP
ACO
Command number
19
33
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.
4.4.2.6 Interrupt Commands
Due to some customer requests, interrupt processing has been introduced in the TMCL firmware s.
Mnemonic
EI
DI
VECT
RETI
4.4.2.6.1
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.
4.4.2.6.2
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).
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.
There is no interrupt nesting, i.e. all other interrupts are disabled while an interrupt handling routine is
being executed.
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4.4.2.6.3
17
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
4.4.2.6.4
Interrupt type
Timer 0
Timer 1
Timer 2
(Target) position reached
Stall (stallGuard2)
Deviation
Stop left
Stop right
IN_0 change
IN_1 change
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 4.6.9) for further information about that.
4.4.2.6.5
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
EXAMPLE FOR 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
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
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
18
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.
4.4.2.7 ASCII Commands
Mnemonic
BIN
Command number
139
-
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Meaning
Enter ASCII mode
Quit ASCII mode and return to binary mode. This command can
only be used in ASCII mode.
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
19
4.5 The ASCII Interface
There is also an ASCII interface that can be used to communicate with the module and to send some
commands as text strings.
THE FOLLOWING COMMANDS CAN BE USED IN ASCII MODE:
ROL, ROR, MST, MVP, SAP, GAP, STAP, RSAP, SGP, GGP, STGP, RSGP, RFS, SIO, GIO, SCO, GCO, CCO, UF0,
UF1, UF2, UF3, UF4, UF5, UF6, and UF7.
Only direct mode commands can be entered in ASCII mode!
SPECIAL COMMANDS WHICH ARE ONLY AVAILABLE IN ASCII MODE:
-
BIN: This command quits ASCII mode and returns to binary TMCL mode.
RUN: This command can be used to start a TMCL program in memory.
STOP: Stops a running TMCL application.
ENTERING AND LEAVING ASCII MODE:
1.
2.
3.
The ASCII command line interface is entered by sending the binary command 139 (enter ASCII
mode).
Afterwards the commands are entered as in the TMCL-IDE.
For leaving the ASCII mode and re-enter the binary mode enter the command BIN.
4.5.1
Format of the Command Line
As the first character, the address character has to be sent. The address character is A when the module
address is 1, B for modules with address 2 and so on. After the address character there may be spaces
(but this is not necessary). Then, send the command with its parameters. At the end of a command line a
<CR> character has to be sent.
EXAMPLES FOR VALID COMMAND LINES:
AMVP ABS, 1, 50000
A MVP ABS, 1, 50000
AROL 2, 500
A MST 1
ABIN
The command lines above address the module with address 1. To address e.g. module 3, use address
character C instead of A. The last command line shown above will make the module return to binary
mode.
4.5.2
Format of a Reply
After executing the command the module sends back a reply in ASCII format.
The
-
reply consists of:
the address character of the host (host address that can be set in the module)
the address character of the module
the status code as a decimal number
the return value of the command as a decimal number
a <CR> character
So, after sending AGAP 0, 1 the reply would be BA 100 –5000 if the actual position of axis 1 is –5000, the
host address is set to 2 and the module address is 1. The value 100 is the status code 100 that means
command successfully executed.
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.5.3
20
Configuring the ASCII Interface
The module can be configured so that it starts up either in binary mode or in ASCII mode. Global
parameter 67 is used for this purpose (please see also chapter 6).
Bit 0 determines the startup mode: if this bit is set, the module starts up in ASCII mode, else it will start
up in binary mode (default).
Bit 4 and Bit 5 determine how the characters that are entered are echoed back. Normally, both bits are
set to zero. In this case every character that is entered is echoed back when the module is addressed.
Characters can also be erased using the backspace character (press the backspace key in a terminal
program).
When bit 4 is set and bit 5 is clear the characters that are entered are not echoed back immediately but
the entire line will be echoed back after the <CR> character has been sent.
When bit 5 is set and bit 4 is clear there will be no echo, only the reply will be sent. This may be useful
in RS485 systems.
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
21
4.6 Commands
The module specific commands are explained in more detail on the following pages. They are listed
according to their command number.
4.6.1
ROR (rotate right)
With this command the motor will be instructed to rotate with a specified velocity in right direction
(increasing the position counter).
Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis
parameter #0 (target velocity).
The module is based on the TMC428/429 stepper motor controller and the TMC262A-PC 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
100 – OK
VALUE
(don't care)
Example:
Rotate right, velocity = 350
Mnemonic: ROR 0, 350
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
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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-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.6.2
22
ROL (rotate left)
With this command the motor will be instructed to rotate with a specified velocity (opposite direction
compared to ROR, decreasing the position counter).
Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis
parameter #0 (target velocity).
The module is based on the TMC428/429 stepper motor controller and the TMC262A-PC 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
100 – OK
VALUE
(don't care)
Example:
Rotate left, velocity = 1200
Mnemonic: ROL 0, 1200
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
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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-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.6.3
23
MST (motor stop)
With this command the motor will be instructed to 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
(don't care)
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:
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-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.6.4
24
MVP (move to position)
With this command the motor will be instructed to move to a specified relative or absolute position or a
pre-programmed coordinate. It will use the acceleration/deceleration ramp and the positioning speed
programmed into the unit. This command is non-blocking – that is, a reply will be sent immediately after
command interpretation and initialization of the motion controller. Further commands may follow
without waiting for the motor reaching its end position. The maximum velocity and acceleration are
defined by axis parameters #4 and #5.
The range of the MVP command is 32 bit signed (−2.147.483.648… +2.147.483.647). Positioning can be
interrupted using MST, ROL or ROR commands.
THREE 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.
Moving the motor to a (previously stored) coordinate (refer to SCO for details).
Please note, that the distance between the actual position and the new one should not be more than
2.147.483.647 (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, SCO, CCO, GCO, MST
Mnemonic: MVP <ABS|REL|COORD>, 0, <position|offset|coordinate number>
Binary representation:
INSTRUCTION NO.
4
TYPE
0 ABS – absolute
1 REL – relative
2 COORD – coordinate
MOT/BANK
0*
VALUE
<position>
0*
0*
<offset>
<coordinate number>
(0… 20)
*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
www.trinamic.com
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
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25
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
1
Instructi
on
Number
$04
2
Type
3
Motor/
Bank
4
Operand
Byte3
5
Operand
Byte2
6
Operand
Byte1
7
Operand
Byte0
$01
$00
$ff
$ff
$fc
$18
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$08
Example:
Move motor to previously stored coordinate #8
Mnemonic: MVP COORD, 0, 8
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
1
Instruction
Number
$04
2
Type
$02
3
Motor/
Bank
$00
When moving to a coordinate, the coordinate has to be set properly in advance with the help of the
SCO, CCO or ACO command.
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.6.5
26
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 5.
Related commands: GAP, STAP, RSAP, AAP
Mnemonic: SAP <parameter number>, 0, <value>
Binary representation:
INSTRUCTION NO.
5
TYPE
<parameter number>
MOT/BANK
0*
VALUE
<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-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.6.6
27
GAP (get axis parameter)
Most parameters of the TMCM-1180 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 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: 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
Function
Value (hex)
0
Targetaddress
$01
1
Instruction
Number
$06
2
Type
$01
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
0
Hostaddress
$02
1
Targetaddress
$01
2
Status
3
Instruction
$64
$06
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$02
7
Operand
Byte0
$c7
Reply:
Byte Index
Function
Value (hex)
 status=no error, position=711
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.6.7
28
STAP (store axis parameter)
An axis parameter previously set with a Set Axis Parameter command (SAP) will be stored permanent.
Most parameters are automatically restored after power up.
For a table with parameters and values which can be used together with this command please refer to
chapter 5.
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
VALUE
(don't care)
Parameter ranges:
Parameter number
s. chapter 5
Motor number
0
Value
s. chapter 5
Example:
Store the maximum speed of motor
Mnemonic: STAP 4, 0
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
1
Instruction
Number
$07
2
Type
$04
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
The STAP command will not have any effect when the configuration EEPROM is locked (refer to 6.1). In
direct mode, the error code 5 (configuration EEPROM locked, see also section 4.2.1) will be returned in this
case.
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.6.8
29
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. 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 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 as only one motor is involved
Reply structure in direct mode:
STATUS
VALUE
100 – OK
(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
Instruction
Number
$08
2
Type
$06
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
4.6.9
30
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. Bank 3 is used for interrupt configuration.
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 6.
Internal function: the parameter format is converted. 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
TYPE
<parameter number>
Reply in direct mode:
STATUS
100 – OK
VALUE
(don't care)
MOT/BANK
<bank number>
VALUE
<value>
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
Instruction
Number
$09
2
Type
$42
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$03
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
31
4.6.10 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. Bank 3 is used for interrupt configuration.
For a table with parameters and bank numbers which can be used together with this command please
refer to chapter 6.
Internal function: The parameter is read out of the correct position in the appropriate device.
Related commands: SGP, STGP, RSGP, AGP
Mnemonic: GGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
10
(see chapter 6)
Reply in direct mode:
STATUS
100 – OK
VALUE
(don't care)
TYPE
MOT/BANK
<bank number>
VALUE
(don't care)
Example:
Get the serial address of the target device
Mnemonic: GGP 66, 0
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
1
Instruction
Number
$0a
2
Type
$42
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
0
Hostaddress
$02
1
Targetaddress
$01
2
Status
3
Instruction
$64
$0a
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$01
Reply:
Byte Index
Function
Value (hex)
 Status=no error, Value=1
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32
4.6.11 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 6.
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
<parameter number>
Reply in direct mode:
STATUS
100 – OK
VALUE
(don't care)
MOT/BANK
<bank number>
VALUE
(don't care)
Example:
Store the user variable #42
Mnemonic: STGP 42, 2
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$0b
2
Type
$2a
3
Motor/
Bank
$02
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
33
4.6.12 RSGP (restore global parameter)
With this command the contents of a TMCL user variable can be restored from the EEPROM. 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 6.
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.
12
TYPE
<parameter number>
MOT/BANK
<bank number>
VALUE
(don't care)
Reply structure in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Restore user variable #42
Mnemonic: RSGP 42, 2
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$0c
2
Type
$2a
3
Motor/
Bank
$02
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
34
4.6.13 RFS (reference search)
The TMCM-1180 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 5). The
reference search can be started, stopped, and the actual status of the reference search can be checked.
Internal function: The reference search is implemented as a state machine, so interaction is possible
during execution.
Related commands: WAIT
Mnemonic: RFS <START|STOP|STATUS>, 0
Binary representation:
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
no ref. search active
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-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
35
4.6.14 SIO (set input / output)
-
SIO
this
SIO
this
sets the status of the general digital output either to low (0) or to high (1). Bank 2 is used for
purpose.
is also used to switch the pull-up resistors for all digital inputs ON or OFF. Bank 0 is used for
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
MOT/BANK
<port number>
<bank number>
Reply structure:
STATUS
100 – OK
VALUE
<value>
0/1
VALUE
don’t care
Example:
Set OUT_7 to high (bank 2, output 7)
Mnemonic: SIO 7, 2, 1
Binary:
Byte Index
Function
0
Targetaddress
$01
Value (hex)
1
Instruction
Number
$0e
2
Type
$07
3
Motor/
Bank
$02
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$01
Available I/O ports of TMCM-1180:
4
1
Pin
3
4
I/O port
OUT_0
OUT_1
Command
SIO 0, 2, <n>, (n=0/1)
SIO 1, 2, <n>, (n=0/1)
Range
1/0
1/0
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.
The value can also be set to -1. In this special case, the contents of the lower 8 bits of the
accumulator are copied to the output pins.
Example:
Set both output pins high.
Mnemonic: SIO 255, 2, 3
THE FOLLOWING PROGRAM WILL SHOW THE STATES OF THE INPUT LINES ON THE OUTPUT LINES:
Loop: GIO 255, 0
SIO 255, 2,-1
JA Loop
www.trinamic.com
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
COMMAND FOR SWITCHING THE PULL-UP RESISTORS FOR STOP_L, STOP_R, AND HOME
Every pull-up resistor can be switched individually:
Bit 0 is used for switching the pull-up resistor of HOME.
Bit 1 is used for switching the pull-up resistor of STOP_L.
Bit 2 is used for switching the pull-up resistor of STOP_R.
1
www.trinamic.com
6
Pin
3
4
5
I/O port
STOP_L
STOP_R
HOME
Command
Range
SIO 0, 0,<bitmask>
0… 7
36
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
37
4.6.15 GIO (get input/output)
With this command the status of the two available general purpose inputs of the module can be read
out. The function reads a digital or analogue input port. Digital lines will read 0 and 1, while the ADC
channels deliver their 10 bit result in the range of 0… 1023.
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
1
Instruction
Number
$0f
0
Hostaddress
$02
1
Targetaddress
$01
2
Type
$00
2
Status
$64
3
Motor/
Bank
$01
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
3
Instructi
on
$0f
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$01
7
Operand
Byte0
$fa
 value: 506
4.6.15.1 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.
1
4
www.trinamic.com
Pin
3
4
I/O port
OUT_0
OUT_1
Command
SIO 0, 2, <n>, (n=0/1)
SIO 1, 2, <n>, (n=0/1)
Range
1/0
1/0
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
38
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
THE FOLLOWING COMMAND CAN BE USED FOR READING OUT THE ENABLE PIN OC_EN OF THE STEP/DIR INTERFACE
GIO 12, 0
4.6.15.2 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
6
1
1
2
I/O
port
IN_0
IN_1
Command
Range
GIO 0, 1
GIO 1, 1
0… 1023
0… 1023
4.6.15.3 I/O bank 2 – the states of digital outputs
The states of the OUT lines (that have been set by SIO commands) can be read back using bank 2.
Pin
1
4
www.trinamic.com
3
4
I/O
port
OUT_0
OUT_1
Command
Range
GIO 0, 2, <n>
GIO 1, 2, <n>
1/0
1/0
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
39
4.6.16 CALC (calculate)
A value in the accumulator variable, previously read by a function such as GAP (get axis parameter) can
be modified with this instruction. Nine different arithmetic functions can be chosen and one constant
operand value must be specified. The result is written back to the accumulator, for further processing like
comparisons or data transfer.
Related commands: CALCX, COMP, JC, AAP, AGP, GAP, GGP, GIO
Mnemonic: CALC <operation>, <value>
where <op> is ADD, SUB, MUL, DIV, MOD, AND, OR, XOR, NOT or LOAD
Binary representation:
INSTRUCTION NO.
TYPE
19
0 ADD – add to accu
1 SUB – subtract from accu
2 MUL – multiply accu by
3 DIV – divide accu by
4 MOD – modulo divide by
5 AND – logical and accu with
6 OR – logical or accu with
7 XOR – logical exor accu with
8 NOT – logical invert accu
9 LOAD – load operand to
accu
MOT/BANK
(don't care)
VALUE
<operand>
Example:
Multiply accu by -5000
Mnemonic: CALC MUL, -5000
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$13
2
Type
$02
3
Motor/
Bank
$00
4
Operand
Byte3
$FF
5
Operand
Byte2
$FF
6
Operand
Byte1
$EC
7
Operand
Byte0
$78
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
40
4.6.17 COMP (compare)
The specified number is compared to the value in the accumulator register. The result of the comparison
can for example be used by the conditional jump (JC) instruction.
This command is intended for use in standalone operation only.
Internal function: The 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
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$14
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$03
7
Operand
Byte0
$e8
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
41
4.6.18 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.
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
(don't care)
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
VALUE
<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
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$15
2
Type
$05
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$0a
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
42
4.6.19 JA (jump always)
Jump to a fixed address in the TMCL program memory.
This command is intended for standalone operation only.
Internal function: the TMCL program counter is set to the 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
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$16
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$14
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
43
4.6.20 CSUB (call subroutine)
This function calls a subroutine in the TMCL program memory.
This command is intended for standalone operation only.
Internal function: The actual TMCL program counter value is saved to an internal stack, afterwards
overwritten with the passed value. The number of entries in the internal stack is limited to 8. This also
limits nesting of subroutine calls to 8. The command will be ignored if there is no more stack space left.
Related commands: RSUB, JA
Mnemonic: CSUB <Label>
Binary representation:
INSTRUCTION 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
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$17
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$64
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
44
4.6.21 RSUB (return from subroutine)
Return from a subroutine to the command after the CSUB command.
This command is intended for use in standalone mode only.
Internal function: The TMCL program counter is set to the last value 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 4.6.20).
Binary format of RSUB:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$18
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
45
4.6.22 WAIT (wait for an event to occur)
This instruction interrupts the execution of the TMCL program until the specified condition is met.
This command is intended for standalone operation only.
THERE ARE FIVE DIFFERENT WAIT CONDITIONS THAT CAN BE USED:
-
TICKS: Wait until the number of timer ticks specified by the <ticks> parameter has been reached.
POS: Wait until the target position of the motor specified by the <motor> parameter has been
reached. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.
REFSW: Wait until the reference switch of the motor specified by the <motor> parameter has been
triggered. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.
LIMSW: Wait until a limit switch of the motor specified by the <motor> parameter has been
triggered. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.
RFS: Wait until the reference search of the motor specified by the <motor> field has been reached.
An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.
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
MOT/BANK
don’t care
0 *2
0 *2
2 REFSW – reference switch
27
0 *2
3 LIMSW – limit switch
4 RFS – reference search
completed
0 *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
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$1b
2
Type
$01
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
46
4.6.23 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
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$1c
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
47
4.6.24 SCO (set coordinate)
Up to 20 position values (coordinates) can be stored for every axis for use with the MVP COORD
command. This command sets a coordinate to a specified value. Depending on the global parameter 84,
the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup (with
the default setting the coordinates are stored in RAM only).
Note: the coordinate number 0 is always stored in RAM only.
Internal function: The passed value is stored in the internal position array.
Related commands: GCO, CCO, MVP
Mnemonic: SCO <coordinate number>, 0, <position>
Binary representation:
INSTRUCTION NO.
30
TYPE
<coordinate number>
0… 20
Reply in direct mode:
STATUS
100 – OK
MOT/BANK
0
VALUE
<position>
-231… +231
VALUE
don’t care
Example:
Set coordinate #1 of motor to 1000
Mnemonic: SCO 1, 0, 1000
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
1
Instruction
Number
$1e
2
Type
$01
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$03
7
Operand
Byte0
$e8
Two special functions of this command have been introduced that make it possible to copy all coordinates
or one selected coordinate to the EEPROM:
SCO 0, 255, 0
SCO <coordinate number>, 255, 0
www.trinamic.com
copies all coordinates (except coordinate number 0) from RAM to
the EEPROM.
copies the coordinate selected by <coordinate number> to the
EEPROM. The coordinate number must be a value between 1 and
20.
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
48
4.6.25 GCO (get coordinate)
This command makes possible to read out a previously stored coordinate.
In standalone mode the requested value will be copied to the accumulator register for further processing
purposes such as conditioned jumps.
In direct mode, the value is only output in the value field of the reply, without affecting the accumulator.
Please note that the coordinate number 0 is always stored in RAM only.
Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in the
EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only).
Internal function: the desired value is read out of the internal coordinate array, copied to the accumulator
register and – in direct mode – returned in the value field of the reply.
Related commands: SCO, CCO, MVP
Mnemonic: GCO <coordinate number>, 0
Binary representation:
INSTRUCTION NO.
31
TYPE
<coordinate number>
0… 20
Reply in direct mode:
STATUS
100 – OK
MOT/BANK
0
VALUE
don’t care
VALUE
don’t care
Example:
Get motor value of coordinate 1
Mnemonic: GCO 1, 0
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
1
Instruction
Number
$1f
2
Type
$01
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
0
Targetaddress
$02
1
Targetaddress
$01
2
Status
3
Instruction
$64
$0a
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
Reply:
Byte Index
Function
Value (hex)
 Value: 0
Two special functions of this command have been introduced that make it possible to copy all
coordinates or one selected coordinate from the EEPROM to the RAM:
GCO 0, 255, 0
GCO <coordinate number>, 255, 0
www.trinamic.com
copies all coordinates (except coordinate number 0) from the
EEPROM to the RAM.
copies the coordinate selected by <coordinate number> from the
EEPROM to the RAM. The coordinate number must be a value
between 1 and 20.
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
49
4.6.26 CCO (capture coordinate)
The actual position of the axis is copied to the selected coordinate variable. Depending on the global
parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM and copied back on
startup (with the default setting the coordinates are stored in RAM only). Please see the SCO and GCO
commands on how to copy coordinates between RAM and EEPROM.
Note that the coordinate number 0 is always stored in RAM only.
Internal function: The selected position values are written to the 20 by 3 bytes wide coordinate array.
Related commands: SCO, GCO, MVP
Mnemonic: CCO <coordinate number>, 0
Binary representation:
INSTRUCTION NO.
32
Reply in direct mode:
STATUS
100 – OK
TYPE
<coordinate number>
0… 20
MOT/BANK
0
VALUE
don’t care
VALUE
don’t care
Example:
Store current position of the axis 0 to coordinate 3
Mnemonic: CCO 3, 0
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$20
2
Type
$03
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
50
4.6.27 ACO (accu to coordinate; valid from TMCL version 4.18 on)
With the ACO command the actual value of the accumulator is copied to a selected coordinate of the
motor. Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in
the EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only).
Please note also that the coordinate number 0 is always stored in RAM only. For Information about
storing coordinates refer to the SCO command.
Internal function: The actual value of the accumulator is stored in the internal position array.
Related commands: GCO, CCO, MVP COORD, SCO
Mnemonic: ACO <coordinate number>, 0
Binary representation:
INSTRUCTION NO.
39
Reply in direct mode:
STATUS
100 – OK
TYPE
<coordinate number>
0… 20
MOT/BANK
VALUE
0
don’t care
VALUE
don’t care
Example:
Copy the actual value of the accumulator to coordinate 1 of motor 0
Mnemonic: ACO 1, 0
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$27
2
Type
$01
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
51
4.6.28 CALCX (calculate using the X register)
This instruction is very similar to CALC, but the second operand comes from the X register. The X register
can be loaded with the LOAD or the SWAP type of this instruction. The result is written back to the
accumulator for further processing like comparisons or data transfer.
Related commands: CALC, COMP, JC, AAP, AGP
Mnemonic: CALCX <operation>
with <operation>=ADD|SUB|MUL|DIV|MOD|AND|OR|XOR|NOT|LOAD|SWAP
Binary representation:
INSTRUCTION NO.
TYPE
33
0 ADD – add X register to accu
1 SUB – subtract X register from accu
2 MUL – multiply accu by X register
3 DIV – divide accu by X-register
4 MOD – modulo divide accu by x-register
5 AND – logical and accu with X-register
6 OR – logical or accu with X-register
7 XOR – logical exor accu with X-register
8 NOT – logical invert X-register
9 LOAD – load accu to X-register
10 SWAP – swap accu with X-register
MOT/BANK
(don't care)
VALUE
(don't care)
Example:
Multiply accu by X-register
Mnemonic: CALCX MUL
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$21
2
Type
$02
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
52
4.6.29 AAP (accumulator to axis parameter)
The content of the accumulator register is transferred to the specified axis parameter. For practical usage,
the accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have been
modified by the CALC or CALCX (calculate) instruction.
For a table with parameters and values which can be used together with this command please refer to
chapter 5.
Related commands: AGP, SAP, GAP, SGP, GGP, GIO, GCO, 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
100 – OK
VALUE
(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
Function
Value (hex)
0
1
2
3
4
5
6
7
Targetaddress
$01
Instruction
Number
$22
Type
Motor/
Bank
$00
Operand
Byte3
$00
Operand
Byte2
$00
Operand
Byte1
$00
Operand
Byte0
$00
www.trinamic.com
$00
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
53
4.6.30 AGP (accumulator to global parameter)
The content of the accumulator register is transferred to the specified global parameter. For practical
usage, the accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have
been modified by the CALC or CALCX (calculate) instruction.
Note:
The global parameters in bank 0 are EEPROM-only and thus should not be modified automatically by a
standalone application.
Related commands: AAP, SGP, GGP, SAP, GAP
Mnemonic: AGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
35
TYPE
<parameter number>
Reply in direct mode:
STATUS
100 – OK
VALUE
(don't care)
MOT/BANK
<bank number>
VALUE
(don't care)
For a table with parameters and bank numbers which can be used together with this command please
refer to chapter 6.
Example:
Copy accumulator to TMCL user variable #3
Mnemonic: AGP 3, 2
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$23
2
Type
$03
3
Motor/
Bank
$02
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
54
4.6.31 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.
Related commands: JC
Mnemonic: CLE <flags>
where <flags>=ALL|ETO|EAL|EDV|EPO|ESD
Binary representation:
INSTRUCTION NO.
36
TYPE
0 – (ALL) all flags
1 – (ETO) timeout 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
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$24
2
Type
$01
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
55
4.6.32 VECT (set interrupt vector)
The VECT command defines an interrupt vector. It needs an interrupt number and a label as parameter
(like in JA, JC and CSUB commands).
This label must be the entry point of the interrupt handling routine.
Related commands: EI, DI, RETI
Mnemonic: VECT <interrupt number>, <label>
Binary representation:
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
Interrupt type
Timer 0
Timer 1
Timer 2
(Target) position reached
Stall (stallGuard2)
Deviation
Stop left
Stop right
IN_0 change
IN_1 change
Example: Define interrupt vector at target position 500
VECT 3, 500
Binary format of VECT:
Byte Index
Function
Value (hex)
0
Targetaddress
$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-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
56
4.6.33 EI (enable interrupt)
The EI command enables an interrupt. It needs the interrupt number as parameter. Interrupt number 255
globally enables interrupts.
Related command: DI, VECT, RETI
Mnemonic: EI <interrupt number>
Binary representation:
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
Interrupt type
Timer 0
Timer 1
Timer 2
(Target) position reached
Stall (stallGuard2)
Deviation
Stop left
Stop right
IN_0 change
IN_1 change
Examples:
Enable interrupts globally
EI, 255
Binary format of EI:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
1
Instruction
Number
$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
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$19
2
Type
$03
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
57
4.6.34 DI (disable interrupt)
The DI command disables an interrupt. It needs the interrupt number as parameter. Interrupt number 255
globally disables interrupts.
Related command: EI, VECT, RETI
Mnemonic: DI <interrupt number>
Binary representation:
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
Interrupt type
Timer 0
Timer 1
Timer 2
(Target) position reached
Stall (stallGuard2)
Deviation
Stop left
Stop right
IN_0 change
IN_1 change
Examples:
Disable interrupts globally
DI, 255
Binary format of DI:
Byte Index
Function
Value (hex)
0
Targetaddress
$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
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$1A
2
Type
$03
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
58
4.6.35 RETI (return from interrupt)
This command terminates the interrupt handling routine, and the normal program execution continues.
At the end of an interrupt handling routine the RETI command must be executed.
Internal function: The saved registers (A register, X register, flags) are copied back. Normal program
execution continues.
Related commands: EI, DI, VECT
Mnemonic: RETI
Binary representation:
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
Function
Value (hex)
0
Targetaddress
$01
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
4.6.36 Customer Specific TMCL Command Extension (UF0… UF7 / User
Function)
The user definable functions UF0… UF7 are predefined, functions without topic for user specific purposes.
Contact TRINAMIC for the customer specific programming of these functions.
Internal function: Call user specific functions implemented in C by TRINAMIC.
Related commands: none
Mnemonic: UF0… UF7
Binary representation:
INSTRUCTION NO.
64… 71
TYPE
(user defined)
MOT/BANK
(user defined)
VALUE
(user defined)
Reply in direct mode:
Byte Index
Function
Value (hex)
0
Targetaddress
$02
www.trinamic.com
1
Targetaddress
$01
2
Status
3
Instruction
(user
defined)
64… 71
4
Operand
Byte3
(user
defined)
5
Operand
Byte2
(user
defined)
6
Operand
Byte1
(user
defined)
7
Operand
Byte0
(user
defined)
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
59
4.6.37 Request Target Position Reached Event
This command is the only exception to the TMCL protocol, as it sends two replies: One immediately after
the command has been executed (like all other commands also), and one additional reply that will be sent
when the motor has reached its target position.
This instruction can only be used in direct mode (in standalone mode, it is covered by the WAIT
command) and hence does not have a mnemonic.
Internal function: Send an additional reply when the motor has reached its target position
Mnemonic: --Binary representation:
INSTRUCTION NO.
138
TYPE
0/1
MOT/BANK
(don’t care)
VALUE
1
Reply in direct mode (right after execution of this command):
Byte Index
Function
Value (hex)
0
Targetaddress
$02
1
Targetaddress
$01
2
Status
3
Instruction
100
138
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
Motor bit
mask
6
Operand
Byte1
$00
7
Operand
Byte0
Motor bit
mask
Additional reply in direct mode (after motors have reached their target positions):
Byte Index
Function
Value (hex)
0
Targetaddress
$02
1
Targetaddress
$01
2
Status
3
Instruction
128
138
4
Operand
Byte3
$00
5
Operand
Byte2
$00
4.6.38 BIN (return to binary mode)
This command can only be used in ASCII mode. It quits the ASCII mode and returns to binary mode.
Related Commands: none
Mnemonic: BIN
Binary representation: This command does not have a binary representation as it can only be used in
ASCII mode.
www.trinamic.com
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
60
4.6.39 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).
TMCL control commands have no mnemonics, as they cannot be used in TMCL programs. These Functions
are to be used only by the TMCL-IDE (e.g. to download a TMCL application into the module).
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-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
61
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. 1180V1.30)
There is no checksum in this reply format!
To get also the last byte when using the CAN bus interface, just send this command in an eight
byte frame instead of a seven byte frame. Then, eight bytes will be sent back, so you will get all
characters of the version string.
Type set to 1 - version number in binary format:
-
Please use the normal reply format.
The version number is output in the value field of the reply in the following way:
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 (currently not used)
Type number, high byte
(currently not used)
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
62
5 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
Axis Parameter
Target (next)
position
Actual position
2
Target (next)
speed
3
Actual speed
4
Maximum
positioning
speed
5
Maximum
acceleration
6
Absolute max.
current
(CS / Current
Scale)
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.
 2 -1
[µsteps]
 231-1
[µsteps]
31
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!
Acc.
RW
RW
2047
RW
2047
RW
Should not exceed the physically highest 0… 2047
possible value. Adjust the pulse divisor (axis
parameter 154), if the speed value is very low
(<50) or above the upper limit.
The limit for acceleration (and deceleration). 0… 2047*
Changing this parameter requires recalculation of the acceleration factor (no. 146)
and the acceleration divisor (no. 137), which is
done automatically.
The maximum value is 255. This value means 0… 255
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… 7
8… 15
16… 23
24… 31
32… 39
40… 47
48… 55
56… 63
64… 71
72… 79
www.trinamic.com
Range [Unit]
RWE
RWE
RWE
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
63
Number
7
Axis Parameter
Standby current
Description
Range [Unit]
The current limit two seconds after the motor 0… 255
has stopped.
Acc.
RWE
8
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
R
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.
0/1
R
0/1
RWE
0/1
RWE
0… 2047
Default = 1
RWE
Actual
acceleration
Ramp mode
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
For three-switch mode: a position range,
where an additional switch (connected to
the REFL input) won't cause motor stop.
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… 4095
[µsteps]
RW
0/1
RWE
0… 13
RWE
0… 13
RWE
9
10
11
12
13
130
135
138
140
Microstep
resolution
141
Ref. switch
tolerance
149
soft stop flag
153
Ramp divisor
154
Pulse divisor
www.trinamic.com
R
R
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
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.
64
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
0/1
RW
Off time setting for constant tOff chopper:
NCLK= 12 + 32*tOFF (Minimum is 64 clocks)
Setting this parameter to zero completely
disables all driver transistors and the motor
can free-wheel.
168
smartEnergy
current
minimum
(SEIMIN)
www.trinamic.com
Sets the lower motor current limit for
coolStep operation by scaling the CS
(Current Scale, see axis parameter 6) value.
minimum motor current:
0 – 1/2 of CS
1 – 1/4 of CS
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
Number
169
Axis Parameter
smartEnergy
current down
step
Description
Sets the number of stallGuard2 readings
above the upper threshold necessary for
each current decrement of the motor
current.
65
Range [Unit]
0… 3
Acc.
RW
0… 15
RW
1… 3
RW
0… 15
RW
0/1
RW
-64… 63
RW
0… 3
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 upper threshold for stallGuard2 reading.
Above the upper threshold the motor
current becomes decreased.
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
becomes incremented for each measured
stallGuard2 value below the lower threshold
(see smartEnergy hysteresis start).
current increment step size:
172
173
smartEnergy
hysteresis start
stallGuard2
filter enable
174
stallGuard2
threshold
175
Slope control
high 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
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
Number
176
Axis Parameter
Slope control
low side
177
short protection
disable
178
Short detection
timer
179
Vsense
180
smartEnergy
actual current
Description
Determines the slope of the motor driver
outputs. Set identical to slope control high
side.
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.
66
Range [Unit]
0… 3
Acc.
RW
0/1
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
183
smartEnergy
slow run current
193
Reference search
mode
Below this speed motor will not be stopped. 0… 2047
Above this speed motor will stop in case
stallGuard2 load value reaches zero.
Above this speed coolStep becomes enabled. 0… 2047
RW
Sets the motor current which is used below 0… 255
the threshold speed.
RW
1
2
3
search left stop switch only
1… 3
search right stop switch, then search
left stop switch
search right stop switch, then search
left stop switch from both sides
RW
RWE
Adding 128 to these values reverses the
polarity of the home switch input.
194
Reference search
speed
195
Reference switch Similar to parameter no. 194, the speed for 0… 2047
speed
the switching point calibration can be
selected.
Reference switch This parameter provides the distance between 0… 2.147.483.647
distance
the end switches after executing the RFS
command (mode 2 or 3).
Boost current
Current used for acceleration and deceleration 0… 255
phases.
If set to 0 the same current as set by axis
parameter 6 will be used.
196
200
www.trinamic.com
For the reference search this value directly 0… 2047
specifies the search speed.
RWE
RWE
R
RWE
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
Number
204
Axis Parameter
Freewheeling
206
Actual load
value
TMC262 driver
error flags
208
Description
Time after which the power to the motor
will be cut when its velocity has reached
zero.
Readout of the actual load value with used
for stall detection (stallGuard2).
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
209
Encoder position
210
Encoder
prescaler
212
Maximum
encoder
deviation
214
Power down
delay
215
Absolute
encoder value
Step/Dir mode
254
Acc.
RWE
0/1
R
R
RW
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).
Absolute value of the encoder.
RWE
1
3
4
5
www.trinamic.com
Range [Unit]
0… 65535
0 = never
[msec]
0… 1023
The value of an encoder register can be read [encoder steps]
out or written.
Prescaler for the sensOstep encoder.
See paragraph 7.1
2
* Unit of acceleration:
stallGuard2 status
(1: threshold reached)
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)
67
0… 65535
[encoder steps]
1… 65535
[10msec]
0… 255
[encoder steps]
Use of the ENABLE input on step/dir connector to 1… 5
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.
RWE
RWE
R
RWE
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
68
5.1 coolStep Related 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.
THE FOLLOWING ADJUSTMENTS HAVE TO BE MADE:
-
Thresholds for current (I6, I7 and I183) and velocity (V182) have to be identified and set.
The stallGuard2 feature has to be adjusted and enabled with parameters 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 5 contains further parameters which offer more possibilities
for configuration.
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.
www.trinamic.com
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
Number
Axis parameter
I6
absolute max. current
(CS / Current Scale)
I7
standby current
I168
smartEnergy current
minimum
(SEIMIN)
I169
smartEnergy current down
step
I171
smartEnergy current up step
I183
smartEnergy slow run
current
SG170
smartEnergy hysteresis
SG181
V182
stop on stall
T214
smartEnergy threshold speed
power down delay
www.trinamic.com
69
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…
255 divided by eight; e.g. step 0 = 0… 7, step 1 = 8… 15 and so
on).
The most important motor setting, since too high values
might cause motor damage!
The current limit two seconds after the motor has stopped.
Sets the lower motor current limit for coolStep operation by
scaling the CS (Current Scale, see axis parameter 6) value.
Minimum motor current:
0 – 1/2 of CS
1 – 1/4 of CS
Sets the number of stallGuard2 readings above the upper
threshold necessary for each current decrement of the motor
current. Number of stallGuard2 measurements per decrement:
Scaling: 0… 3: 32, 8, 2, 1
0: slow decrement
3: fast decrement
Sets the current increment step. The current becomes
incremented for each measured stallGuard2 value below the
lower threshold (see smartEnergy hysteresis start).
current increment step size:
Scaling: 0… 3: 1, 2, 4, 8
0: slow increment
3: fast increment / fast reaction to rising load
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.
Motor stop in case of stall.
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).
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
70
6 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.
6.1 Bank 0
Parameters with numbers from 64 on configure stuff like the serial address of the module RS232/RS485
baud rate or the CAN bit rate. Change these parameters to meet your needs. The best and easiest way to
do this is to use the appropriate functions of the TMCL-IDE. The parameters with numbers between 64
and 128 are stored in EEPROM only.
Attention:
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)
Description
GGP
SGP, AGP
STGP, RSGP
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.
Number
64
Parameter
EEPROM magic
65
RS232/RS485
baud rate
66
Serial address
www.trinamic.com
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!
Warning:
The highest possible 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 / 0… 255
RS485.
RWE
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
Number
67
Parameter
ASCII mode
68
Serial heartbeat
69
CAN bit rate
70
CAN reply ID
71
CAN ID
73
Configuration
EEPROM lock flag
75
Telegram pause
time
76
Serial host
address
Auto start mode
77
79
80
End switch
polarity
Shutdown pin
functionality
www.trinamic.com
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
Serial heartbeat for the RS485 interface. If this
time limit is exceeded and no further
command is noticed the motor will be
stopped.
0 – parameter is disabled
2
20kBit/s
3
50kBit/s
4
100kBit/s
5
125kBit/s
6
250kBit/s
7
500kBit/s
Default
8
1000kBit/s
The CAN ID for replies from the board
(default: 2)
The module (target) address for CAN (default:
1)
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).
For CAN interface this parameter has no
effect!
Host address used in the reply telegrams sent
back via RS232 / 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
Select the functionality of the SHUTDOWN
pin
0 – no function
1 – high active
2 – low active
71
Range
Access
RWE
[ms]
RWE
2… 8
RWE
0… 7ff
RWE
0… 7ff
RWE
0/1
RWE
0… 255
RWE
0… 255
RWE
0/1
RWE
0/1
RWE
0… 2
RWE
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
Number
81
82
83
85
87
128
129
130
132
133
Parameter
TMCL code
protection
Description
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!
When changing this value from 1 or 3 to 0 or
2, the TMCL program will be erased.
CAN heartbeat
Heartbeat for CAN interface. If this time limit
is exceeded and no further command is
noticed the motor will be stopped.
0 – parameter is disabled
CAN secondary
Second CAN ID for the module. Switched off
address
when set to zero.
Do not store user 0 – user variables are restored (default)
variables
1 – user variables are not restored
Serial secondary Second module (target) address for RS232 /
address
RS485.
TMCL application 0 –stop
status
1 – run
2 – step
3 – reset
Download mode 0 – normal mode
1 – download mode
TMCL program
The index of the currently executed TMCL
counter
instruction.
Tick timer
A 32 bit counter that gets incremented by one
every millisecond. It can also be reset to any
start value.
Random number Choose a random number.
72
Range
0,1,2,3
Access
RWE
[ms]
RWE
0… 7ff
RWE
0/1
RWE
0… 255
RWE
0… 3
R
0/1
R
R
0… 232
RW
0… 2147483647
RW
6.2 Bank 1
The global parameter bank 1 is normally not available. It may be used for customer specific extensions of
the firmware. Together with user definable commands these variables form the interface between
extensions of the firmware (written in C) and TMCL applications.
www.trinamic.com
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
73
6.3 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
Range
-231… +231
Access
RWE
-231… +231
RW
6.4 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
INTERRUPT PARAMETERS (BANK 3)
Number
0
Global parameter
Timer 0 period (ms)
Description
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
Stop right 0 trigger transition
39
Input 0 trigger transition
40
Input 1 trigger transition
0=off,
3=both
0=off,
3=both
0=off,
3=both
0=off,
3=both
www.trinamic.com
1=low-high,
2=high-low,
Range
0…
4.294.967.295
[ms]
0…
4.294.967.295
[ms]
0…
4.294.967.295
[ms]
0… 3
Access
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-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
74
7 Hints and Tips
This chapter gives some hints and tips on using the functionality of TMCL, for example how to use and
parameterize the built-in reference point search algorithm or the incremental encoder interface.
7.1 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.
Definition of the switches
Selecting the referencing mode (axis parameter 193): in modes 1 and 2, the motor will start by
moving left (negative position counts). In mode 3 (three-switch mode), the right stop switch is
searched first to distinguish the left stop switch from the reference switch by the order of activation
when moving left (reference switch and left limit switch share the same electrical function).
Until the reference switch is found for the first time, the searching speed is identical to the maximum
positioning speed (axis parameter 4), unless reduced by axis parameter 194.
After hitting the reference switch, the motor slowly moves right until the switch is released. Finally
the switch is re-entered in left direction, setting the reference point to the center of the two
switching points. This low calibrating speed is a quarter of the maximum positioning speed by default
(axis parameter 195).
In the drawings shown here the connection of the left and the right limit switch can be seen. Also
the connection of three switches as left and right limit switch and a reference switch for the reference
point are shown. The reference switch is connected in series with the left limit switch. The
differentiation between the left limit switch and the reference switch is made through software.
Switches with open contacts (normally closed) are used.
In circular systems there are no end points and thus only one reference switch is used for finding the
reference point.
STOP_L
STOP_R
motor
left stop
switch
right stop
switch
traveler
Figure 7.1 Left and right limit switches
STOP_L
STOP_R
motor
negative
direction
left stop
switch
positive
direction
traveler
right stop
switch
Figure 7.2 Limit switches and reference switch
motor
STOP_L
HOME /
reference
switch
eccentric
Figure 7.3 One reference switch
www.trinamic.com
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
75
7.2 Changing the Prescaler Value of an Encoder
The PD86-1180 PANdrive is a full mechatronic solution including a 86mm flange high torque motor, a
motion controller/driver and a integrated sensOstep encoder. The built-in encoder has 256 steps per
rotation.
FOR THE OPERATION WITH ENCODER 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>
Resulting
prescaler
200
100
50
25
12.5
6.25
3.125
1.5625
102400
51200
25600
12800
6400 default
3200
1600
800
SAP command for motor 0
SAP 210, 0, <p>
SAP 210, 0, 102400
SAP 210, 0, 51200
SAP 210, 0, 25600
SAP 210, 0, 12800
SAP 210, 0, 6400
SAP 210, 0, 3200
SAP 210, 0, 1600
SAP 210, 0, 800
8
7
6
5
4
3
2
1
Microstep solution of axis
parameter 140
(256 microsteps)
(128 microsteps)
(64 microsteps)
(32 microsteps)
(16 microsteps)
(8 microsteps)
(4 microsteps)
(2 microsteps)
Note
The table above shows a subset of prescalers that can be selected. Other values between those given
in the table can be used.
The values 1, 2, 4, and 16 must not be used for <p>.
Consider the following formula for your calculation:
Example:
<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.
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7.3 stallGuard2
The module is equipped with TMC262A-PC motor driver chip. The TMC262A-PC 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 stallGuard value goes to zero.
This corresponds to a load angle of 90° between the magnetic field of the stator and magnets in the
rotor. This also is the most energy efficient point of operation for the motor.
1000
900
stallGuard2
reading 800
Start value depends
on motor and
operating conditions
700
600
stallGuard value reaches zero
and indicates danger of stall.
This point is set by stallGuard
threshold value SGT.
500
400
Motor stalls above this point.
Load angle exceeds 90° and
available torque sinks.
300
200
100
0
10
20
30
40
50
60
70
80
90
100
motor load
(% max. torque)
Figure 7.4 Principle function of stallGuard2
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.
Mixed decay should be switched off when stallGuard2 operational in order to get usable results.
7.4 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.
For RS232 set the telegram pause time to zero for maximum data throughput
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
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8 TMCL Programming Techniques and Structure
8.1 Initialization
The first task in a TMCL program (like in other programs also) is to initialize all parameters where different
values than the default values are necessary. For this purpose, SAP and SGP commands are used.
8.2 Main Loop
Embedded systems normally use a main loop that runs infinitely. This is also the case in a TMCL
application that is running stand alone. Normally the auto start mode of the module should be turned on.
After power up, the module then starts the TMCL program, which first does all necessary initializations and
then enters the main loop, which does all necessary tasks end never ends (only when the module is
powered off or reset).
There are exceptions to this, e.g. when TMCL routines are called from a host in direct mode.
MOST (BUT NOT ALL) STANDALONE TMCL PROGRAMS LOOK LIKE THIS:
//Initialization
SAP 4, 0, 500
SAP 5, 0, 100
//define max. positioning speed
//define max. acceleration
MainLoop:
//do something, in this example just running between two positions
MVP ABS, 0, 5000
WAIT POS, 0, 0
MVP ABS, 0, 0
WAIT POS, 0, 0
JA MainLoop
//end of the main loop => run infinitely
8.3 Using Symbolic Constants
To make your program better readable and understandable, symbolic constants should be taken for all
important numerical values that are used in the program. The TMCL-IDE provides an include file with
symbolic names for all important axis parameters and global parameters.
Example:
//Define some constants
#include TMCLParam.tmc
MaxSpeed = 500
MaxAcc = 100
Position0 = 0
Position1 = 5000
//Initialization
SAP APMaxPositioningSpeed, Motor0, MaxSpeed
SAP APMaxAcceleration, Motor0, MaxAcc
MainLoop:
MVP ABS, Motor0, Position1
WAIT POS, Motor0, 0
MVP ABS, Motor0, Position0
WAIT POS, Motor0, 0
JA MainLoop
Just have a look at the file TMCLParam.tmc provided with the TMCL-IDE. It contains symbolic constants
that define all important parameter numbers.
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TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
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Using constants for other values makes it easier to change them when they are used more than once in a
program. You can change the definition of the constant and do not have to change all occurrences of it in
your program.
8.4 Using Variables
The User Variables can be used if variables are needed in your program. They can store temporary values.
The commands SGP, GGP and AGP are used to work with user variables:
SGP is used to set a variable to a constant value (e.g. during initialization phase).
GGP is used to read the contents of a user variable and to copy it to the accumulator register for further
usage.
AGP can be used to copy the contents of the accumulator register to a user variable, e.g. to store the
result of a calculation.
Example:
MyVariable = 42
//Use a symbolic name for the user variable
//(This makes the program better readable and understandable.)
SGP MyVariable, 2, 1234
...
...
GGP MyVariable, 2
accumulator register
CALC MUL, 2
AAP MyVariable, 2
variable
...
...
//Initialize the variable with the value 1234
//Copy the contents of the variable to the
//Multiply accumulator register with two
//Store contents of the accumulator register to the
Furthermore, these variables can provide a powerful way of communication between a TMCL program
running on a module and a host. The host can change a variable by issuing a direct mode SGP command
(remember that while a TMCL program is running direct mode commands can still be executed, without
interfering with the running program). If the TMCL program polls this variable regularly it can react on
such changes of its contents.
The host can also poll a variable using GGP in direct mode and see if it has been changed by the TMCL
program.
8.5 Using Subroutines
The CSUB and RSUB commands provide a mechanism for using subroutines. The CSUB command branches
to the given label. When an RSUB command is executed the control goes back to the command that
follows the CSUB command that called the subroutine.
This mechanism can also be nested. From a subroutine called by a CSUB command other subroutines can
be called. In the current version of TMCL eight levels of nested subroutine calls are allowed.
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79
8.6 Mixing Direct Mode and Standalone Mode
Direct mode and standalone mode can also be mixed. When a TMCL program is being executed in
standalone mode, direct mode commands are also processed (and they do not disturb the flow of the
program running in standalone mode). So, it is also possible to query e.g. the actual position of the motor
in direct mode while a TMCL program is running.
Communication between a program running in standalone mode and a host can be done using the TMCL
user variables. The host can then change the value of a user variable (using a direct mode SGP command)
which is regularly polled by the TMCL program (e.g. in its main loop) and so the TMCL program can react
on such changes. Vice versa, a TMCL program can change a user variable that is polled by the host (using
a direct mode GGP command).
A TMCL program can be started by the host using the run command in direct mode. This way, also a set of
TMCL routines can be defined that are called by a host. In this case it is recommended to place JA
commands at the beginning of the TMCL program that jump to the specific routines. This assures that the
entry addresses of the routines will not change even when the TMCL routines are changed (so when
changing the TMCL routines the host program does not have to be changed).
Example:
//Jump commands to the TMCL routines
Func1:
JA Func1Start
Func2:
JA Func2Start
Func3:
JA Func3Start
Func1Start: MVP ABS, 0, 1000
WAIT POS, 0, 0
MVP ABS, 0, 0
WAIT POS, 0, 0
STOP
Func2Start: ROL 0, 500
WAIT TICKS, 0, 100
MST 0
STOP
Func3Start:
ROR 0, 1000
WAIT TICKS, 0, 700
MST 0
STOP
This example provides three very simple TMCL routines. They can be called from a host by issuing a run
command with address 0 to call the first function, or a run command with address 1 to call the second
function, or a run command with address 2 to call the third function. You can see the addresses of the
TMCL labels (that are needed for the run commands) by using the Generate symbol file function of the
TMCL-IDE.
Please refer to the TMCL-IDE User Manual for further information about the TMCL-IDE.
www.trinamic.com
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
9 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 2010-2014
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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10 Revision History
10.1 Firmware Revision
Version
4.26
4.27
4.28
Date
2010-APR-26
2010-JUL-05
2010-AUG-09
4.29-4.36
4.37
4.38-4.40
4.41
2011-DEC-01
2012-JAN-06
2012-JUN-20
2012-SEP-21
4.42
2012-NOV-20
4.43
4.44
4.45
2013-FEB-20
2013-OKT-15
21.01.2014
Description
First version supporting all TMCL features
Firmware updates for other modules.
RFS start resets deviation flags, too. Thus, a reference search is stopped if
an encoder deviation is detected.
Firmware updates for other modules.
Axis parameter 200 (boost current) new.
Firmware updates for other modules.
Global parameter 87 new.
Reference search: the last position before setting the counter to zero can
be read out with axis parameter 197.
Global parameter 82 (CAN heart beat) new
Global parameter 85 (do not store user variables) new
Axis parameter 254 (step/dir mode) new
Axis parameter 200 (boost current) new
Axis parameter 215 (absolute encoder value) new
Not deployed.
Not deployed.
Improved USB connection.
Improved command request target position reached.
10.2 Document Revision
Version
1.00
1.01
Date
2010-JUN-28
2010-AUG-31
Author
SD
SD
1.02
2010-SEP-16
SD
1.03
2010-NOV-19
SD
1.04
2010-DEC-22
SD
1.05
2011-FEB-21
SD
1.06
1.07
1.08
2011-MAR-21
2011-SEP-13
2012-NOV-20
SD
SD
SD
1.09
2013-JAN-02
SD
1.10
2014-MAY-16
SD
www.trinamic.com
Description
Initial version
Minor corrections
Paragraph Changing the Prescaler Value of an Encoder
completed.
Value range of axis parameter 215 corrected.
Units of axis parameters 130, 182 and 183 corrected. Diagram
for coolStep related parameters added.
Value range of axis parameter 206 corrected. Axis parameter
205 deleted. The functionality of this parameter is handled by
parameter 174.
Minor changes
Axis parameter 181 corrected.
Global parameter 65 updated.
Chapter 8 new: TMCL programming techniques and structures.
Changes related to TRINAMICs design.
Global parameter list updated:
87 (serial second address) new
82 (CAN heart beat) new
85 (do not store user variables) new
Axis parameter list updated:
254 (step/dir mode) new
encoder parameters updated: 209, 210, 212
200 (boost current) new
215 (absolute encoder value) new
unit for current parameters corrected
SIO command updated
Firmware revision updated.
TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16)
11 References
[TMCM-1180 / PD86-1180]
[TMC262]
[TMCL-IDE]
[QSH8618]
Please refer to www.trinamic.com.
www.trinamic.com
TMCM-1180 and PD86-1180 Hardware Manual
TMC262 Datasheet
TMCL-IDE User Manual
QSH8618 Manual
82