TMCM-1140-TMCL Manual

MODULE FOR STEPPER MOTORS
MODULE
Firmware Version V1.27
TMCL™ FIRMWARE MANUAL
+
+
TMCM-1140
1-Axis Stepper
Controller / Driver
2 A / 24 V
sensOstep™ Encoder
USB, RS485, and CAN
+
UNIQUE FEATURES:
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
+
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
Table of Contents
1
2
Features........................................................................................................................................................................... 4
Putting the Module into Operation ........................................................................................................................ 6
2.1
Basic Set-Up .......................................................................................................................................................... 6
2.1.1 Start the TMCL-IDE Software Development Environment ................................................................. 8
2.2
Using TMCL Direct Mode .................................................................................................................................... 9
2.2.1 Important Motor Settings ......................................................................................................................... 10
2.3
Testing with a Simple TMCL Program ......................................................................................................... 11
3
TMCL and the TMCL-IDE: Introduction ................................................................................................................. 12
3.1
Binary Command Format ................................................................................................................................ 12
3.1.1 Checksum Calculation ................................................................................................................................ 13
3.2
Reply Format ....................................................................................................................................................... 13
3.2.1 Status Codes ................................................................................................................................................. 14
3.3
Standalone Applications .................................................................................................................................. 14
3.4
TMCL Command Overview .............................................................................................................................. 15
3.4.1 TMCL Commands ......................................................................................................................................... 15
3.4.2 Commands Listed According to Subject Area .................................................................................... 16
3.5
The ASCII Interface ........................................................................................................................................... 20
3.5.1 Format of the Command Line ................................................................................................................. 20
3.5.2 Format of a Reply ....................................................................................................................................... 20
3.5.3 Configuring the ASCII Interface ............................................................................................................. 21
3.6
Commands ........................................................................................................................................................... 22
3.6.1 ROR (rotate right) ....................................................................................................................................... 22
3.6.2 ROL (rotate left) ........................................................................................................................................... 23
3.6.3 MST (motor stop)......................................................................................................................................... 24
3.6.4 MVP (move to position) ............................................................................................................................ 25
3.6.5 SAP (set axis parameter) ........................................................................................................................... 27
3.6.6 GAP (get axis parameter) .......................................................................................................................... 28
3.6.7 STAP (store axis parameter) ..................................................................................................................... 29
3.6.8 RSAP (restore axis parameter) ................................................................................................................. 30
3.6.9 SGP (set global parameter) ...................................................................................................................... 31
3.6.10 GGP (get global parameter)...................................................................................................................... 32
3.6.11 STGP (store global parameter) ................................................................................................................ 33
3.6.12 RSGP (restore global parameter) ............................................................................................................ 34
3.6.13 RFS (reference search) ................................................................................................................................ 35
3.6.14 SIO (set input / output) ............................................................................................................................. 36
3.6.15 GIO (get input /output) ............................................................................................................................. 38
3.6.16 CALC (calculate) ............................................................................................................................................ 40
3.6.17 COMP (compare)........................................................................................................................................... 41
3.6.18 JC (jump conditional) ................................................................................................................................. 42
3.6.19 JA (jump always) ......................................................................................................................................... 43
3.6.20 CSUB (call subroutine) ............................................................................................................................... 44
3.6.21 RSUB (return from subroutine) ................................................................................................................ 45
3.6.22 WAIT (wait for an event to occur) ......................................................................................................... 46
3.6.23 STOP (stop TMCL program execution) ................................................................................................... 47
3.6.24 SCO (set coordinate) ................................................................................................................................... 48
3.6.25 GCO (get coordinate) .................................................................................................................................. 49
3.6.26 CCO (capture coordinate) .......................................................................................................................... 50
3.6.27 ACO (accu to coordinate) .......................................................................................................................... 51
3.6.28 CALCX (calculate using the X register) .................................................................................................. 52
3.6.29 AAP (accumulator to axis parameter) .................................................................................................... 53
3.6.30 AGP (accumulator to global parameter) ............................................................................................... 54
3.6.31 CLE (clear error flags) ................................................................................................................................. 55
3.6.32 VECT (set interrupt vector) ........................................................................................................................ 56
3.6.33 EI (enable interrupt) ................................................................................................................................... 57
3.6.34 DI (disable interrupt) .................................................................................................................................. 58
3.6.35 RETI (return from interrupt) ..................................................................................................................... 59
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
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5
6
7
8
9
3.6.36 Customer Specific TMCL Command Extension (UF0… UF7 / User Function) ............................... 60
3.6.37 Request Target Position Reached Event ............................................................................................... 60
3.6.38 TMCL Control Functions ............................................................................................................................. 61
Axis Parameters .......................................................................................................................................................... 63
4.1
stallGuard2 ........................................................................................................................................................... 70
4.2
coolStep Related Axis Parameters ................................................................................................................ 70
4.3
Reference Search ............................................................................................................................................... 72
4.3.1 Reference Search Modes (Axis Parameter 193) ................................................................................... 73
4.4
Changing the Prescaler Value of an Encoder ............................................................................................ 76
Global Parameters ...................................................................................................................................................... 78
5.1
Bank 0 ................................................................................................................................................................... 78
5.2
Bank 1 ................................................................................................................................................................... 81
5.3
Bank 2 ................................................................................................................................................................... 81
5.4
Bank 3 ................................................................................................................................................................... 82
TMCL Programming Techniques and Structure ................................................................................................. 83
6.1
Initialization ........................................................................................................................................................ 83
6.2
Main Loop ............................................................................................................................................................ 83
6.3
Using Symbolic Constants .............................................................................................................................. 83
6.4
Using Variables .................................................................................................................................................. 84
6.5
Using Subroutines ............................................................................................................................................. 84
6.6
Mixing Direct Mode and Standalone Mode ................................................................................................ 85
Life Support Policy ..................................................................................................................................................... 86
Revision History .......................................................................................................................................................... 87
8.1
Firmware Revision ............................................................................................................................................ 87
8.2
Document Revision ........................................................................................................................................... 87
References .................................................................................................................................................................... 88
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
4
1 Features
The TMCM-1140 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of
the art feature set. It is highly integrated, offers a convenient handling and can be used in many
decentralized applications. The module can be mounted on the back of NEMA 17 (42mm flange size)
stepper motors and has been designed for coil currents up to 2 A RMS and 24 V DC supply voltage. With its
high energy efficiency from TRINAMIC’s coolStep™ technology cost for power consumption is kept down. The
TMCL™ firmware allows for both, standalone operation and direct mode.
MAIN CHARACTERISTICS
Motion controller
Motion profile calculation in real-time
On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
High performance microcontroller for overall system control and serial communication protocol
handling
Bipolar stepper motor driver
Up to 256 microsteps per full step
High-efficient operation, low power dissipation
Dynamic current control
Integrated protection
stallGuard2 feature for stall detection
coolStep feature for reduced power consumption and heat dissipation
Encoder
sensOstep magnetic encoder (1024 increments per rotation) e.g. for step-loss detection under all
operating conditions and positioning supervision
Interfaces
RS485 2-wire communication interface
CAN 2.0B communication interface
USB full speed (12Mbit/s) device interface
4 multipurpose inputs:
3x general-purpose digital inputs
(Alternate functions: STOP_L / STOP_R / HOME switch inputs or A/B/N encoder input)
1x dedicated analog input
2 general purpose outputs
1x open-drain 1A max.
1x +5V supply output (can be switched on/off in software)
Software
TMCL:
standalone operation or remote controlled operation,
program memory (non volatile) for up to 2048 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
Supply voltage: +24 V DC nominal (9… 28 V DC)
Motor current: up to 2 A RMS / 2.8 A peak (programmable)
Refer to separate Hardware Manual, too.
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
5
TRINAMICS UNIQUE FEATURES – EASY TO USE WITH TMCL
stallGuard2™
stallGuard2 is a high-precision sensorless load measurement using the back EMF on the
coils. It can be used for stall detection as well as other uses at loads below those which
stall the motor. The stallGuard2 measurement value changes linearly over a wide range of
load, velocity, and current settings. At maximum motor load, the value goes to zero or
near to zero. This is the most energy-efficient point of operation for the motor.
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 1.1 stallGuard2 load measurement SG as a function of load
coolStep™
coolStep is a load-adaptive automatic current scaling based on the load measurement via
stallGuard2 adapting the required current to the load. Energy consumption can be reduced
by as much as 75%. coolStep allows substantial energy savings, especially for motors
which see varying loads or operate at a high duty cycle. Because a stepper motor
application needs to work with a torque reserve of 30% to 50%, even a constant-load
application allows significant energy savings because coolStep automatically enables
torque reserve when required. Reducing power consumption keeps the system cooler,
increases motor life, and allows reducing cost.
0,9
Efficiency with coolStep
0,8
Efficiency with 50% torque reserve
0,7
0,6
0,5
Efficiency
0,4
0,3
0,2
0,1
0
0
50
100
150
200
250
300
350
Velocity [RPM]
Figure 1.2 Energy efficiency example with coolStep
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
6
2 Putting the Module into Operation
Here you can find basic information for putting your TMCM-1140 into operation. If you are already common
with TRINAMICs modules you may skip this chapter.
The things you need:
TMCM-1140
Interface (RS485/CAN/USB) suitable to your module with cables
Nominal supply voltage +24V DC for your module
TMCL-IDE program and PC
Stepper motor
PRECAUTIONS
Do not connect or disconnect the TMCM-1140 while powered!
Do not connect or disconnect the motor while powered!
Do not exceed the maximum power supply voltage of 28 V DC!
Note, that the module is not protected against reverse polarity!
START WITH POWER SUPPLY OFF!
2.1 Basic Set-Up
The following paragraph will guide you through the steps of connecting the unit and making first
movements with the motor.
CONNECTING THE MODULE
USB
Converter
e.g. USB-2-485
B
US
Converter
e.g. USB-2-X
CAN
Pin 6 CAN_L
Pin 5 CAN_H
Pin 1 GND
1
Power supply
Pin 2 9… 28V DC
Pin 1 GND
Note, that the
GND pin has to
be used for
power supply
and for the
interfaces also.
Motor
1
Motor
Figure 2.1: Starting up
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USB
RS485
Pin 4 RS485Pin 3 RS485+
Pin 1 GND
In/Out
Interface
RS48
5
CA
N
Serial USB
interface
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
1.
7
Connect power supply and choose your interface
a) Connect CAN or RS485 and power supply
CAN interface will be de-activated in case USB is connected due to internal sharing of hardware
resources.
Pin
1
2
3
4
5
6
Label
GND
VDD
RS485+
RS485CAN_H
CAN_L
Description
System and signal ground
VDD (+9V…+28V)
RS485 interface, diff. signal (non-inverting)
RS485 interface, diff. signal (inverting)
CAN interface, diff. signal (non-inverting)
CAN interface, diff. signal (inverting)
b) Connect USB interface (as alternative to CAN and RS485; use a normal USB cable)
Download and install the file TMCM-1140.inf (www.trinamic.com).
Pin
1
2
3
4
5
2.
Description
+5V power
Data –
Data +
ground
ground
Connect In/Out connector
If you like to work with the GPIOs or switches, use the In/Out connector.
Pin
1
2
Label
GND
VDD
3
OUT_1
4
OUT_0
5
AIN_0
6
7
8
3.
Label
VBUS
DD+
ID
GND
IN_0,
STOP_L,
ENC_A
IN_1,
STOP_R,
ENC_B
IN_2,
HOME,
ENC_N
Description
System and signal ground
VDD, connected to VDD pin of the power and communication connector
Open-drain output (max. 1A)
Integrated freewheeling diode to VDD
+5V supply output (max. 100mA)
Can be switched on/off in software
Dedicated analog input,
Input voltage range: 0..+10V
Resolution: 12bit (0..4095)
General purpose digital input (+24V compatible)
Alternate function 1: left stop switch input
Alternate function 2: external incremental encoder channel A input
General purpose digital input (+24V compatible)
Alternate function 1: right stop switch input
Alternate function 2: external incremental encoder channel B input
General purpose digital input (+24V compatible)
Alternate function 1: home switch input
Alternate function 2: external incremental encoder index / zero channel input
Connect the motor
Pin
1
2
3
4
Label
OB2
OB1
OA2
OA1
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Description
Pin 2 of motor
Pin 1 of motor
Pin 2 of motor
Pin 1 of motor
coil
coil
coil
coil
B
B
A
A
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
4.
Switch ON the power supply
Turn power ON. The green LED for power lights up and the motor is powered but in standstill
now.
If this does not occur, switch power OFF and check your connections as well as the power
supply.
2.1.1
Start the TMCL-IDE Software Development Environment
The TMCL-IDE is available on www.trinamic.com.
Installing the TMCL-IDE:
Make sure the COM port you intend to use is not blocked by another program.
Open TMCL-IDE by clicking TMCL.exe.
Choose Setup and Options and thereafter the Connection tab.
Choose COM port and type with the parameters shown in Figure 2.2 (baud rate 9600). Click OK.
USB interface
If the file TMCM-1140.inf is installed correctly, the module will be identified automatically.
Figure 2.2 Setup dialogue and connection tab of the TMCL-IDE.
Please refer to the TMCL-IDE User Manual for more information (see www.TRINAMIC.com).
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
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2.2 Using TMCL Direct Mode
1.
Start TMCL Direct Mode.
Direct Mode
2.
If the communication is established the TMCM-1140 is automatically detected. If the module is not
detected, please check all points above (cables, interface, power supply, COM port, baud rate).
3.
Issue a command by choosing Instruction, Type (if necessary), Motor, and Value and click
Execute to send it to the module.
Examples:
- ROR rotate right, motor 0, value 500
- MST motor stop, motor 0
-> Click Execute. The motor is rotating now.
-> Click Execute. The motor stops now.
Top right of the TMCL Direct Mode window is the button Copy to editor. Click here to copy the chosen
command and create your own TMCL program. The command will be shown immediately on the editor.
Note:
Chapter 4 of this manual (axis parameters) includes a diagram which points out the coolStep related axis
parameters and their functions.
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
2.2.1
10
Important Motor Settings
There are some axis parameters which have to be adjusted right in the beginning after installing your
module. Please set the upper limiting values for the speed (axis parameter 4), the acceleration (axis
parameter 5), and the current (axis parameter 6). Further set the standby current (axis parameter 7) and
choose your microstep resolution with axis parameter 140. Please use the SAP (Set Axis Parameter)
command for adjusting these values. The SAP command is described in paragraph 3.6.5. You can use the
TMCL-IDE direct mode for easily configuring your module.
Attention:
The most important motor setting is the absolute maximum motor current setting, since too high values
might cause motor damage!
IMPORTANT AXIS PARAMETERS FOR MOTOR SETTING
Number
4
Axis Parameter
Maximum
positioning
speed
5
Maximum
acceleration
6
Absolute max.
current
(CS / Current
Scale)
Description
Should not exceed the physically highest 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). Changing
this parameter requires re-calculation of the
acceleration factor (no. 146) and the acceleration
divisor (no. 137), which is done automatically. See
TMC 429 datasheet for calculation of physical units.
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… 7
8… 15
16… 23
24… 31
32… 39
40… 47
48… 55
56… 63
64… 71
72… 79
7
Standby current
140
Microstep
resolution
*1 Unit of acceleration:
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79…87
88… 95
96… 103
104… 111
112… 119
120… 127
128… 135
136… 143
144… 151
152… 159
160…
168…
176…
184…
192…
200…
208…
216…
224…
232…
167
175
183
191
199
207
215
223
231
239
Range [Unit]
0… 2047
0… 2047*1
0… 255
240… 247
248… 255
The most important motor setting, since too high
values might cause motor damage!
The current limit two seconds after the motor has 0… 255
stopped.
0
1
2
3
4
5
6
7
8
full step
half step
4 microsteps
8 microsteps
16 microsteps
32 microsteps
64 microsteps
128 microsteps
256 microsteps
0… 8
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
2.3 Testing with a Simple TMCL Program
Type in the following program:
Loop:
ROL 0, 500
WAIT TICKS, 0, 500
MST 0
ROR 0, 500
WAIT TICKS, 0, 500
MST 0
//Rotate motor 0 with speed 10000
SAP 4, 0, 500
SAP 5, 0, 50
MVP ABS, 0, 10000
WAIT POS, 0, 0
MVP ABS, 0, -10000
WAIT POS, 0, 0
JA Loop
//Set max. Velocity
//Set max. Acceleration
//Move to Position 10000
//Wait until position reached
//Move to Position -10000
//Wait until position reached
//Infinite Loop
//Rotate motor 0 with 50000
Assemble
Stop
Download
1.
2.
3.
4.
Run
Click the Assemble icon to convert the TMCL program into binary code.
Then download the program to the TMCM-1140 module by clicking the Download icon.
Click the Run icon. The desired program will be executed.
Click the Stop button to stop the program.
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
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3 TMCL and the TMCL-IDE: Introduction
As with most TRINAMIC modules the software running on the microprocessor of the TMCM-1140 consists
of two parts, a boot loader and the firmware itself. Whereas the boot loader is installed during production
and testing at TRINAMIC and remains untouched throughout the whole lifetime, the firmware can be
updated by the user. New versions can be downloaded free of charge from the TRINAMIC website
(http://www.trinamic.com).
The TMCM-1140 supports TMCL direct mode (binary commands) and standalone TMCL program execution.
You can store up to 2048 TMCL instructions on it. In direct mode and most cases the TMCL communication
over RS485, CAN, or USB follows a strict master/slave relationship. That is, a host computer (e.g. PC/PLC)
acting as the interface bus master will send a command to the TMCM-1140. 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/CAN/USB to the bus master. Only then should the
master transfer the next command. Normally, the module will just switch to transmission and occupy the
bus for a reply, otherwise it will stay in receive mode. It will not send any data over the interface without
receiving a command first. This way, any collision on the bus will be avoided when there are more than
two nodes connected to a single bus.
The Trinamic Motion Control Language [TMCL] provides a set of structured motion control commands.
Every motion control command can be given by a host computer or can be stored in an EEPROM on the
TMCM module to form programs that run standalone on the module. For this purpose there are not only
motion control commands but also commands to control the program structure (like conditional jumps,
compare and calculating).
Every command has a binary representation and a mnemonic. The binary format is used to send
commands from the host to a module in direct mode, whereas the mnemonic format is used for easy
usage of the commands when developing standalone TMCL applications using the TMCL-IDE (IDE means
Integrated Development Environment).
There is also a set of configuration variables for the axis and for global parameters which allow individual
configuration of nearly every function of a module. This manual gives a detailed description of all TMCL
commands and their usage.
3.1 Binary Command Format
Every command has a mnemonic and a binary representation. When commands are sent from a host to a
module, the binary format has to be used. Every command consists of a one-byte command field, a onebyte type field, a one-byte motor/bank field and a four-byte value field. So the binary representation of a
command always has seven bytes. When a command is to be sent via 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 R485/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-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
3.1.1
13
Checksum Calculation
As mentioned above, the checksum is calculated by adding up all bytes (including the module address
byte) using 8-bit addition. Here are two examples to show how to do this:
in C:
unsigned char i, Checksum;
unsigned char Command[9];
//Set the “Command” array to the desired command
Checksum = Command[0];
for(i=1; i<8; i++)
Checksum+=Command[i];
Command[8]=Checksum; //insert checksum as last byte of the command
//Now, send it to the module
in Delphi:
var
i, Checksum: byte;
Command: array[0..8] of byte;
//Set the “Command” array to the desired command
//Calculate the Checksum:
Checksum:=Command[0];
for i:=1 to 7 do Checksum:=Checksum+Command[i];
Command[8]:=Checksum;
//Now, send the “Command” array (9 bytes) to the module
3.2 Reply Format
Every time a command has been sent to a module, the module sends a reply.
The reply format for RS485/ /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, just leave out the first byte (module address) and the last byte (checksum).
Do not send the next command before you have received the reply!
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
3.2.1
14
Status Codes
The reply contains a status code. The status code can have one of the following values:
Code
100
101
1
2
3
4
5
6
Meaning
Successfully executed, no error
Command loaded into TMCL
program EEPROM
Wrong checksum
Invalid command
Wrong type
Invalid value
Configuration EEPROM locked
Command not available
3.3 Standalone Applications
The module is equipped with a TMCL memory for storing TMCL applications. You can use TMCL-IDE for
developing standalone TMCL applications. You can download a program into the EEPROM and afterwards it
will run on the module. The TMCL-IDE contains an editor and the TMCL assembler where the commands
can be entered using their mnemonic format. They will be assembled automatically into their binary
representations. Afterwards this code can be downloaded into the module to be executed there.
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
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3.4 TMCL Command Overview
In this section a short overview of the TMCL commands is given.
3.4.1
TMCL Commands
Command
ROR
ROL
MST
MVP
Number
1
2
3
4
SAP
5
Parameter
<motor number>, <velocity>
<motor number>, <velocity>
<motor number>
ABS|REL|COORD, <motor number>,
<position|offset>
<parameter>, <motor number>, <value>
GAP
6
<parameter>, <motor number>
STAP
7
<parameter>, <motor number>
RSAP
SGP
8
9
<parameter>, <motor number>
<parameter>, <bank number>, value
GGP
10
<parameter>, <bank number>
STGP
11
<parameter>, <bank number>
RSGP
12
<parameter>, <bank number>
RFS
SIO
GIO
CALC
COMP
JC
JA
CSUB
RSUB
EI
DI
WAIT
STOP
SCO
13
14
15
19
20
21
22
23
24
25
26
27
28
30
START|STOP|STATUS, <motor number>
<port number>, <bank number>, <value>
<port number>, <bank number>
<operation>, <value>
<value>
<condition>, <jump address>
<jump address>
<subroutine address>
GCO
CCO
CALCX
AAP
AGP
VECT
RETI
ACO
31
32
33
34
35
37
38
39
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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
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
3.4.2
16
Commands Listed According to Subject Area
3.4.2.1 Motion Commands
These commands control the motion of the motor. They are the most important commands and can be
used in direct mode or in standalone mode.
Mnemonic
ROL
ROR
MVP
MST
RFS
SCO
CCO
GCO
Command number
2
1
4
3
13
30
32
31
Meaning
Rotate left
Rotate right
Move to position
Motor stop
Reference search
Store coordinate
Capture coordinate
Get coordinate
3.4.2.2 Parameter Commands
These commands are used to set, read and store axis parameters or global parameters. Axis parameters
can be set independently for each axis, whereas global parameters control the behavior of the module
itself. These commands can also be used in direct mode and in standalone mode.
Mnemonic
SAP
GAP
STAP
RSAP
SGP
GGP
STGP
RSGP
Command number
5
6
7
8
9
10
11
12
Meaning
Set axis parameter
Get axis parameter
Store axis parameter into EEPROM
Restore axis parameter from EEPROM
Set global parameter
Get global parameter
Store global parameter into EEPROM
Restore global parameter from EEPROM
3.4.2.3 Control Commands
These commands are used to control the program flow (loops, conditions, jumps etc.). It does not make
sense to use them in direct mode. They are intended for standalone mode only.
Mnemonic
JA
JC
COMP
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
3.4.2.4 I/O Port Commands
These commands control the external I/O ports and can be used in direct mode and in standalone mode.
Mnemonic
SIO
GIO
Command number
14
15
www.trinamic.com
Meaning
Set output
Get input
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17
3.4.2.5 Calculation Commands
These commands are intended to be used for calculations within TMCL applications. Although they could
also be used in direct mode it does not make much sense to do so.
Mnemonic
CALC
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.
3.4.2.6 Interrupt Commands
Due to some customer requests, interrupt processing has been introduced in the TMCL firmware for ARM
based modules.
Mnemonic
EI
DI
VECT
RETI
3.4.2.6.1
Command number
25
26
37
38
Meaning
Enable interrupt
Disable interrupt
Set interrupt vector
Return from interrupt
Interrupt Types
There are many different interrupts in TMCL, like timer interrupts, stop switch interrupts, position reached
interrupts, and input pin change interrupts. Each of these interrupts has its own interrupt vector. Each
interrupt vector is identified by its interrupt number. Please use the TMCL included file Interrupts.inc for
symbolic constants of the interrupt numbers.
3.4.2.6.2
Interrupt Processing
When an interrupt occurs and this interrupt is enabled and a valid interrupt vector has been defined for
that interrupt, the normal TMCL program flow will be interrupted and the interrupt handling routine will
be called. Before an interrupt handling routine gets called, the context of the normal program will be
saved automatically (i.e. accumulator register, X register, TMCL flags).
There is no interrupt nesting, i.e. all other interrupts are disabled while an interrupt handling routine is
being executed.
On return from an interrupt handling routine, the context of the normal program will automatically be
restored and the execution of the normal program will be continued.
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
3.4.2.6.3
18
Interrupt Vectors
The following table shows all interrupt vectors that can be used.
Interrupt number
0
1
2
3
15
21
27
28
39
40
41
42
255
3.4.2.6.4
Interrupt type
Timer 0
Timer 1
Timer 2
(Target) position reached
Stall (stallGuard2)
Deviation
Stop left
Stop right
IN_0 change
IN_1 change
IN_2 change
IN_3 change
Global interrupts
Further Configuration of Interrupts
Some interrupts need further configuration (e.g. the timer interval of a timer interrupt). This can be done
using SGP commands with parameter bank 3 (SGP <type>, 3, <value>). Please refer to the SGP command
(paragraph 3.6.9) for further information about that.
3.4.2.6.5
Using Interrupts in TMCL
For using an interrupt proceed as follows:
-
Define an interrupt handling routine using the VECT command.
If necessary, configure the interrupt using an SGP <type>, 3, <value> command.
Enable the interrupt using an EI <interrupt> command.
Globally enable interrupts using an EI 255 command.
An interrupt handling routine must always end with a RETI command
EXAMPLE FOR THE USE OF A TIMER INTERRUPT:
VECT 0, Timer0Irq
SGP 0, 3, 1000
EI 0
EI 255
//define the interrupt vector
//configure the interrupt: set its period to 1000ms
//enable this interrupt
//globally switch on interrupt processing
//Main program: toggles output 3, using a WAIT command for the delay
Loop:
SIO 3, 2, 1
WAIT TICKS, 0, 50
SIO 3, 2, 0
WAIT TICKS, 0, 50
JA Loop
//Here is the interrupt handling routine
Timer0Irq:
GIO 0, 2
//check if OUT0 is high
JC NZ, Out0Off
//jump if not
SIO 0, 2, 1
//switch OUT0 high
RETI
//end of interrupt
Out0Off:
SIO 0, 2, 0
//switch OUT0 low
RETI
//end of interrupt
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
19
In the example above, the interrupt numbers are used directly. To make the program better readable use
the provided include file Interrupts.inc. This file defines symbolic constants for all interrupt numbers which
can be used in all interrupt commands. The beginning of the program above then looks like the following:
#include Interrupts.inc
VECT TI_TIMER0, Timer0Irq
SGP TI_TIMER0, 3, 1000
EI TI_TIMER0
EI TI_GLOBAL
Please also take a look at the other example programs.
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
20
3.5 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.
Note:
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.
3.5.1 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.
3.5.2 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-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
21
3.5.3 Configuring the ASCII Interface
The module can be configured so that it starts up either in binary mode or in ASCII mode. Global
parameter 67 is used for this purpose (please see also chapter 5.1).
Bit 0 determines the startup mode: if this bit is set, the module starts up in ASCII mode, else it will start
up in binary mode (default).
Bit 4 and Bit 5 determine how the characters that are entered are echoed back. Normally, both bits are set
to zero. In this case every character that is entered is echoed back when the module is addressed.
Character can also be erased using the backspace character (press the backspace key in a terminal
program).
When bit 4 is set and bit 5 is clear the characters that are entered are not echoed back immediately but
the entire line will be echoed back after the <CR> character has been sent.
When bit 5 is set and bit 4 is clear there will be no echo, only the reply will be sent. This may be useful in
RS485 systems.
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
22
3.6 Commands
The module specific commands are explained in more detail on the following pages. They are listed
according to their command number.
3.6.1
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 TMC429 stepper motor controller and the TMC262 power driver. This makes
possible choosing a velocity between 0 and 2047.
Related commands: ROL, MST, SAP, GAP
Mnemonic: ROR 0, <velocity>
Binary representation:
INSTRUCTION NO.
1
TYPE
(don't care)
MOT/BANK
0*
VALUE
<velocity>
0… 2047
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
100 – OK
VALUE
(don't care)
Example:
Rotate right, velocity = 350
Mnemonic: ROR 0, 350
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$01
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$01
7
Operand
Byte0
$5e
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
3.6.2
23
ROL (rotate left)
With this command the motor will be instructed to rotate with a specified velocity (opposite direction
compared to ROR, decreasing the position counter).
Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter
#0 (target velocity).
The module is based on the TMC429 stepper motor controller and the TMC262 power driver. This makes
possible choosing a velocity between 0 and 2047.
Related commands: ROR, MST, SAP, GAP
Mnemonic: ROL 0, <velocity>
Binary representation:
INSTRUCTION NO.
2
TYPE
(don't care)
MOT/BANK
0*
VALUE
<velocity>
0… 2047
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
100 – OK
VALUE
(don't care)
Example:
Rotate left, velocity = 1200
Mnemonic: ROL 0, 1200
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$02
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$04
7
Operand
Byte0
$b0
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
3.6.3
24
MST (motor stop)
With this command the motor will be instructed to stop with a soft stop.
Internal function: The axis parameter target velocity is set to zero.
Related commands: ROL, ROR, SAP, GAP
Mnemonic: MST 0
Binary representation:
INSTRUCTION NO.
3
TYPE
MOT/BANK
VALUE
(don't care)
0*
(don't care)
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Stop motor
Mnemonic: MST 0
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$03
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
3.6.4
25
MVP (move to position)
With this command the motor will be instructed to move to a specified relative or absolute position. It
will use the acceleration/deceleration ramp and the positioning speed programmed into the unit. This
command is non-blocking – that is, a reply will be sent immediately after command interpretation and
initialization of the motion controller. Further commands may follow without waiting for the motor
reaching its end position. The maximum velocity and acceleration are defined by axis parameters #4 and
#5.
The range of the MVP command is 32 bit signed (−2.147.483.648… +2.147.483.647). Positioning can be
interrupted using MST, ROL or ROR commands.
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
MOT/BANK
0*
VALUE
<position>
1 REL – relative
0
<offset>
2 COORD – coordinate
0
<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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26
Example:
Move motor from current position 1000 steps backward (move relative –1000)
Mnemonic: MVP REL, 0, -1000
Binary:
Byte Index
Function
0
Targetaddress
Value (hex)
$01
1
Instructio
n
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-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
3.6.5
27
SAP (set axis parameter)
With this command most of the motion control parameters of the module can be specified. The settings
will be stored in SRAM and therefore are volatile. That is, information will be lost after power off.
Please use command STAP (store axis parameter) in order to store any setting permanently.
For a table with parameters and values which can be used together with this command please refer to
chapter 4.
Internal function: The parameter format is converted ignoring leading zeros (or ones for negative values).
The parameter is transferred to the correct position in the appropriate device.
Related commands: GAP, STAP, RSAP, AAP
Mnemonic: SAP <parameter number>, 0, <value>
Binary representation:
INSTRUCTION NO.
5
TYPE
MOT/BANK
VALUE
<parameter number>
0*
<value>
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
100 – OK
VALUE
(don't care)
Example:
Set the absolute maximum current of motor to 200mA
Mnemonic: SAP 6, 0, 200
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
Instruction
Number
$05
2
Type
$06
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$c8
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
3.6.6
28
GAP (get axis parameter)
Most parameters of the TMCM-1140 can be adjusted individually for the axis. With this parameter they can
be read out. In standalone mode the requested value is also transferred to the accumulator register for
further processing purposes (such as conditioned jumps). In direct mode the value read is only output in
the value field of the reply (without affecting the accumulator).
For a table with parameters and values which can be used together with this command please refer to
chapter 4.
Internal function: The parameter is read out of the correct position in the appropriate device. The
parameter format is converted adding leading zeros (or ones for negative values).
Related commands: SAP, STAP, AAP, RSAP
Mnemonic: GAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
6
TYPE
<parameter number>
MOT/BANK
0*
VALUE
(don't care)
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
100 – OK
VALUE
(don't care)
Example:
Get the actual position of motor
Mnemonic: GAP 0, 1
Binary:
Byte Index
0
1
2
Function
Target- Instruction
Type
address
Number
Value (hex)
$01
$06
$01
Reply:
Byte Index
Function
Value (hex)
0
Hostaddress
$02
1
Targetaddress
$01
 status=no error, position=711
www.trinamic.com
2
Status
$64
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
3
Instructio
n
$06
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$02
7
Operand
Byte0
$c7
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
3.6.7
29
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 (refer to axis parameter list in chapter 4).
For a table with parameters and values which can be used together with this command please refer to
chapter 4.
Internal function: An axis parameter value stored in SRAM will be transferred to EEPROM and loaded from
EEPORM after next power up.
Related commands: SAP, RSAP, GAP, AAP
Mnemonic: STAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
7
TYPE
<parameter number>
MOT/BANK
0*1
VALUE
(don't care)*2
*1motor number is always O as only one motor is involved
*2the value operand of this function has no effect. Instead, the currently used value (e.g. selected by SAP) is saved.
Reply in direct mode:
STATUS
100 – OK
Parameter ranges:
Parameter number
s. chapter 4
VALUE
(don't care)
Motor number
0
Value
s. chapter 4
Example:
Store the maximum speed of motor
Mnemonic: STAP 4, 0
Binary:
Byte Index
Function
0
Targetaddress
Value (hex) $01
1
2
Instruction Type
Number
$07
$04
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
Note:
The STAP command will not have any effect when the configuration EEPROM is locked (refer to 5.1). In
direct mode, the error code 5 (configuration EEPROM locked, see also section 3.2.1) will be returned in this
case.
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
3.6.8
30
RSAP (restore axis parameter)
For all configuration-related axis parameters non-volatile memory locations are provided. By default, most
parameters are automatically restored after power up (refer to axis parameter list in chapter 4). A single
parameter that has been changed before can be reset by this instruction also.
For a table with parameters and values which can be used together with this command please refer to
chapter 4.
Internal function: The specified parameter is copied from the configuration EEPROM memory to its RAM
location.
Relate commands: SAP, STAP, GAP, and AAP
Mnemonic: RSAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
8
TYPE
MOT/BANK
VALUE
<parameter number>
0*
(don't care)
*motor number is always O as only one motor is involved
Reply structure in direct mode:
STATUS
100 – OK
VALUE
(don't care)
Example:
Restore the maximum current of motor
Mnemonic: RSAP 6, 0
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
2
Instruction Type
Number
$08
$06
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
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3.6.9
31
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 5.
Internal function: the parameter format is converted ignoring leading zeros (or ones for negative values).
The parameter is transferred to the correct position in the appropriate (on board) device.
Related commands: GGP, STGP, RSGP, AGP
Mnemonic: SGP <parameter number>, <bank number>, <value>
Binary representation:
INSTRUCTION NO.
9
Reply in direct mode:
STATUS
100 – OK
TYPE
MOT/BANK
VALUE
<parameter number>
<bank number>
<value>
VALUE
(don't care)
Example:
Set the serial address of the target device to 3
Mnemonic: SGP 66, 0, 3
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
www.trinamic.com
1
2
Instruction Type
Number
$09
$42
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$03
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
32
3.6.10 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 5.
Internal function: The parameter is read out of the correct position in the appropriate device. The
parameter format is converted adding leading zeros (or ones for negative values).
Related commands: SGP, STGP, RSGP, AGP
Mnemonic: GGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
10
TYPE
(see chapter 6)
Reply in direct mode:
STATUS
100 – OK
VALUE
(don't care)
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)
Reply:
Byte Index
Function
Value (hex)
0
1
Target- Instruction
address
Number
$01
$0a
0
Hostaddress
$02
1
Targetaddress
$01
 Status=no error, Value=1
www.trinamic.com
2
Type
$42
2
Status
$64
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
3
Instructio
n
$0a
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$01
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
33
3.6.11 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 5.
Internal function: The specified parameter is copied from its RAM location to the configuration EEPROM.
Related commands: SGP, GGP, RSGP, AGP
Mnemonic: STGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
11
TYPE
(see chapter 8)
Reply in direct mode:
STATUS
VALUE
100 – OK
MOT/BANK
<bank number>
(see chapter 5)
VALUE
(don't care)
(don't care)
Example:
Store the user variable #42
Mnemonic: STGP 42, 2
Binary:
Byte Index
Function
Value (hex)
0
1
Target- Instruction
address
Number
$01
$0b
www.trinamic.com
2
Type
$2a
3
Motor/
Bank
$02
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
34
3.6.12 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.
Internal function: the specified parameter is copied from the configuration EEPROM memory to its RAM
location.
Relate commands: SGP, STGP, GGP, and AGP
Mnemonic: RSAP <parameter number>, <bank number>
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)
For a table with parameters and bank numbers which can be used together with this command please
refer to chapter 5.
Example:
Restore user variable #42
Mnemonic: RSGP 42, 2
Binary:
Byte Index
0
1
Instruction
Function
TargetNumber
address
Value (hex)
$01
$0c
www.trinamic.com
2
Type
$2a
3
Motor/
Bank
$02
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
35
3.6.13 RFS (reference search)
The TMCM-1140 has a built-in reference search algorithm which can be used. The reference search
algorithm provides switching point calibration and supports up-to three switches. The status of the
reference search can also be queried to see if it has already finished. (In a TMCL program it is better to use
the WAIT command to wait for the end of a reference search.) Please see the appropriate parameters in
the axis parameter table to configure the reference search algorithm to meet your needs (chapter 4 / 4.3).
The reference search can be started, stopped, and the actual status of the reference search can be checked.
Internal function: the reference search is implemented as a state machine, so interaction is possible
during execution.
Related commands: WAIT
Mnemonic: RFS <START|STOP|STATUS>, <motor>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
0 START – start ref. search
1 STOP – abort ref. search
2 STATUS – get status
13
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
VALUE
0
other values
ref. search active
no ref. search
active
Example:
Start reference search of motor 0
Mnemonic: RFS START, 0
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
1
Instruction
Number
$0d
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
With this module it is possible to use stall detection instead of a reference search.
www.trinamic.com
6
Operand
Byte1
$00
7
Operand
Byte0
$00
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
36
3.6.14 SIO (set input / output)
-
SIO sets the status of the two general purpose digital outputs either to zero (0) or to one (1). Bank
2 is used for this purpose.
SIO is used to switch the pull-up resistors for all digital inputs ON (1) and OFF (0). Bank 0 is used
for this purpose.
Internal function: the passed value is transferred to the specified output line.
Related commands: GIO, WAIT
Mnemonic: SIO <port number>, <bank number>, <value>
Binary representation:
INSTRUCTION NO.
14
TYPE
<port number>
MOT/BANK
<bank number>
VALUE
<value>
0/1
Bank 2 is used for setting the status of the general digital output either to zero (0) or to one (1).
Reply structure:
STATUS
VALUE
100 – OK
don’t care
Example:
Activate OUT_1, supply +5V to external circuits (bank 2, output 1)
Mnemonic: SIO 1, 2, 1
Binary:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
1
2
Type
Instruction
Number
$0e
$07
3
Motor/
Bank
$02
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$01
Multi-purpose
I/O
8
1
Figure 3.1 I/O connector
I/O PORTS USED FOR SIO AND COMMAND
Pin
3
I/O port
OUT_0
Command
SIO 0, 2, <n>
4
OUT_1
SIO 1, 2, <n>
www.trinamic.com
0
1
0
1
–
–
–
–
OUT_0
OUT_0
OUT_1
OUT_1
Range
off / high impedance / floating
pulled low (max. 1A)
off / (weak) low via 10k pull-down resistor
supplies +5V to external circuits (100mA load max.)
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
37
ADDRESSING BOTH OUTPUT LINES WITH ONE SIO COMMAND
-
Set the type parameter to 255 and the bank parameter to 2.
The value parameter must then be set to a value between 0… 255, where every bit represents one
output line.
Furthermore, the value can also be set to -1. In this special case, the contents of the lower 8 bits
of the accumulator are copied to the output pins.
Example:
Set all output pins high.
Mnemonic: SIO 255, 2, 3
THE FOLLOWING PROGRAM WILL SHOW THE STATES OF THE INPUT LINES ON THE OUTPUT LINES
Loop: GIO 255, 0
SIO 255, 2,-1
JA Loop
SPECIAL COMMAND FOR SWITCHING THE PULL-UP RESISTORS ON OR OFF FOR ALL THREE DIGITAL INPUTS AT
ONCE
Pin
6
7
8
I/O port
IN_1
IN_2
IN_3
www.trinamic.com
Command
SIO 0, 0, <n>
Range
1/0
0: OFF
1: ON
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
38
3.6.15 GIO (get input /output)
With this command the status of all general purpose inputs of the module can be read out. The function
reads a digital or analog input port. Digital lines will read 0 and 1, while the ADC channels deliver their 12
bit result in the range of 0… 4095.
GIO IN STANDALONE MODE
In standalone mode the requested value is copied to the accumulator (accu) for further processing
purposes such as conditioned jumps.
GIO IN DIRECT MODE
In direct mode the value is only output in the value field of the reply, without affecting the accumulator.
The actual status of a digital output line can also be read.
Internal function: the specified line is read.
Related commands: SIO, WAIT
Mnemonic: GIO <port number>, <bank number>
Binary representation:
INSTRUCTION NO.
15
TYPE
<port number>
Reply in direct mode:
STATUS
100 – OK
VALUE
<status of the port>
MOT/BANK
<bank number>
VALUE
don’t care
Example:
Get the analog value of IN_0
Mnemonic: GIO 0, 1
Binary:
Byte Index
Function
Value (hex)
Reply:
Byte Index
Function
Value (hex)
0
Targetaddress
$01
1
Instruction
Number
$0f
$00
0
Hostaddress
$02
1
Targetaddress
$01
2
Status
Status = no error, value = 320
www.trinamic.com
2
Type
$64
3
Motor/
Bank
$01
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
3
Instructio
n
$0f
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$01
7
Operand
Byte0
$2e
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
39
Multi-purpose
I/O
8
1
Figure 3.2 I/O connector
3.6.15.1 I/O Bank 0 – Digital Inputs
The analog input IN_0 can be read as digital or analog input at the same time. The analog value of
IN_0 can be accessed in bank 1.
Pin
5
6
7
8
I/O port
IN_0
IN_1
IN_2
IN_3
Command
GIO 0, 0
GIO 1, 0
GIO 2, 0
GIO 3, 0
Range
0/1
0/1
0/1
0/1
ENC_N CHANNEL READ-OUT COMMAND
I/O port
ENC_N channel input
0 off
1 active
Command
GIO 11, 0
READING ALL DIGITAL INPUTS WITH ONE GIO COMMAND
-
Set the type parameter to 255 and the bank parameter to 0.
In this case the status of all digital input lines will be read to the lower eight bits of the
accumulator.
USE FOLLOWING PROGRAM TO REPRESENT THE STATES OF THE INPUT LINES ON THE OUTPUT LINES
Loop: GIO 255, 0
SIO 255, 2,-1
JA Loop
Note: IN_0 can be used as analog or digital input.
3.6.15.2 I/O Bank 1 – Analog Input
The analog input IN_0 can be read as digital or analog input at the same time. The analog value of
IN_0 can be accessed in bank 1.
Pin
5
I/O port
IN_0
Command
GIO 0, 1
Range
0… 4095
READING OUT OPERATING VOLTAGE AND TEMPERATURE:
I/O port
Operating voltage [1/10 V]
Temperature [˚C]
www.trinamic.com
Command
GIO 8, 1
GIO 9, 1
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
40
3.6.15.3 I/O Bank 2 –States of Digital Outputs
The states of the OUT lines (that have been set by SIO commands) can be read back using bank 2.
Pin
3
4
I/O port
OUT_0
OUT_1
Command
GIO 0, 2, <n>
GIO 1, 2, <n>
Range
1/0
1/0
3.6.16 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
Mnemonic: CALC <operation>, <value>
where <op> is ADD, SUB, MUL, DIV, MOD, AND, OR, XOR, NOT or LOAD
Binary representation:
INSTRUCTION NO.
19
TYPE
MOT/BANK
VALUE
0 ADD – add to accu
1 SUB – subtract
from accu
1 MUL – multiply
accu by
1 DIV – divide accu
by
1 MOD – modulo
divide by
1 AND – logical
and accu with
6 OR – logical or accu
with
7 XOR – logical exor accu
with
8 NOT – logical invert
accu
9 LOAD – load operand
to accu
(don’t care)
<operand>
Example:
Multiply accu by -5000
Mnemonic: CALC MUL, -5000
Binary:
Byte Index
Function
Value (hex)
0
1
Target- Instruction
address
Number
$01
$13
www.trinamic.com
2
Type
$02
3
Motor/
Bank
$00
4
Operand
Byte3
$FF
5
Operand
Byte2
$FF
6
Operand
Byte1
$EC
7
Operand
Byte0
$78
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
41
3.6.17 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.
The host address and the reply are only used to take the instruction to the TMCL program memory while
the program loads down. It does not make sense to use this command in direct mode.
Internal function: The specified value is compared to the internal accumulator, which holds the value of a
preceding get or calculate instruction (see GAP/GGP/ CALC/CALCX). The internal arithmetic status flags are
set according to the comparison result.
Related commands: JC (jump conditional), GAP, GGP, CALC, CALCX
Mnemonic: COMP <value>
Binary representation:
INSTRUCTION NO.
20
TYPE
(don’t care)
MOT/BANK
(don’t care)
VALUE
<comparison value>
Example:
Jump to the address given by the label when the position of motor is greater than or equal to
1000.
GAP 1, 2, 0
COMP 1000
JC GE, Label
//get axis parameter, type: no. 1 (actual position), motor: 0, value: 0 (don’t care)
//compare actual value to 1000
//jump, type: 5 greater/equal, the label must be defined somewhere else in the
program
Binary format of the COMP 1000 command:
Byte Index
0
1
2
Instruction
Function
TargetType
Number
address
Value (hex)
$01
$14
$00
www.trinamic.com
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$03
7
Operand
Byte0
$e8
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
42
3.6.18 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.
The host address and the reply are only used to take the instruction to the TMCL program memory while
the program loads down. It does not make sense to use this command in direct mode. See the host-only
control functions for details.
Internal function: the TMCL program counter is set to the passed value if the arithmetic status flags are in
the appropriate state(s).
Related commands: JA, COMP, WAIT, CLE
Mnemonic: JC <condition>, <label>
where <condition>=ZE|NZ|EQ|NE|GT|GE|LT|LE|ETO|EAL|EDV|EPO
Binary representation:
INSTRUCTION NO.
21
TYPE
MOT/BANK
VALUE
zero
NZ – not zero
EQ – equal
NE – not equal
GT – greater
GE
–
greater/equal
6 LT – lower
7 LE – lower/equal
8 ETO – time out error
(don’t care)
<jump address>
0 ZE –
1
1
1
1
1
Example:
Jump to address given by the label when the position of motor is greater than or equal to 1000.
GAP 1, 0, 0
//get axis parameter, type: no. 1 (actual position), motor: 0, value: 0 (don’t care)
COMP 1000
//compare actual value to 1000
JC GE, Label
//jump, type: 5 greater/equal
…
…
Label: ROL 0, 1000
Binary format of JC GE, Label when Label is at address 10:
Byte Index
0
1
2
3
Instruction
Function
TargetType
Motor/
Number
address
Bank
Value (hex)
$01
$15
$05
$00
www.trinamic.com
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$0a
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
43
3.6.19 JA (jump always)
Jump to a fixed address in the TMCL program memory. This command is intended for standalone operation
only.
The host address and the reply are only used to take the instruction to the TMCL program memory while
the program loads down. This command cannot be used in direct mode.
Internal function: the TMCL program counter is set to the passed value.
Related commands: JC, WAIT, CSUB
Mnemonic: JA <Label>
Binary representation:
INSTRUCTION NO.
22
TYPE
(don’t care)
MOT/BANK
(don’t care)
VALUE
<jump address>
Example: An infinite loop in TMCL™
Loop: MVP ABS, 0, 10000
WAIT POS, 0, 0
MVP ABS, 0, 0
WAIT POS, 0, 0
JA Loop
//Jump to the label Loop
Binary format of JA Loop assuming that the label Loop is at address 20:
Byte Index
0
1
2
3
4
5
Instruction
Function
TargetType
Motor/
Operand
Operand
Number
address
Bank
Byte3
Byte2
Value (hex)
$01
$16
$00
$00
$00
$00
www.trinamic.com
6
Operand
Byte1
$00
7
Operand
Byte0
$14
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
44
3.6.20 CSUB (call subroutine)
This function calls a subroutine in the TMCL program memory. It is intended for standalone operation only.
The host address and the reply are only used to take the instruction to the TMCL program memory while
the program loads down. This command cannot be used in direct mode.
Internal function: The actual TMCL program counter value is saved to an internal stack, afterwards
overwritten with the passed value. The number of entries in the internal stack is limited to 8. This also
limits nesting of subroutine calls to 8. The command will be ignored if there is no more stack space left.
Related commands: RSUB, JA
Mnemonic: CSUB <Label>
Binary representation:
INSTRUCTION NO.
23
TYPE
(don’t care)
MOT/BANK
(don’t care)
VALUE
<subroutine address>
Example: Call a subroutine
Loop: MVP ABS, 0, 10000
CSUB SubW
//Save program counter and jump to label SubW
MVP ABS, 0, 0
JA Loop
SubW: WAIT POS, 0, 0
WAIT TICKS, 0, 50
RSUB
//Continue with the command following the CSUB command
Binary format of the CSUB SubW command assuming that the label SubW is at address 100:
Byte Index
0
1
2
3
4
5
6
Instruction
Function
TargetType
Motor/
Operand
Operand
Operand
Number
address
Bank
Byte3
Byte2
Byte1
Value (hex)
$01
$17
$00
$00
$00
$00
$00
www.trinamic.com
7
Operand
Byte0
$64
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
45
3.6.21 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.
The host address and the reply are only used to take the instruction to the TMCL program memory while
the program loads down. This command cannot be used in direct mode.
Internal function: The TMCL program counter is set to the last value of the stack. The command will be
ignored if the stack is empty.
Related command: CSUB
Mnemonic: RSUB
Binary representation:
INSTRUCTION NO.
24
TYPE
(don’t care)
MOT/BANK
(don’t care)
VALUE
(don’t care)
Example: please see the CSUB example (section 3.6.20).
Binary format of RSUB:
Byte Index
0
Function
Targetaddress
Value (hex)
$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-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
46
3.6.22 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.
The host address and the reply are only used to take the instruction to the TMCL program memory while
the program loads down. This command cannot be used in direct mode.
THERE ARE FIVE DIFFERENT WAIT CONDITIONS THAT CAN BE USED:
-
TICKS: Wait until the number of timer ticks specified by the <ticks> parameter has been reached.
POS: Wait until the target position of the motor specified by the <motor> parameter has been
reached. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.
REFSW: Wait until the reference switch of the motor specified by the <motor> parameter has been
triggered. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.
LIMSW: Wait until a limit switch of the motor specified by the <motor> parameter has been
triggered. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.
RFS: Wait until the reference search of the motor specified by the <motor> field has been reached.
An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.
The timeout flag (ETO) will be set after a timeout limit has been reached. You can then use a JC ETO
command to check for such errors or clear the error using the CLE command.
Internal function: The TMCL program counter is held until the specified condition is met.
Related commands: JC, CLE
Mnemonic: WAIT <condition>, 0, <ticks>
where <condition> is TICKS|POS|REFSW|LIMSW|RFS
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
1
0 TICKS – timer ticks*
1 POS – target position reached
0 *2
2 REFSW – reference switch
27
don’t care
0 *2
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-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
47
3.6.23 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
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3.6.24 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).
Please note that 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
Note:
Two special functions of this command have been introduced that make it possible to copy all coordinates
or one selected coordinate to the EEPROM.
THESE FUNCTIONS CAN BE ACCESSED USING THE FOLLOWING SPECIAL FORMS OF THE SCO COMMAND:
SCO 0, 255, 0
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.
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3.6.25 GCO (get coordinate)
This command makes possible to read out a previously stored coordinate. In standalone mode the
requested value is copied to the accumulator register for further processing purposes such as conditioned
jumps. In direct mode, the value is only output in the value field of the reply, without affecting the
accumulator. 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 that the coordinate number 0 is always 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
MOT/BANK
VALUE
<coordinate number>
0… 20
0
don’t care
Reply in direct mode:
STATUS
VALUE
100 – OK
don’t care
Example:
Get motor value of coordinate 1
Mnemonic: GCO 1, 0
Binary:
Byte Index
Function
Value (hex)
Reply:
Byte Index
Function
Value (hex)
 Value: 0
0
Targetaddress
$01
Instruction
Number
1
2
Type
$1f
$01
0
Targetaddress
$02
1
Targetaddress
$01
2
Status
$64
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
3
Instructio
n
$0a
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
Note:
Two special functions of this command have been introduced that make it possible to copy all
coordinates or one selected coordinate from the EEPROM to the RAM.
THESE FUNCTIONS CAN BE ACCESSED USING THE FOLLOWING SPECIAL FORMS OF THE GCO COMMAND:
GCO 0, 255, 0
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.
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3.6.26 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 (24 bit) 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
TYPE
MOT/BANK
VALUE
<coordinate number>
0… 20
0
don’t care
Reply in direct mode:
STATUS
VALUE
100 – OK
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
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3.6.27 ACO (accu to coordinate)
With the ACO command the actual value of the accumulator is copied to a selected coordinate of the
motor. Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in
the EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only).
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
0
VALUE
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
1
Target- Instruction
address
Number
$01
$27
www.trinamic.com
2
Type
$01
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
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3.6.28 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
1 MUL – multiply accu by X register
1 DIV – divide accu by X-register
1 MOD – modulo divide accu by xregister
1 AND – logical and accu with Xregister
6 OR – logical or accu with X-register
7 XOR – logical exor accu with X-register
8 NOT – logical invert X-register
9 LOAD – load accu to X-register
10 SWAP – swap accu with X-register
Example:
Multiply accu by X-register
Mnemonic: CALCX MUL
Binary:
Byte Index
0
1
Instruction
Function
TargetNumber
address
Value (hex)
$01
$21
www.trinamic.com
2
Type
$02
3
Motor/
Bank
$00
MOT/BANK
(don’t care)
4
Operand
Byte3
$00
5
Operand
Byte2
$00
VALUE
(don’t care)
6
Operand
Byte1
$00
7
Operand
Byte0
$00
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3.6.29 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 4.
Related commands: AGP, SAP, GAP, SGP, GGP, CALC, CALCX
Mnemonic: AAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
34
TYPE
<parameter number>
MOT/BANK
0*
VALUE
<don’t care>
* Motor number is always 0 as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don’t care)
Example:
Positioning motor by a potentiometer connected to the analogue input #0:
Start:
GIO 0,1
CALC MUL, 4
AAP 0,0
JA Start
//
//
//
//
get value of analogue input line 0
multiply by 4
transfer result to target position of motor 0
jump back to start
Binary format of the AAP 0,0 command:
Byte Index
0
1
2
Instruction
Function
TargetType
Number
address
Value (hex)
$01
$22
$00
www.trinamic.com
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
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3.6.30 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. (See chapter 5 for a complete list of global parameters).
Related commands: AAP, SGP, GGP, SAP, GAP
Mnemonic: AGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
35
TYPE
MOT/BANK
VALUE
<parameter number>
<bank number>
(don’t care)
Reply in direct mode:
STATUS
VALUE
100 – OK
(don’t care)
For a table with parameters and bank numbers which can be used together with this command please
refer to chapter 5.
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
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3.6.31 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.
EDV: clear the deviation flag
Related commands: JC
Mnemonic: CLE <flags>
where <flags>=ALL|ETO|EDV|EPO
Binary representation:
INSTRUCTION NO.
36
TYPE
MOT/BANK
VALUE
0 – (ALL) all flags
1 – (ETO) timeout
flag
3 – (EDV) deviation flag
(don’t care)
(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
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3.6.32 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
41
42
Interrupt type
Timer 0
Timer 1
Timer 2
(Target) position reached
Stall (stallGuard2)
Deviation
Stop left
Stop right
IN_0 change
IN_1 change
IN_2 change
IN_3 change
Example: Define interrupt vector at target position 500
VECT 3, 500
Binary format of VECT:
Byte Index
0
Function
Targetaddress
Value (hex)
$01
www.trinamic.com
1
Instruction
Number
$25
2
Type
$03
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$01
7
Operand
Byte0
$F4
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3.6.33 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
41
42
Interrupt type
Timer 0
Timer 1
Timer 2
(Target) position reached
Stall (stallGuard2™)
Deviation
Stop left
Stop right
IN_0 change
IN_1 change
IN_2 change
IN_3 change
Examples:
Enable interrupts globally
EI, 255
Binary format of EI:
Byte Index
0
1
Function
Target- Instruction
address
Number
Value (hex)
$01
$19
2
Type
$FF
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
Enable interrupt when target position reached
EI, 3
Binary format of EI:
Byte Index
0
1
Function
Target- Instruction
address
Number
Value (hex)
$01
$19
www.trinamic.com
2
Type
$03
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3.6.34 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
41
42
Interrupt type
Timer 0
Timer 1
Timer 2
(Target) position reached
Stall (stallGuard2™)
Deviation
Stop left
Stop right
IN_0 change
IN_1 change
IN_2 change
IN_3 change
Examples:
Disable interrupts globally
DI, 255
Binary format of DI:
Byte Index
0
Function
Targetaddress
Value (hex)
$01
1
Instruction
Number
$1A
2
Type
$FF
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
7
Operand
Byte0
$00
Disable interrupt when target position reached
DI, 3
Binary format of DI:
Byte Index
0
Function
Targetaddress
Value (hex)
$01
www.trinamic.com
1
Instruction
Number
$1A
2
Type
$03
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
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3.6.35 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
0
Function
Targetaddress
Value (hex)
$01
www.trinamic.com
1
Instruction
Number
$26
2
Type
$00
3
Motor/
Bank
$00
4
Operand
Byte3
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$01
7
Operand
Byte0
$00
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3.6.36 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
Reply in direct mode:
Byte Index
0
Function
Targetaddress
Value (hex)
$02
TYPE
MOT/BANK
VALUE
(user defined)
(user defined)
(user defined)
1
Targetaddress
$01
2
Status
(user
defined)
3
Instructio
n
64… 71
4
Operand
Byte3
(user
defined)
5
Operand
Byte2
(user
defined)
6
Operand
Byte1
(user
defined)
7
Operand
Byte0
(user
defined)
3.6.37 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
MOT/BANK
VALUE
0/1
(don’t care)
1
Reply in direct mode (right after execution of this command):
Byte Index
0
1
2
3
4
Function
TargetTargetStatus
Instructio Operand
address
address
n
Byte3
Value (hex)
$02
$01
100
138
$00
5
Operand
Byte2
$00
6
Operand
Byte1
$00
Additional reply in direct mode (after motors have reached their target positions):
Byte Index
0
1
2
3
4
5
6
Function
TargetTargetStatus
Instructio Operand
Operand
Operand
address
address
n
Byte3
Byte2
Byte1
Value (hex)
$02
$01
128
138
$00
$00
$00
www.trinamic.com
7
Operand
Byte0
Motor bit
mask
7
Operand
Byte0
Motor bit
mask
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61
3.6.38 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
Description
Type
a running TMCL standalone (don’t care)
application is stopped
129 – run application
TMCL execution is started (or 0 – run from
continued)
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
1 – 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
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62
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. 1140V1.17)
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
Type number, high byte
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
63
4 Axis Parameters
The following sections describe all axis parameters that can be used with the SAP, GAP, AAP, STAP and
RSAP commands.
MEANING OF THE LETTERS IN COLUMN ACCESS:
Access
type
R
W
E
Related
command(s)
GAP
SAP, AAP
STAP, RSAP
Description
Parameter readable
Parameter writable
Parameter automatically restored from EEPROM after reset or power-on. These
parameters can be stored permanently in EEPROM using STAP command and
also explicitly restored (copied back from EEPROM into RAM) using RSAP.
Basic parameters should be adjusted to motor / application for proper module operation.
Parameters for the more experienced user – please do not change unless you are absolutely
sure.
Number
0
1
Axis Parameter
Target (next)
position
Actual position
2
Target (next)
speed
3
Actual speed
4
Maximum
positioning
speed
5
Maximum
acceleration
www.trinamic.com
Description
The desired position in position mode (see
ramp mode, no. 138).
The current position of the motor. Should
only be overwritten for reference point
setting.
The desired speed in velocity mode (see ramp
mode, no. 138). In position mode, this
parameter is set by hardware: to the
maximum speed during acceleration, and to
zero during deceleration and rest.
The current rotation speed.
Range [Unit]
 2 -1
[µsteps]
 231-1
[µsteps]
31
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. See TMC 429 datasheet for
calculation of physical units.
RWE
RWE
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
Number
6
Axis Parameter
Absolute max.
current
(CS / Current
Scale)
64
Description
Range [Unit]
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
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
Acc.
RWE
240… 247
248… 255
The most important motor setting, since too
high values might cause motor damage!
The current limit two seconds after the motor 0… 255
has stopped.
7
Standby current
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
9
10
11
12
13
130
135
138
www.trinamic.com
Automatically set when using ROR, ROL, MST 0/1/2
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.
RWE
R
R
RWE
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
Number
140
Axis Parameter
Microstep
resolution
149
Soft stop flag
153
Ramp divisor
154
Pulse divisor
160
Step
interpolation
enable
162
Chopper blank
time
163
Chopper mode
164
Chopper
hysteresis
decrement
165
Chopper
hysteresis end
166
Chopper
hysteresis start
www.trinamic.com
Description
0
full step
1
half step
2
4 microsteps
3
8 microsteps
4
16 microsteps
5
32 microsteps
6
64 microsteps
7
128 microsteps
8
256 microsteps
If cleared, the motor will stop immediately
(disregarding motor limits), when the
reference or limit switch is hit.
The exponent of the scaling factor for the
ramp generator- should be de/incremented
carefully (in steps of one).
The exponent of the scaling factor for the
pulse (step) generator – should be
de/incremented carefully (in steps of one).
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
Selects the comparator blank time. This 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.
Selection of the chopper mode:
0 – spread cycle
1 – classic const. off time
Hysteresis decrement setting. This setting
determines the slope of the hysteresis during
on time and during fast decay time.
0 – fast decrement
3 – very slow decrement
Hysteresis end setting. Sets the 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
Hysteresis start setting. Please remark, that
this value is an offset to the hysteresis end
value.
65
Range [Unit]
0… 8
Acc.
RWE
0/1
RWE
0… 13
RWE
0… 13
RWE
0/1
RW
0… 3
RW
0/1
RW
0… 3
RW
-3… 12
RW
0… 8
RW
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
Number
167
Axis Parameter Description
Range [Unit]
Chopper off time The off time setting controls the minimum 0 / 2… 15
chopper frequency. An off time within the
range of 5µs to 20µs will fit.
66
Acc.
RW
Off time setting for constant tOff chopper:
NCLK= 12 + 32*tOFF (Minimum is 64 clocks)
168
169
Setting this parameter to zero completely
disables all driver transistors and the motor
can free-wheel.
smartEnergy
Sets the lower motor current limit for
0/1
current minimum coolStep™ operation by scaling the CS
(SEIMIN)
(Current Scale, see axis parameter 6) value.
Minimum motor current:
0 – ½ of CS
1 – ¼ of CS
smartEnergy
Sets the number of stallGuard2™ readings 0… 3
current down
above the upper threshold necessary for each
step
current decrement of the motor current.
RW
RW
Number of stallGuard2™ measurements per
decrement:
170
smartEnergy
hysteresis
Scaling: 0… 3: 32, 8, 2, 1
0: slow decrement
3: fast decrement
Sets the distance between the lower and the 0… 15
upper threshold for stallGuard2™ reading.
Above the upper threshold the motor current
becomes decreased.
RW
Hysteresis:
(smartEnergy hysteresis value + 1) * 32
171
smartEnergy
current up step
Upper stallGuard threshold:
(smartEnergy hysteresis start + smartEnergy
hysteresis + 1) * 32
Sets the current increment step. The current 1… 3
becomes incremented for each measured
stallGuard2™ value below the lower threshold
(see smartEnergy hysteresis start).
RW
Current increment step size:
172
173
smartEnergy
hysteresis start
stallGuard2 filter
enable
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™ 0… 15
value (see smart Energy current up step).
Enables the stallGuard2™ filter for more 0/1
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
RW
RW
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
Number
174
Axis Parameter
stallGuard2
threshold
175
Slope control
high side
176
Slope control
low side
177
short protection
disable
178
Short detection
timer
179
Vsense
180
smartEnergy
actual current
Description
This signed value controls stallGuard2™
threshold level for stall output and sets the
optimum measurement range for readout. A
lower value gives a higher sensitivity. Zero is
the starting value. A higher value makes
stallGuard2™ less sensitive and requires more
torque to indicate a stall.
0 Indifferent value
1… 63 less sensitivity
-1… -64 higher sensitivity
Determines the slope of the motor driver
outputs. Set to 2 or 3 for this module or
rather use the default value.
0: lowest slope
3: fastest slope
Determines the slope of the motor driver
outputs. Set identical to slope control high
side.
0: 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.
67
Range [Unit]
-64… 63
Acc.
RW
0… 3
RW
0… 3
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
RW
smartEnergy
threshold speed
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 0… 2047
enabled.
182
183
smartEnergy
slow run current
Sets the motor current which is used below 0… 255
the threshold speed.
RW
www.trinamic.com
RW
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
Number
193
Axis Parameter Description
Range [Unit]
Ref. search mode
1 search left stop switch only
1… 8
2 search right stop switch, then search
left stop switch
3 search right stop switch, then search
left stop switch from both sides
4 search left stop switch from both sides
5 search home switch in negative
direction, reverse the direction when
left stop switch reached
6 search home switch in positive
direction, reverse the direction when
right stop switch reached
7 search home switch in negative
direction, ignore end switches
8
194
Referencing
search speed
195
Referencing
switch speed
196
Distance end
switches
197
200
Last reference
position
Boost current
204
Freewheeling
206
207
68
search home switch in
direction, ignore end switches
positive
Additional functions:
- Add 128 to a mode value for inverting the
home switch (can be used with mode 5…
8).
- Add 64 to a mode for driving the right
instead of the left reference switch (can
be used with mode 1… 4).
For the reference search this value directly 0… 2047
specifies the search speed.
Similar to parameter no. 194, the speed for
the switching point calibration can be
selected.
This parameter provides the distance between
the end switches after executing the RFS
command (mode 2 or 3).
Reference search: the last position before
setting the counter to zero can be read out.
Current used for acceleration and deceleration
phases.
If set to 0 the same current as set by axis
parameter 6 will be used.
RWE
0… 2047
RWE
0… 2.147.483.647
R
-231… 231-1
[µsteps]
0… 255
R
Time after which the power to the motor will 0… 65535
be cut when its velocity has reached zero.
0 = never
[msec]
Actual load value Readout of the actual load value with used 0… 1023
for stall detection (stallGuard2™).
Extended error
1
Motor stopped because of
1… 3
flags
stallGuard2 detection.
2
Motor stopped because of encoder
deviation.
3
Motor stopped because of (1) and
(2).
Will be reset automatically by the next motion
command.
www.trinamic.com
Acc.
RWE
RWE
RWE
R
R
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
Number
208
Axis Parameter
TMC262 driver
error flags
Description
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
209
210
212
214
215
216
217
218
Encoder position
sensOstep
Encoder
prescaler
sensOstep
Maximum
encoder
deviation
sensOstep
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)
69
Range [Unit]
0/1
The value of an encoder register can be read [encoder steps]
out or written.
Prescaler for the sensOstep encoder.
See paragraph Error!
Reference source
not found.
When the actual position (parameter 1) and 0… 65535
the encoder position (parameter 209) differ
more than set here the motor will be [encoder steps]
stopped. This function is switched off when
the maximum deviation is set to zero.
Power down
Standstill period before the current is changed 1… 65535
delay
down to standby current. The standard value [10msec]
is 200 (value equates 2000msec).
Absolute
Absolute position of the internal sensOstep 0 .. 1023
resolver value
encoder. The absolute position is within one
sensOstep
motor rotation.
Encoder position The value of the external encoder register can [encoder steps]
external encoder be read out or written.
This parameter is only used if an external
encoder is connected.
Encoder
Prescaler for external encoder.
See paragraph Error!
prescaler
Reference source
external encoder
not found.
Maximum
When the actual position (parameter 1) and 0… 65535
encoder
the encoder position (parameter 216) differ
deviation
more than set here the motor will be [encoder steps]
external encoder stopped. This function is switched off when
the maximum deviation is set to zero.
This parameter is only used if an external
encoder is connected.
* Unit of acceleration:
www.trinamic.com
Acc.
R
RW
RWE
RWE
RWE
R
RW
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
70
4.1 stallGuard2
The module is equipped with TMC262 motor driver chip. The TMC262 features load measurement that can
be used for stall detection. stallGuard2 delivers a sensorless load measurement of the motor as well as a
stall detection signal. The measured value changes linear with the load on the motor in a wide range of
load, velocity and current settings. At maximum motor load the stallGuard2 value goes to zero. This
corresponds to a load angle of 90° between the magnetic field of the stator and magnets in the rotor. This
also is the most energy efficient point of operation for the motor.
Stall detection means that the motor will be stopped when the load gets too high. It is configured by axis
parameter #174.
Stall detection can also be used for finding the reference point. Do not use RFS in this case.
4.2 coolStep Related Axis Parameters
The figure below gives an overview of the coolStep related parameters. Please have in mind that the
figure shows only one example for a drive. There are parameters which concern the configuration of the
current. Other parameters are for velocity regulation and for time adjustment.
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 4 contains further parameters which offer more configuration
possibilities.
coolStep™ Adjustment Points and Thresholds
Velocity
Current
I6
SG170
SG181
The current depends on
the load of the motor.
I183
I6
I6/2*
V182
I7
I183
I183
I7
I7
coolStep™ area
Time
T214
area without coolStep™
I123 Current and parameter
V123 Velocity and parameter
T123 Time parameter
SG123 stallGuard2™ parameter
*
The lower threshold of the coolStep™ current can be adjusted up to I6/4. Refer to parameter 168.
Figure 4.1: coolStep™ adjustment points and thresholds
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
COOLSTEP RELATED
71
AXIS PARAMETERS
smartEnergy is an earlier name for coolStep.
Number
I6
I7
I168
I169
I171
I183
Axis parameter
Description
The maximum value is 255. This value means 100% of the
maximum current of the module. The current adjustment is
within the range 0… 255 and can be adjusted in 32 steps (0…
Absolute max. current (CS /
255 divided by eight; e.g. step 0 = 0… 7, step 1 = 8… 15 and so
Current Scale)
on).
The most important motor setting, since too high values might
cause motor damage!
Standby current
The current limit two seconds after the motor has stopped.
Sets the lower motor current limit for coolStep™ operation by
scaling the CS (Current Scale, see axis parameter 6) value.
smartEnergy current minimum
Minimum motor current:
(SEIMIN)
0 – ½ of CS
1 – ¼ of CS
Sets the number of stallGuard2™ readings above the upper
threshold necessary for each current decrement of the motor
smartEnergy current down
current. Number of stallGuard2™ measurements per decrement:
step
Scaling: 0… 3: 32, 8, 2, 1
0: slow decrement
3: fast decrement
Sets the current increment step. The current becomes
incremented for each measured stallGuard2™ value below the
lower threshold (see smartEnergy hysteresis start).
smartEnergy current up step
smartEnergy slow run current
SG170
smartEnergy hysteresis
SG181
Stop on stall
V182
smartEnergy threshold speed
T214
Power down delay
Current increment step size:
Scaling: 0… 3: 1, 2, 4, 8
0: slow increment
3: fast increment / fast reaction to rising load
Sets the motor current which is used below the threshold
speed. Please adjust the threshold speed with axis parameter
182.
Sets the distance between the lower and the upper threshold
for stallGuard2™ reading. Above the upper threshold the motor
current becomes decreased.
Below this speed motor will not be stopped. Above this speed
motor will stop in case stallGuard2™ load value reaches zero.
Above this speed coolStep™ becomes enabled.
Standstill period before the current is changed down to standby
current. The standard value is 200 (value equates 2000msec).
For further information about the coolStep™ feature please refer to the TMC262 Datasheet.
www.trinamic.com
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
72
4.3 Reference Search
The built-in reference search feature (instruction RFS, no. 13) offers switching point calibration and
supports up-to two end / stop / limit switches and one home switch. Depending on the selected reference
search mode (see table below), one of the limit switches or the home switch may be used as reference
switch and the end / limit switches are either respected or ignored during the reference search. The
internal operation is based on a state machine that can be started, stopped and monitored at any time
during the reference search operation (instruction RFS, no. 13).
REMARKS ON REFERENCE SEARCH OPERATION:
-
-
-
-
-
End / limit switches: enable / disable of the automatic stop function corresponding to the end / limit
switches (axis parameters 12 and 13) has no influence on the reference search.
Initial search speed: until the reference switch is found for the first time, the reference search speed
specified by axis parameter 194 is used. (see figures below for more details)
Search speed after reference switch has been triggered: As soon as the reference switch has been
detected the motor will switch to the reference switch speed (axis parameter 195). (see figures below
for more details)
Search one of the end / stop / limit switches (from one side): when hitting the reference switch
during movement, the motor stops and slowly moves backwards until the switch is released again.
Motor stops again, reverses direction and slowly moves forward until the reference switch is triggered
again. The reference point will be set to the center between release and trigger point of the reference
switch on one side. With this mode the reference switch is not “overrun” – instead the middle
between the two transitions of the switch on one side open -> close and close -> open is used as
reference.
Search one of the end / stop / limit switches or the home switch from both sides: when hitting the
reference switch during movement, the motor will continue moving until the switch is released again.
Motor stops then, reverses direction and slowly moves forward until the switch is triggered again.
The motor continues movement at low speed until the switch is released again, stops, reverses
direction, moves towards the reference switch at low speed again until it is triggered again. It will
then move to the middle of the switch between the two positions where the switch has been
activated / triggered at low speed from both sides. With this mode the reference switch is “overrun”
and the motor stops in the middle between activation of the switch from the left and the right side.
This mode is usually used with the home switch.
Using axis parameter 193 the reference search mode can be selected (see next chapter for more
details on different reference search modes) before the actual reference search is started using the
RFS command (command no. 13).
End / limit / stop / Home switches: With default configuration it is expected that both end / limit /
stop switches and the home switch are normally closed (N.C.) switches. These switches should be
connected between the STOP_L (IN_1, Pin 6 of the multipurpose I/O connector), STOP_R (IN_2, Pin 7 of
the multipurpose I/O connector) resp. HOME (IN_3, Pin 8 of the multipurpose I/O connector) input of
and ground (GND). With default configuration the inputs offer pull-up resistors to +5V. As soon as one
of the switches is activated (open) the input level will go high due to the internal pull-ups. For other
types of switches and / or other external connections this can be changed in software. Internal pullups can be deactivated using the command SIO 0, 0, 0 (for all pull-ups at once – please see SIO
command for more details and different configuration options). This way a normally open (N.O.)
switch may be connected between supply voltage (e.g. +24V) and the STOP_L, STOP_R or HOME input.
The input will be low as long as the switch is not activated and turning high as soon as the switch is
activated. For other configurations it is also possible to invert the polarity of the input (see global
parameter 79).
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
73
AXIS PARAMETERS RELATED TO REFERENCE SEARCH
Number Axis Parameter Description
9
Reference switch The logical state of the HOME switch.
status
10
Right limit
The logical state of the STOP_R switch.
switch status
11
Left limit switch The logical state of the STOP_L switch
status
12
Right limit
If set, deactivates the stop function of the STOP_R switch
switch disable
(not applicable for the reference search algorithm)
13
Left limit switch If set, deactivates the stop function of the STOP_L switch
disable
(not applicable for the reference search algorithm)
149
Soft stop flag
If cleared, the motor will stop immediately (disregarding motor limits), when
the end / stop / limit switch is hit.
193
Reference search
1 search left stop switch STOP_L only
mode
2 search right stop switch STOP_R, then search left stop switch STOP_L
3 search right stop switch STOP_R, then search left stop switch STOP_L
from both sides
4 search left stop switch STOP_L from both sides
5 search home switch HOME in negative direction, reverse the direction
when left stop switch STOP_L reached
6 search home switch HOME in positive direction, reverse the direction
when right stop switch STOP_R reached
7 search home switch HOME in negative direction, ignore end switches
STOP_L and STOP_R
8
search home switch HOME in positive direction, ignore end switches
STOP_L and STOP_R
Additional functions:
- Add 128 to a mode value for inverting the home switch HOME polarity
(can be used with mode 5… 8).
- Add 64 to a mode for exchanging left (STOP_L) and right (STOP_R) stop
switches (can be used with mode 1… 4).
Reference search For the reference search this value directly specifies the search speed.
speed
Reference switch Similar to parameter no. 194, the speed for the switching point calibration can
speed
be selected.
Reference switch This parameter provides the distance between the end switches after executing
distance
the RFS command (mode 2 or 3).
194
195
196
4.3.1
Reference Search Modes (Axis Parameter 193)
The following figures explain the actual motor movement during the different reference search modes in
more detail. A linear stage with two end points and a moving slider is taken as example.
SAP 193, 0, 1
Search left stop switch, only
L
R
: reference search speed (axis parameter 194)
: reference switch speed (axis parameter 195)
start
stop
left limit / end / stop switch
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
74
Figure 5.2: Search left stop switch, only
SAP 193, 0, 2
Search right stop switch, then search left stop switch
L
R
: reference search speed (axis parameter 194)
: reference switch speed (axis parameter 195)
start
stop
left limit / end / stop switch
right limit / end / stop switch
Figure 5.3: Search right stop switch, then search left stop switch
SAP 193, 0, 3
Search right stop switch, then search left stop switch from both sides
L
R
: reference search speed (axis parameter 194)
: reference switch speed (axis parameter 195)
start
stop
left limit / end / stop switch
right limit / end / stop switch
Figure 5.4: Search right stop switch, then search left stop switch from both sides
SAP 193, 0, 4
Search left stop switch from both sides
L
R
: reference search speed (axis parameter 194)
: reference switch speed (axis parameter 195)
start
stop
left limit / end / stop switch
Figure 5.5: Search left stop switch from both sides
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TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
75
SAP 193, 0, 5
Search home switch in negative direction, reverse direction in case left stop switch is hit
Home
L
R
: reference search speed (axis parameter 194)
: reference switch speed (axis parameter 195)
start
stop
left limit / end / stop switch
home switch
Figure 5.6: Search home switch in negative direction, reverse direction in case left stop switch is hit
SAP 193, 0, 6
Search home switch in positive direction, reverse direction in case right stop switch is hit
L
R
: reference search speed (axis parameter 194)
: reference switch speed (axis parameter 195)
start
stop
right limit / end / stop switch
home switch
Figure 5.7: Search home switch in positive direction, reverse direction in case right stop switch is hit
SAP 193, 0, 7
Search home switch in negative direction, ignore end switches
L
R
: reference search speed (axis parameter 194)
: reference switch speed (axis parameter 195)
start
stop
home switch
Figure 5.8: Search home switch in negative direction, ignore end switches
SAP 193, 0, 8
Search home switch in positive direction, ignore end switches
L
R
: reference search speed (axis parameter 194)
: reference switch speed (axis parameter 195)
start
stop
home switch
Figure 5.9: Search home switch in positive direction, ignore end switches
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4.4 Changing the Prescaler Value of an Encoder
The TMCM-1140 module offers an integrated sensOstep encoder. The built-in encoder has 1024
steps/rotation. In addition, an external incremental a/b/n encoder might be connected to the Multipurpose
I/O connector. This encoder can be used as an alternative to the internal one or in addition (e.g. to
supervise motion at a different location than the motor axis e.g. at the other side of a belt / gearbox etc.).
Note:
The following examples about selecting a prescaler value will be valid for the internal sensOstep encoder
and for external encoders, if their resolution is 1024 steps/rotation and a stepper motor with 200 fullsteps
per rotation is used, only. For different encoder resolutions / different number of fullsteps per rotation
new values have to be calculated.
FOR THE OPERATION WITH ENCODER PLEASE CONSIDER THE FOLLOWING HINTS:
-
-
The encoder counter can be read out in software and can be used to control the exact position of the
motor. This also makes basic closed loop operation possible.
To read out or to change the position value of the internal encoder, axis parameter #209 is used (axis
parameter #216 for the external encoder).
So, to read out the position of your encoder 0 use GAP 209, 0 (resp. GAP 216, 0). The position values
can also be changed using command SAP 209, 0, <new_position>
To change the encoder settings, axis parameter #210 is used (axis parameter #217 for external
encoder). For changing the prescaler of the internal encoder use SAP 210, 0, <p> (resp. SAP 217, 0, <p>
for the external one).
Automatic motor stop on deviation error is also available (e.g. for immediate step loss detection
during motor movement). This can be set using axis parameter 212 (maximum deviation) resp. 218 for
the external encoder. This function is turned off when the maximum deviation is set to 0.
Using the prescaler the encoder counter increments / decrements can be aligned to the position
(microstep) counter. This is essential when using the deviation error supervision (parameter 212 resp. 218)
and simplifies encoder counter vs. position/microstep counter comparisons (1:1).
<number_of_microsteps_per_motor_rotation> = <prescaler> x <encoder_ticks_per_rotation>
-
-
<number_of_microsteps_per_motor_rotation>
with default setting of 256 micrsteps per fullstep and a stepper motor with 200 fullsteps per
rotation this is 256 x 200 = 51200 microsteps per motor rotation
<encoder_ticks_per_rotation>
1024 with the integrated sensOstep encoder. With incremental a/b/n encoders this is 4 x number
of encoder lines.
The default settings result in a prescaler value of 51200 / 1024 = 50 (default, see table below).
The integer value <p> used with axis parameter 210 (internal encoder) resp. 217 (external encoder) can be
calculated from the prescaler value using the following formula:
<p> = <prescaler> x 512
Example:
<prescaler> = 50
50 x 512 = 25600 (p)
The table below shows a subset of those prescalers that can be selected. Also, other values between those
given in the table can be used (e.g. a value for <p> of 512 results in no scaling at all (prescaler = 1) which
is sometimes helpful in case the encoder resolution is unknown / not known for sure). Only the values 1,
2, 4, and 16 must not be used for <p> (because they are needed to select the special encoder function
below or rather are reserved for intern usage).
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TO SELECT A PRESCALER FOR DIFFERENT MICROSTEP RESOLUTIONS THE FOLLOWING VALUES CAN BE USED FOR <P>:
Microstep resolution
(axis parameter 140)
8 (256 micro steps)
7 (128 micro steps)
6 (64 micro steps)
5 (32 micro steps)
4 (16 micro steps)
3 (8 micro steps)
2 (4 micro steps)
1 (2 micro steps)
Resulting
prescaler
50 (default)
25
12.5
6.25
3.125
1.5625
0.78125
0.390625
Value for <p>
25600
12800
6400
3200
1600
800
400
200
SAP 210, 0, <p>
(use SAP 217, 0, <p> for the external encoder)
SAP 210, 0, 25600
SAP 210, 0, 12800
SAP 210, 0, 6400
SAP 210, 0, 3200
SAP 210, 0, 1600
SAP 210, 0, 800
SAP 210, 0, 400
SAP 210, 0, 200
CLEAR ENCODER
There is one special function that can also be configured using <p>. For clearing the encoder add the
following value to <p>.
Adder for <p>
4
SAP 210, 0, <p>
(use SAP 217, 0, <p> for the external encoder)
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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5 Global Parameters
GLOBAL PARAMETERS ARE GROUPED INTO 4 BANKS:
-
bank
bank
bank
bank
0
1
2
3
(global configuration of the module)
(user C variables)
(user TMCL variables)
(interrupt configuration)
Please use SGP and GGP commands to write and read global parameters.
5.1 Bank 0
Parameters with numbers from 64 on configure stuff like the serial address of the module 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.
GLOBAL PARAMETERS (BANK O)
Number
64
65
Parameter
EEPROM magic
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.
9600 baud
Default
RS485 baud rate*) 0
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 *)
Not supported by Windows!
Not supported by Windows!
Not supported by Windows!
Not supported by Windows!
*) for hardware version V1.3, only! Not supported
with hardware version V1.2
www.trinamic.com
Access
RWE
RWE
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
Number
66
Parameter
Serial address
67
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
End switch
polarity
www.trinamic.com
Description
The module (target) address (default: 1)
Please note: address 0 has a special meaning.
This address is accepted by all modules
regardless of their particular address setting.
Sending a command with this address might
be useful in case a module has been set to
an unknown address.
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 up 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 RS485 is sent.
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 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
79
Range
0… 255
Access
RWE
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
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
Number
81
Parameter
TMCL code
protection
83
CAN secondary
address
84
Coordinate
storage
85
Do not restore
user variables
Serial secondary
address
87
128
TMCL application
status
129
Download mode
130
TMCL program
counter
www.trinamic.com
Description
Protect a TMCL program against disassembling
or overwriting.
0 – no protection
1 – protection against disassembling
1 – protection against overwriting
1 – protection against disassembling
and overwriting
If you switch off the protection against
disassembling, the program will be erased
first!
Changing this value from 1 or 3 to 0 or 2, the
TMCL program will be wiped off.
Second CAN ID for the module. Switched off
when set to zero. This is the group or
broadcast address of the module. Using this
address a single command e.g. ROR or MVP
sent by the master is sufficient in order to
initiate a movement of several (group) or
even all (broadcast) modules connected to
one bus. The first CAN address (71) might
then still be used to set parameters of the
modules individually.
In order to avoid bus collisions, the module
will not sent a reply for commands with this
address.
0 – coordinates are stored in the RAM only
(but can
be copied explicitly between RAM and
EEPROM)
1 – coordinates are always stored in the
EEPROM
only
0 – user variables are restored (default)
1 – user variables are not restored (default)
Second module (target) address. This is the
group or broadcast address of the module.
Using this address a single command e.g. ROR
or MVP sent by the master is sufficient in
order to initiate a movement of several
(group) or even all (broadcast) modules
connected to one bus. The first serial address
(66) might then still be used to set
parameters of the modules individually.
In order to avoid bus collisions, the module
will not sent a reply for commands with this
address.
0 –stop
1 – run
1 – step
3 – reset
0 – normal mode
1 – download mode
The index of the currently executed TMCL
instruction.
80
Range
0,1,2,3
Access
RWE
0… 7ff
RWE
0/1
RWE
0/1
RWE
0… 255
RWE
0… 3
R
0/1
R
R
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
Number
132
Parameter
Tick timer
133
Random number
*)
81
Description
Range
A 32 bit counter that gets incremented by one 0… 232
every millisecond. It can also be reset to any
start value.
Choose a random number.
0… 2147483647
Access
RW
RW
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.
5.2 Bank 1
The global parameter bank 1 is normally not available. It may be used for customer specific extensions of
the firmware. Together with user definable commands these variables form the interface between
extensions of the firmware (written in C) and TMCL applications.
5.3 Bank 2
Bank 2 contains general purpose 32 bit variables for the use in TMCL applications. They are located in RAM
and the first 56 variables can be stored permanently in EEPROM, also. After booting, their values are
automatically restored to the RAM. Up to 256 user variables are available.
MEANING OF THE LETTERS IN COLUMN ACCESS
Access
Type
R
W
E
Related
Command(s)
GGP
SGP, AGP
STGP, RSGP
Description
Parameter readable
Parameter writable
Parameter automatically restored from EEPROM after reset or power-on. These
parameters can be stored permanently in EEPROM using STGP command and
also explicitly restored (copied back from EEPROM into RAM) using RSGP.
GENERAL PURPOSE VARIABLES FOR TMCL APPLICATIONS (BANK 2)
Number
0… 55
56… 255
Global parameter
Description
general purpose variables #0… for use in TMCL applications
#55
general purpose variables #56… for use in TMCL applications
#255
www.trinamic.com
Range
-231… +231
Access
RWE
-231… +231
RW
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82
5.4 Bank 3
Bank 3 contains interrupt parameters. Some interrupts need configuration (e.g. the timer interval of a timer
interrupt). This can be done using the SGP commands with parameter bank 3 (SGP <type>, 3, <value>). The
parameter number defines the priority of an interrupt. Interrupts with a lower number have a higher
priority.
MEANING OF THE LETTERS IN COLUMN ACCESS
Access
type
R
W
Related
command(s)
GGP
SGP, AGP
Description
Parameter readable
Parameter writable
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
41
Input 2 trigger transition
42
Input 3 trigger transition
0=off,
3=both
0=off,
3=both
0=off,
3=both
0=off,
3=both
0=off,
3=both
0=off,
3=both
www.trinamic.com
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
1=low-high,
2=high-low,
0… 3
RW
1=low-high,
2=high-low,
0… 3
RW
RW
RW
RW
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83
6 TMCL Programming Techniques and Structure
6.1 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.
6.2 Main Loop
Embedded systems normally use a main loop that runs infinitely. This is also the case in a TMCL
application that is running stand alone. Normally the auto start mode of the module should be turned on.
After power up, the module then starts the TMCL program, which first does all necessary initializations and
then enters the main loop, which does all necessary tasks end never ends (only when the module is
powered off or reset).
There are exceptions to this, e.g. when TMCL™ routines are called from a host in direct mode.
So most (but not all) stand alone TMCL programs look like this:
//Initialization
SAP 4, 0, 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
6.3 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
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84
Just have a look at the file TMCLParam.tmc provided with the TMCL-IDE. It contains symbolic constants
that define all important parameter numbers.
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.
6.4 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.
6.5 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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85
6.6 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-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
7 Life Support Policy
TRINAMIC Motion Control GmbH & Co. KG does not
authorize or warrant any of its products for use in life
support systems, without the specific written consent of
TRINAMIC Motion Control GmbH & Co. KG.
Life support systems are equipment intended to support or
sustain life, and whose failure to perform, when properly
used in accordance with instructions provided, can be
reasonably expected to result in personal injury or death.
© TRINAMIC Motion Control GmbH & Co. KG 2013
Information given in this data sheet is believed to be
accurate and reliable. However neither responsibility is
assumed for the consequences of its use nor for any
infringement of patents or other rights of third parties,
which may result from its use.
Specifications are subject to change without notice.
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87
8 Revision History
8.1 Firmware Revision
Version
1.18
1.19
1.20
Date
2012-MAY-06
2012-JUL-25
2012-OKT-04
1.21
1.22
2012-NOV-16
2013-JAN-21
1.23
2013-FEB-05
1.24
1.25
1.26
1.27
2013-FEB-20
2013-AUG-30
2013-AUG-30
2013-AUG-30
Description
Release
Global parameter 79 added
- Global parameter 87 (secondary address for RS232/RS485) added.
- Reference search: the last position before setting the counter to zero
can be read out with axis parameter 197.
Parameter VSENSE set to 1.
- Maximum read number of encoder increased.
- Additional functions of axis parameter 193 (reference search mode):
 Add 128 to a value for inverting the home switch (interesting for
mode 5… 8).
 Add 64 to a value for driving the right instead of the left reference
switch (interesting for mode 1… 4).
Reference search modes corrected. Mode 7 and mode 8: end switches are
always deactivated.
No changes related to the TMCM-1140
No changes related to the TMCM-1140
No changes related to the TMCM-1140
Problem with magnetic encoder fixed
8.2 Document Revision
Version
1.00
Date
2012-JUN-20
Author
SD
1.01
2012-JUL-27
SD
1.02
2013-MAR-26
SD
1.03
2013
JP
1.04
2015-JAN-05
GE
www.trinamic.com
Description
First version
- SIO command description completed.
- Axis parameter 141 deleted.
- Global parameter 79 added.
- Interrupt description completed.
- Axis parameter 218 corrected.
- Global parameters 84 and 85 added.
- GIO command description and SIO command description
updated.
Names of inputs changed:
AIN_0 IN_0
IN_0
IN_1
IN_1
IN_2
IN_2
IN_3
- Global parameter 67 (ASCII) added.
- Global parameter 87 (secondary address for RS485) added.
- Reference search: the last position before setting the
counter to zero can be read out with axis parameter 197.
- Axis parameter 193: new functions added.
Revision History updated
- Hardware version V1.3 (pictures updated)
- Reference search mode description (4.3) corrected /
updated + clarified
- Encoder prescaler description (4.4) clarified / extended
- Minor changes / clarifications
TMCM-1140 TMCL Firmware V1.27 Manual (Rev. 1.04 / 2015-JAN-05)
9 References
[TMCM-1140]
[TMC262]
[TMC429]
[TMCL-IDE]
TMCM-1140 Hardware Manual
TMC262 Datasheet
TMC429 Datasheet
TMCL-IDE User Manual
Please refer to www.trinamic.com.
www.trinamic.com
88