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TMCM-1630 Firmware Manual

1. S cn Torque D i af GND 45V i d GND GND GND VM AM U U CANL USBD d v CANH USBD Ee Vv USB_ VB Ee Ww oo H w Figure 4 2 Connector of TMCM 1630 PROVIDED SIO AND GIO COMMANDS Pin Digital Analog GIO lt port gt lt bank gt SIO lt port gt lt bank gt lt value gt Value range 2 x GIO 0 1 velocity 0 4095 3 x GIO 1 1 torque 0 4095 5 D GIO O O DIR_IN S 0 1 6 D GIO 0 2 tacho SIO 0 2 lt value gt 0 1 7 D GIO 1 0 STOP_IN g 0 1 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 28 THE FOLLOWING PROGRAM WILL SHOW THE STATES OF THE INPUT LINES ON THE OUTPUT LINES Loop GIO 255 0 SLO 250 75 Gah JA Loop 4 6 14 CALC calculate A value in the accumulator variable previously read by a function such as GAP get axis parameter can be modified with this instruction Nine different arithmetic functions can be chosen and one constant operand value must be specified The result is written back to the accumulator for further processing like comparisons or data transfer Related commands CALCX COMP JC AAP AGP GAP GGP GIO Mnemonic CALC lt op gt lt value gt Binary representation COMMAND TYPE lt op gt MOT BANK VALUE 19 0 ADD add to accu don t care lt operand gt 1 SUB subtract from accu 2 MUL multiply accu by 3 DIV divide accu by 4 MOD modulo di
2. www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 46 Number Axis Parameter Description Range Unit Access 166 Stop switch BitO Left stop switch Bit set Left stop 0 3 RWE polarity polarity switch input is high active Bit clear Left stop switch input is low active Bit 1 Right stop switch Bit set Right stop polarity switch input is high active Bit clear Right stop switch input is low active 230 P parameter for P parameter of position PID regulator 0 65535 RWE position PID 226 Position PID Actual error of PID position regulator 2147483648 R error 2147483647 STATUS INFORMATION Number Axis Parameter Description Range Unit Access 151 Actual voltage Actual supply voltage 0 4294967295 R 152 Actual driver Actual temperature of the motor driver 0 4294967295 R temperature 156 Error Status Bit 0 Overcurrent flag This flag is set if the max 0 4294967295 R flags current limit is exceeded Bit 1 Undervoltage flag This flag is set if supply voltage is too low for motor operation Bit 2 Overvoltage flag This flag is set if the motor becomes switched off due to overvoltage Bit 3 Overtemperature flag This flag is set if overtemperature limit is exceeded Bit 4 Motor halted flag This flag is set if motor has been switched off Bit 5 Hall error flag This flag is set upon a hall error Bit 6 T
3. 52800 mA ms 3000 mA 3000 ma 1000 1000 c Pt limit 13200 ms 118800 mA ms 4000 mA 4000 mA 1000 1000 d fr limit 13200 ms 211200 mA ms www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 10 Life Support Policy TRINAMIC Motion Control GmbH amp 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 amp 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 amp 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 www trinamic com 55 TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 56 11 Revision History 11 1 Firmware Revision Version Date Author Description 1 0 2011 MAY 16 OK First version 1 46 2011 SEP 27 ED New version including hallFX parameters 1 47 2012 JAN 26 ED hallFX parameters corrected 1 48 2012 DEC 1
4. COMMAND TYPE MOT BANK VALUE 4 0 ABS absolute 0 lt position gt 214748 3648 2147483647 1 REL relative 0 lt offset gt 214748 3648 2147483647 Reply in direct mode STATUS COMMAND VALUE 100 OK 4 don t care Example MVP ABS Move motor to absolute position 9000 Mnemonic MVP ABS 0 9000 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 04 00 00 00 00 23 28 Example MVP REL Move motor from current position 1000 steps backward move relative 1000 Mnemonic MVP REL 0 1000 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 00 04 01 00 Sff Sff Sfc 18 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 4 6 5 SAP set axis parameter 19 Most of the motion control parameters of the module can be specified by using the SAP command The settings will be stored in SRAM and therefore are volatile Thus information will be lost after power off Please use command STAP store axis parameter in order to store any setting permanently Related commands GAP STAP and RSAP Mnemonic SAP lt paramete
5. MODULE FOR BLDC MOTORS MODULE Firmware Version V2 07 TMCL FIRMWARE MANUAL ee TMCM 1630 1 Axis BLDC Controller Driver 10A 48V RS232 CAN or RS485 USB D Ei 3 E EI E Si E 4 D 4 E 4 r Ei E 3 E a r a r 3 as a a bti aa bt a batat bata a Aat Aa A TRINAMIC Motion Control GmbH amp Co KG TR N A M C Hamburg Germany MOTION CONTROL www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 Table of Contents d PROGtURES heien a a a Ld OE at OL a a 4 2 LOM EE 5 3 Putting the TMCM 1630 into Operation 6 EG EE Ee lte Re E 6 3 2 Operating the Module in Direct Mode ENEE 8 d IMCL arid DM CUED Ess caa I E E E EANAN EEREN EN A ENE 10 4 1 Bmmape Command Format sssasenii aiene e dae he nese bed tase ae EEN 10 4 2 Reply Format E Pa EEE E AEE EA AER EE 11 Aa ME E EAE o C EEA A AE AA 11 4 3 S IER TIITCHEN 12 AA Testing with a Simple TMCL Program 12 45 IMCL Command EE 13 4 5 1 Motion Commandes ENEE 13 4 52 Parameter COMMANGS eaa a aaa a a a aa A a Aaa arae aa Taaa Aaaa aaaea nea a ania E saai 13 45 3 iControl Commands eerste 13 454 HO Port Commands ees ee EES 13 45 5 Calculation Commands ss2c itn de ante tana ieee anh eats 14 4 6 Commands sees atleast Eege Eet eet lb 15 4 6 1 R kRtrotate Pgbt sseaset rte Steet 15 462 ROL Arotate lett oncon A A R EAER 16 dp MST mtor sophea maana A AAR AAA EA ENE A 17 AGA MVP Moveto ipOsitl OM EE
6. d RWE determines the encoder offset 1 Initialization in block commutation using hall sensors 2 Initialization in controlled sine commutation use the previous set encoder offset 250 Encoder steps Encoder steps per rotation 0 65535 RWE 251 Encoder Set the encoder direction in a way that ROR 0 1 RWE direction increases position counter 254 Hall sensor 1 Hall sensor invert Invert the hall scheme e g 0 1 RWE invert used by some Maxon motors TORQUE REGULATION MODE Number Axis Parameter Description Range Unit Access 6 Max current Set get the max allowed motor current 0 20000 RWE This value can be temporarily exceeded marginal due to the mA operation of the current regulator 150 Actual motor Get actual motor current 2147483648 R current 2147483647 mA 155 Target current Get desired target current or set target current to 20000 20000 RW activate current regulation mode turn motor mA in right direction turn motor in left direction 134 Current Delay of the PID current regulator 0 10 RWE regulation loop 50us delay 172 P parameter for P parameter of current PID regulator 0 65535 RWE current PID 173 I parameter for I parameter of current PID regulator 0 65535 RWE current PID 200 Current PID Actual error of current PID regulator 2147483648 R error 2147483647 201 Current PID Sum of errors of current PID regulator 2147483648 R error sum 2147483647 VELOCITY
7. 6 Global Parameter Overview SGP GGP STGP Robi 47 Gir CET LEE 47 6 2 Bank a e e A N A A A E N N E E E 48 T Motor Keganls Eet Anere Ee ee oa hae Lak 49 7 1 Structure of the Cascaded Motor Regulation Modes ENEE 49 7 2 CurrentiReqgulation c0 cccenc snes reteen a e ak eta ieee tie ein aerate 50 E gt Melocity Regulations issasstscc ci ncviteatsie teenie ancien iadaaa saaa idalare aaia sata ddaa ada taaa tes eiatiet 51 1A Velocity Ramp Gen Gator sai eege 52 7 5 Position Regulation edd nan a EECHER 52 8 Temperature Calculation snieni erter Adel 54 KR gl e edit EE 54 10 Life Support TEE 55 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 AT REVISIONS HISCONY wee eeh eeler eieiei 56 11 1 Firmware Revision EE 56 11 2 Document REVISION EE 56 12 eet IGE S esis een dE EE 56 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 4 1 Features The TMCM 1630 is a highly integrated single axis BLDC servo controller module with several interface options The highly integrated module size 50mm x 92 5 mm has been designed in order to be plugged onto a baseboard It integrates velocity and position control and offers hall sensor and incremental encoder a b n inputs The module can be used in standalone operation or remote controlled Applications Demanding single and multi axis BLDC motor solutions Electrical data Supply voltage 24V DC or 48V DC nominal
8. Binary representation COMMAND TYPE MOT BANK VALUE 10 lt parameter number gt lt bank number gt don t care Reply in direct mode STATUS VALUE 100 OK lt value gt A list of all parameters which can be used for the GGP command is shown in section 6 Example Get variable 0 from bank 2 Mnemonic GGP 0 2 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte Value hex 01 0a 00 02 00 00 00 00 4 6 11 STGP store global parameter Some global parameters are located in RAM memory so modifications are lost at power down This instruction copies a value from its RAM location to the configuration EEPROM and enables permanent storing Most parameters are automatically restored after power up Related commands SGP GGP RSGP Mnemonic STGP lt parameter number gt lt bank number gt Binary representation COMMAND TYPE MOT BANK VALUE 11 lt parameter number gt lt bank number gt don t care Reply in direct mode STATUS VALUE 100 OK don t care A list of all parameters which can be used for the STGP command is shown in section 6 Example Copy variable 0 at bank 2 to the configuration EEPROM Mnemonic STGP 0 2 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand O
9. Number Bank Byte3 Byte2 Byte1 Byte Value hex 01 07 04 00 00 00 00 00 Note The STAP command will not have any effect when the configuration EEPROM is locked The error code 5 configuration EEPROM locked will be returned in this case www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 22 4 6 8 RSAP restore axis parameter For all configuration related axis parameters non volatile memory locations are provided By default most parameters are automatically restored after power up A single parameter that has been changed before can be reset by this instruction also Internal function The specified parameter is copied from the configuration EEPROM memory to its RAM location Related commands SAP STAP and GAP Mnemonic RSAP lt parameter number 0 Binary representation COMMAND TYPE MOT BANK VALUE 8 lt parameter number gt 0 don t care Reply in direct mode STATUS COMMAND VALUE 100 OK 8 don t care A list of all parameters which can be used for the RSAP command is shown in section 5 Example Restore the maximum current Mnemonic RSAP 6 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte Value hex 01 08 06 00 00 00 00 00 www trinamic com
10. TMC603 Datasheet Please refer to our homepage hitp www trinamic com www trinamic com
11. TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 4 6 9 SGP set global parameter Global parameters are related to the host interface peripherals or other application specific variables The different groups of these parameters are organized in banks to allow a larger total number for future products Currently bank 0 is used for global parameters and bank 2 is intended for user variables Related commands GGP STGP RSGP Mnemonic SGP lt parameter number gt lt bank number gt lt value gt Binary representation COMMAND TYPE MOT BANK VALUE 9 lt parameter number gt lt bank number gt lt value gt Reply in direct mode STATUS VALUE 100 OK don t care A list of all parameters which can be used for the SGP command is shown in section 6 Example Set variable 0 at bank 2 to 100 Mnemonic SGP 0 2 100 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte Value hex 01 09 00 02 00 00 00 64 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 24 4 6 10 GGP get global parameter All global parameters can be read with this function Related commands SGP STGP RSGP Mnemonic GGP lt parameter number lt bank number
12. and use the appropriate functions of the TMCL IDE to do it in an interactive way MEANING OF THE LETTERS IN COLUMN ACCESS Access Related Description type commands R GGP Parameter readable W SGP AGP Parameter writable E STGP RSGP Parameter automatically restored from EEPROM after reset or power on GLOBAL PARAMETERS OF BANK 0 Number Global Description Range Access parameter 64 EEPROM magic Setting this parameter to a different value as E4 will cause 0 255 RWE re initialization of the axis and global parameters to factory defaults after the next power up This is useful in case of miss configuration 65 RS485 baud rate 0 9600 baud Default 0 7 RWE 1 14400 baud 2 19200 baud 3 28800 baud 4 38400 baud 5 57600 baud 6 76800 baud Not supported by Windows 7 115200 baud 66 Serial address The module target address for RS485 and virtual COM 0 255 RWE port 73 Configuration Write 1234 to lock the EEPROM 4321 to unlock it 0 1 RWE EEPROM lock Read 1 EEPROM locked O EEPROM unlocked flag 75 Telegram pause Pause time before the reply via RS485 is sent 0 255 RWE time 76 Serial host Host address used in the reply telegrams sent back via 0 255 RWE address RS485 77 Auto start 0 Do not start TMCL application after power up default 0 1 RWE mode 1 Start TMCL application automatically after power up Note the current initialization has to be finis
13. 18 46 5 SAP setaxis parameter erccrerienniierisan enni E A 19 4 6 6 GAP get axis D rameter ENEE 20 4 6 7 STAP store axis parameter ccccssssssssssssssssssessesessessssessessesessessesessessesessesuesessesucsessesucseeaesessesaesesseeaeeaeass 21 4 6 8 RSAP restore axis parameter ENEE 22 46 9 SGP set globalt pardmete n insnianiiiniioeindnennainaninan nni aa 23 4 6 10 GGP get global parameter Eeer 24 4 6 11 STGP store global parameter ENEE 24 4 6 12 RSGP restore global parameter ENEE 25 4 6 13 SIO set output and GIO get input output EE 26 E e CALC cal u EE 28 A615 COMP compare hee ussen a a A EAE 29 4 6 16 JC Jump condmttonall ENEE 30 4 6 17 JA Dump always ere EAE EARNE EEEN A AEAEE AE AEE ETENE NE 31 46 18 CSUR call subroutine cession aa aA OE EEE EAE ERR 32 4 6 19 WAIT wait for an event tO OCCUN EEN 33 4 6 20 STOP stop TMCL program execution ENEE 34 4 6 21 CALCX calculate using the X register ENEE 35 4 6 22 AAP accumulator to axis D rameter ENEE 36 4 6 23 AGP accumulator to global parameter EEN 37 4 6 24 Customer Specific TMCL Command Extension user functions 0 Jl 37 4 6 25 Command 136 Get Firmware Version 38 5 Axis Parameter Overview SAP GAP STAP RSAP AAP cccccscssssesesesececcscesesecececcscscscesesesesescassececeeeasarscatacees 39 5 1 Avis Parameter Sorted by Functionallity cccssssssssssesesesssssssssssssssscscsssssssssesessssssesssescscsescsessseseseeseeseees 43
14. 4 Vearcet New target velocity for ramp generator GAP 13 PARAMETERIZING THE POSITION REGULATION Based on the velocity regulator only the position regulator P has to be parameterized 1 Disable the velocity ramp generator and set position P parameter to zero 2 Choose a target position and increase the position P parameter until the motor reaches the target position approximately 3 Switch on the velocity ramp generator Based on the max positioning velocity axis parameter 4 and the acceleration value axis parameter 11 the ramp generator automatically calculates the slow down point i e the point at which the velocity has to be reduced in order to stop at the desired target position 4 Reaching the target position is signaled by setting the position end flag www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 53 NOTE In order to minimize the time until this flag becomes set the positioning tolerance MVP target reached distance can be chosen with axis parameter 10 Since the motor typically is assumed not to signal target reached when the target was just passed in a short moment at a high velocity additionally the maximum target reached velocity MVP target reached velocity can be defined by axis parameter 7 A value of zero for axis parameter 7 is the most universal since it implies that the motor stands still at the target But when a fast rising of the position end flag is de
15. developing standalone TMCL applications with the TMCL IDE IDE means Integrated Development Environment There is also a set of configuration variables for the axis and for global parameters which allow individual configuration of nearly every function of a module This manual gives a detailed description of all TMCL commands and their usage 4 1 Binary Command Format When commands are sent from a host to a module the binary format has to be used Every command consists of a one byte command field a one byte type field a one byte motor bank field and a four byte value field So the binary representation of a command always has seven bytes When a command is to be sent via RS232 USB or RS485 interface it has to be enclosed by an address byte at the beginning and a checksum byte at the end In this case it consists of nine bytes The binary command format for RS232 RS485 USB is structured as follows Bytes Meaning Module address Command number Type number Motor or Bank number Value MSB first Checksum PIB Pl P When using CAN bus the first byte reply address and the last byte checksum are left out Do not send the next command before you have received the reply www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 11 Checksum calculation As mentioned above the checksum is calculated by adding up all bytes including the module address byte using 8 bit addit
16. protection 0 1 RWE protection ENCODER INITIALIZATION SETTINGS Number Axis Parameter Description Range Unit Access 31 BLDC 1 restart the timer and initialize encoder Ignored W re initialization 159 Commutation 6 FOC based on hall sensor 6 7 8 RWE mode 7 FOC based on encoder 8 FOC controlled 165 Actual encoder This value represents the internal commutation 0 65535 RWE commutation offset offset 0 max encoder steps per rotation 177 Start current Motor current for controlled commutation This 0 20000 RWE parameter is used in commutation mode mA 210 Actual hall Actual hall angle value 32767 32767 R angle 211 Actual encoder Actual encoder angle value 32767 32767 R angle 212 Actual Actual controlled angle value 32767 32767 R controlled angle 241 Sine Velocity during initialization in init sine mode 2 200000 200000 RWE initialization Refer to axis parameter 249 too rpm speed www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 44 Number Axis Parameter Description Range Unit Access 244 Init sine delay Duration for sine initialization sequence This 0 10000 RWE parameter should be set in a way that the motor ms has stopped mechanical oscillations after the specified time 249 Init sine mode 0 Initialization in controlled sine commutation 0
17. to their opponents A deviation of only one pin row can damage the module also Pin Label Description Pin Label Description 5V analog reference as used by the Used Tor v lority control In standalone operation by 1 5V internal DAC 2 Velocity subblving external 0 lt 10 Max load 0 5mA uppying signal Used for max motor current Fall Torque torque control in standalone 4 GND Module ground power supply operation by supplying external 0 and signal ground 10V signal 5V TTL input Tie to GND to inverse This pin outputs a tacho 5 VD IN motor direction leave open or tie 6 Tacho impulse i e toggles on each to 5V otherwise hall sensor change Emergency stop Tie this pin to f GND to stop the motor same as ee ee WE the Motor OFF switch on PCB The Geelen 7 Stop IN 8 LED Temp warning threshold is exceeded motor can be restarted via the f high when module shut down interface or by cycling the power due to overtemperature supply a LED Curlim High when module goes into 10 5V 5V output as reference for current limiting mode external purpose 11 GND GND reference 12 GND GND reference 13 Enc_A Encoder A channel 14 Enc_A Encoder A channel 15 Enc_B Encoder B channel 16 Enc_B Encoder B channel www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 8 17 Enc_N
18. velocity ramp generator velocity ramp velocity generator PID current actual current current measurement actual commutation angle hall sensor or encoder current regulation mode velocity regulation mode position regulation mode actual velocity actual position 7 1 Cascaded regulation www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 50 7 2 Current Regulation The current regulation mode uses a PID regulator to adjust a desired motor current This target current can be set by axis parameter 155 The maximal target current is limited by axis parameter 6 The PID regulation uses three basic parameters The P and I value as well as the timing control value TIMING CONTROL VALUE The timing control value current regulation loop multiplier axis parameter 134 determines how often the current regulation is invoked It is given in multiple of Sous tpippELay Xpiprip DOUS tpippELAY resulting delay between two current regulation loops XPIDRLD current regulation loop multiplier parameter For most applications it is recommended to leave this parameter unchanged at its default of 2 50us Higher values may be necessary for very slow and less dynamic drives STRUCTURE OF THE CURRENT REGULATOR Pparam 256 Tparam 65536 Lec SS Tactuat Figure 7 2 Current regulation 32768 32767 Parameter Description
19. 015 MAR 04 5 1 Axis Parameter Sorted by Functionality The following section describes all axis parameters that can be used with the SAP GAP STAP and RSAP commands MEANING OF THE LETTERS IN COLUMN ACCESS 43 Access Related Description type command s R GAP Parameter readable W SAP AAP Parameter writable E STAP RSAP 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 MOTOR MODULE SETTINGS Number Axis Parameter Description Range Unit Access 253 Number of Number of motor poles 2 254 RWE motor poles 25 Thermal Thermal winding time constant for the used 0 4294967295 RWE winding time motor Used for I2t monitoring ms constant 26 Pt limit An actual It sum that exceeds this limit leads to 0 4294967295 RWE increasing the It exceed counter 27 Pt sum Actual sum of the Ir monitor 0 4294967295 R 28 Tet exceed Counts how often an Pt sum was higher than the 0 4294967295 RWE counter Tet limit 29 Clear Pt Clear the flag that indicates that the It sum has ignored W exceeded flag exceeded the Lat limit 30 Minute counter Counts the module operational time in minutes 0 4294967295 RWE min 245 Overvoltage 1 Enable overvoltage
20. 1 4 6 13 2 GIO get input output GIO can be used in direct mode or in standalone mode 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 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 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 27 Mnemonic GIO lt port number gt lt bank number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 15 lt port number gt lt bank number gt don t care Reply in direct mode STATUS VALUE 100 OK lt status of the port gt Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 SOf 00 01 00 00 00 00 Reply Byte Index 0 1 2 3 4 5 6 7 Function Host Target Status Instructio Operand Operand Operand Operand address address n Byte3 Byte2 Byte1 ByteO Value hex 02 01 64 SOf 00 00 01 2e rang eg een Jee h WE ER end AS D DS D
21. 12 55V DC max Motor current up to 10A RMS programmable peak Integrated motion controller High performance ARM Cortex M3 microcontroller for system control and communication protocol handling Integrated motor driver High performance integrated pre driver TMC603A Support for sensorless back EMF commutation hallFX High efficient operation low power dissipation MOSFETs with low Roson Dynamic current control Integrated protection On the fly alteration of motion parameters e g position velocity acceleration Interfaces Two standard assembly options RS232 and CAN 2 0B up to 1Mbit s RS485 and USB 2 analogue and d digital inputs 3 open drain outputs Motor type Block commutated 3 phase BLDC motors with optional hall sensors optional encoder Motor power from a few Watts to nearly 500W Motor velocity up to 100 000 RPM electrical field Common supply voltages of 12V DC 24V DC 36V DC and 48V DC supported Coil current up to 10A peak Software MCL standalone operation or remote controlled operation TMCL program memory non volatile for up to 2048 TMCL commands MCL PC based application development software TMCL IDE and TMCL BLDC available for free CANopen ready CIA 301 CIA 402 homing mode profile position mode and velocity mode under development Other Two double row 2 54mm connectors ROHS compliant Size 50x92 5mmz2 Please see separate TMC
22. 2 ED Axis parameter 178 added 2 05 2013 APR 14 ED New FOC version several changes 2 07 2014 Jun 04 ED Axis parameter 238 deleted Mass inertia constant Axis parameter 239 deleted BEMF constant Axis parameter 240 deleted Motor coil resistance Bug during Encoder initialization mode 2 with inverted encoder signals fixed readability for encoder and hall angle during controlled mode added 11 2 Document Revision Version Date Author Description 2 00 2013 APR 02 SD Manual for new Field Orientated Control FOC firmware Commands SIO and GIO added Axis parameters updated Motor regulation updated Axis parameter 209 deleted Axis parameter 241 sine initialization speed added Axis parameter 31 BLDC re initialization added Axis parameter 212 actual controlled angle new Axis parameter 159 updated new FOC controlled mode Global parameter 77 auto start mode updated Global parameter 129 download mode updated Several axis parameter value ranges updated 2 01 2014 JUN 04 ED Axis parameter 238 deleted Mass inertia constant Axis parameter 239 deleted BEMF constant Axis parameter 240 deleted Motor coil resistance 2 02 2015 MAR 09 JP Removed more outputs option 12 References TMCM 1630 TMCM 1630 Hardware Manual BB 1630 BB 1630 Hardware Manual TMCL IDE TMCL IDE User Manual TMCL BLDC TMCL BLDC User Manual TMC603
23. 7 Manual Rev 2 02 2015 MAR 04 33 4 6 19 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 TMCL program downloads This command is not to be used in direct mode THERE ARE DIFFERENT WAIT CONDITIONS THAT CAN BE USED TICKS Wait until the number of timer ticks specified by the lt ticks gt parameter has been reached POS Wait until the target position of the motor specified by the lt motor gt parameter has been reached An optional timeout value 0 for no timeout must be specified by the lt ticks gt 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 lt condition gt lt motor number gt lt ticks gt where lt condition gt is TICKS POS Binary representation COMMAND PERES MOT BANK VALUE 0 TICKS timer ticks don t care lt no of ticks gt 1 POS target position reached lt motor number gt lt no of ticks for timeout gt 0 0 for no timeout One tick is 10msec in standard firmware Exam
24. Encoder N channel 18 Enc_N Encoder N channel CAN low RXD RXD signal for RS232 g CANLUSBD USB D bus line 0 485 inverting signal for RS485 CAN high TXD TXD signal for RS232 CANHIUSBD USB D bus line ee 485 non inverting signal for RS485 Use to detect availability of gt ewe attached host system e g PO ia 25 GND GND reference 26 GND GND reference 3 Switch ON the power supply The power LED is ON now If this does not occur switch power OFF and check your connections as well as the power supply 4 Start the TMCL IDE software development environment 3 2 2 3 The TMCL IDE is available on the TechLibCD and on www trinamic com Installing the TMCL IDE Make sure the COM port you intend to use is not blocked by another program Open TMCL IDE by clicking TMCL exe Choose Setup and Options and thereafter the Connection tab Choose Type The TMCL IDE shows you which Port the module uses Click OK A Options a TMCL Integrated Development Environment New File 1 ci Assembler Connection Debugger File Edit TMCL Debug Help Type RS232 R5485 USB COM port EI BBA amp Sp Ki Options j RS232 RS485 New File 1 SL Configure Module Pat COM12 TMCM 1630 fi Search Module Baud 3500 Gi Install OS w ien 3 a stallGuard gt stallGuard2 amp coolStep Parameter Calculation A BLDC Configurataion Tool f OK f Cancel Fi
25. K VALUE 3 don t care 0 don t care Reply in direct mode STATUS COMMAND VALUE 100 OK 3 don t care Example Stop motor Mnemonic MST 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 03 00 00 00 00 00 00 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 18 4 6 4 MVP move to position The motor will be instructed to move to a specified relative or absolute position It uses the acceleration deceleration ramp and the positioning speed programmed into the unit This command is non blocking like all commands A reply will be sent immediately after command interpretation 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 11 TWO OPERATION TYPES ARE AVAILABLE Moving to an absolute position in the range from 2147483648 2147483647 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 Internal function A new position value is transferred to the axis parameter 0 target position Related commands SAP GAP and MST Mnemonic MVP lt ABS REL gt 0 lt position offset value gt Binary representation
26. LEJETO EAL Binary representation COMMAND TYPE MOT BANK VALUE 21 0 ZE zero don t care lt jump address gt 1 NZ not zero 2 EQ equal 3 NE not equal 4 GT greater 5 GE greater equal 6 LT lower 7 LE lower equal 8 ETO time out error 9 EAL external alarm Example Jump to address given by the label when the position of the motor is greater than or equal to 1000 GAP 1 0 0 COMP 1000 JC GE Label Label ROL 0 1000 Binary format of JC GE Label when Label is at address 10 Joer axis parameter type no 1 actual position motor 0 value 0 don t care compare actual value to 1000 jump type 5 greater equal Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 15 05 00 00 00 00 0a www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 4 6 17 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 required to take the instruction to the TMCL program memory while the TMCL program downloads 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 lt Label gt Binary represent
27. M 1630 Hardware Manual for additional information www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 5 2 Overview The software running on the microprocessor of the TMCM 1630 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 firmware is related to the standard TMCL firmware TMCL with regard to protocol and commands The module is based on the ARM Cortex M3 microcontroller and the high performance pre driver TMC603 and supports the standard TMCL with a special range of values The new FOC firmware V2 02 is field oriented control software for brushless DC applications It is developed for high performance motor applications which can operate smoothly over the full velocity range can generate full torque at zero speed and is capable of fast acceleration and deceleration This saves energy and quiets rotating machinery www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 6 3 Putting the TMCM 1630 into Operation Here you can find basic information for putting your module into operation The text contains a simple example for a TMCL program and a short description of operating the module
28. MC603 error flag Bit 7 unused Bit 8 unused Bit 9 Velocity mode active flag Bit 10 Position mode active flag Bit 11 Torque mode active flag Bit 12 unused Bit 13 unused Bit 14 Position end flag This flag is set if the motor has been stopped at the target position Bit 15 unused Bit 16 unused Bit 17 Pt exceeded flag This flag is set if the Pt sum exceeded the It limit of the motor reset by SAP 29 after the time specified by the Pt thermal winding time constant Flag 0 to 15 are automatically reset Only flag 17 must be cleared manually www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 6 Global Parameter Overview SGP GGP STGP RSGP 47 The following section describes all global parameters that can be used with the SGP GGP STGP and RSGP commands TWO BANKS ARE USED FOR GLOBAL PARAMETERS Bank O global configuration of the module Bank 2 user TMCL variables 6 1 Bank 0 PARAMETERS 64 255 Parameters below 63 configure stuff like the serial address of the module RS485 baud rate or the telegram pause time 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 between 64 and 85 are stored in EEPROM only A SGP command on such a parameter will always store it permanently and no extra STGP command is needed Take care when changing these parameters
29. N RS232 and RS485 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 module The TMCL interpreter on it will then interpret this command do the initialization of the motion controller read inputs and write outputs or whatever is necessary according to the specified command As soon as this step has been done the module will send a reply back over the interface to the bus master The master should not transfer the next command till then 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 on the TMCM 1630 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 The mnemonic format is used for easy usage of the commands when
30. PROGRAM EXECUTION AND DIRECT MODE It is possible to use some commands in direct mode while a standalone program is active When a command which reads out a value is executed direct mode the accumulator will not be affected While a TMCL program is running standalone on the module a host can still send commands like GAP and GGP to it e g to query the actual position of the motor without affecting the flow of the TMCL program running standalone on the module www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 15 4 6 Commands The module specific commands are explained in more detail on the following pages They are listed according to their command number 4 6 1 ROR rotate right 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 2 target velocity Related commands ROL MST SAP GAP Mnemonic ROR 0 lt velocity gt Binary representation COMMAND TYPE MOT BANK VALUE lt velocity gt 1 don t care 0 200000 200000 Reply in direct mode STATUS COMMAND VALUE 100 OK 1 don t care Example Rotate right velocity 350 Mnemonic ROR 0 350 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand addres
31. REGULATION MODE Number Axis Parameter Description Range Unit Access 2 Target speed Set get the desired target velocity 2147483648 RW 2147483647 rpm 3 Actual speed The actual velocity of the motor 2147483648 R 2147483647 rpm 9 Motor halted If the actual speed is below this value the motor 0 200000 rpm RWE velocity halted flag will be set 133 PID regulation Delay of the position and velocity 0 10 RWE loop delay ms 234 P parameter for P parameter of velocity PID regulator 0 10 RWE velocity PID 50us 228 Velocity PID Actual error of PID velocity regulator 2147483648 R error 2147483647 229 Velocity PID Sum of errors of PID velocity regulator 2147483648 R error sum 2147483647 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 45 VELOCITY RAMP PARAMETER Number Axis Parameter Description Range Unit Access 4 Max absolute The maximum velocity used for velocity ramp in 0 200000 RWE ramp velocity velocity mode and positioning mode Set this rpm value to a realistic velocity which the motor can reach 11 Acceleration Acceleration parameter for ROL ROR and the 0 100000 RWE velocity ramp of MVP RPM s 13 Ramp generator The actual speed of the velocity ramp used for 2147483648 R speed positioning and velocity mode 2147483647 rpm 146 Activate ramp 1 Acti
32. TAT Actual motor current GAP 150 lmas Target motor current SAP 155 Te Max motor current SAP 6 Ga Error sum for integral calculation GAP 201 Bom Current P parameter SAP 172 EE Current I parameter SAP 173 PARAMETERIZING THE CURRENT REGULATOR SET 1 Set the P parameter and the I parameter to zero 2 Start the motor by using a low target current e g 1000 mA 3 Modify the current P parameter Start from a low value and go to a higher value until the actual current nearly reaches 50 of the desired target current A Do the same with the current I parameter For all tests set the motor current limitation to a realistic value so that your power supply does not become overloaded during acceleration phases If your power supply reaches current limitation the unit may reset or undetermined regulation results may occur www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 51 7 3 Velocity Regulation Based on the current regulation the motor velocity can be controlled by the velocity PID regulator TIMING CONTROL VALUE Also the velocity PID regulator uses a timing control value PID regulation loop delay axis parameter 133 which determines how often the PID regulator is invoked It is given in multiple of 1ms tpippELAY Xpiprip Lms tpippetay resulting delay between two PID calculations Xpiprip PID regulation loop delay parameter For most applications it
33. and address Number Bank Byte3 Byte2 Byte Byte Value hex 01 06 01 00 00 00 00 00 Reply Byte Index 0 1 2 3 4 5 6 7 Function Host Target Status Instructio Operand Operand Operand Operand address address n Byte3 Byte2 Byte1 ByteO Value hex 00 01 64 06 00 00 02 c7 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 21 4 6 7 STAP store axis parameter The STAP command stores an axis parameter previously set with a Set Axis Parameter command SAP permanently Most parameters are automatically restored after power up 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 and GAP Mnemonic STAP lt parameter number gt 0 Binary representation COMMAND TYPE MOT BANK VALUE 7 lt parameter number gt 0 don t care The value operand of this function has no effect Instead the currently used value e g selected by SAP is saved Reply in direct mode STATUS COMMAND 100 OK 7 VALUE don t care A list of all parameters which can be used for the STAP command is shown in section 5 Example Store the maximum speed Mnemonic STAP 4 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address
34. arameter 11 und the desired target velocity axis parameter 2 to calculate a ramp generator velocity for the following velocity PID regulator 7 5 Position Regulation Based on current and velocity regulators the TMCM 1630 supports a positioning mode based on encoder or hall sensor position During positioning the velocity ramp generator can be activated to enable motor positioning with controlled acceleration or it can be disabled to support motor positioning with max allowed speed The PID regulation uses two basic parameters the P regulation and a timing control value TIMING CONTROL VALUE The timing control value PID regulation loop parameter axis parameter 133 determines how often the PID regulator is invoked It is given in multiple of 1ms tpippeLay Xpiprip 1ms tpippELAY the resulting delay between two position regulation loops Xpiprip PID regulation loop multiplier parameter For most applications it is recommended to leave the timing control value unchanged at its default of 1ms Higher values may be necessary for very slow and less dynamic drives STRUCTURE OF THE POSITION REGULATOR NTARGET Clip 65535 Pparaml 256 Clip Tee Vi MAX NACTUAL Figure 7 4 Positioning regulation Parameter Description N ACTUAL Actual motor position GAP 1 NTARGET Target motor position SAP o Pparam Position P parameter SAP 130 SAP 230 Vinx Max allowed velocity SAP
35. ation 31 COMMAND TYPE MOT BANK VALUE 22 don t care don t care lt jump address gt Example An infinite loop in TMCL Loop MVP ABS 0 10000 WATT POS 0 0 MVP ABS 0 0 WATT 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 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte Byte Value hex 01 16 00 00 00 00 00 14 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 32 4 6 18 CSUB call subroutine For implementing subroutines there are two commands CSUB calls a subroutine in the TMCL program memory It is intended for standalone operation only The host address and the reply are required to take the instruction to the TMCL program memory while the TMCL program downloads This command cannot be used in direct mode RSUB is used for returning from a subroutine to the next command behind the CSUB command Example Call a subroutine Loop MVP ABS 0 10000 CSUB SubW Save program counter and jump to label SubW see below MVP ABS 0 0 JA Loop SubW WAIT POS 0 0 WAIT TICKS 0 50 RSUB Continue with the command following the CSUB command in this example MVP ABS 4 6 18 1 CSUB call subroutine Interna
36. ed with the SAP GAP STAP and RSAP commands MEANING OF THE LETTERS IN COLUMN ACCESS Access Related Description type command s R GAP Parameter readable W SAP AAP Parameter writable E STAP RSAP 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 Number Axis Parameter Description Range Unit Access 0 Target position The target position of a currently executed ramp 2147483648 RW 2147483647 1 Actual position Set get the position counter without moving the 2147483648 RW motor 2147483647 2 Target speed Set get the desired target velocity 200000 200000 RW rpm 3 Actual speed The actual velocity of the motor 214748 3648 R 2147483647 rpm 4 Max absolute The maximum velocity used for velocity ramp in 0 200000 RWE ramp velocity velocity mode and positioning mode Set this rpm value to a realistic velocity which the motor can reach 6 Max current Set get the max allowed motor current 0 20000 RWE This value can be temporarily exceeded marginal due to the mA operation of the current regulator 7 MVP Target Maximum velocity at which end position can be 0 200000 rpm RWE reached velocity set Prevents issuing of end position
37. er 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 lt operation gt Binary representation COMMAND TYPE lt operation gt MOT BANK VALUE 33 0 ADD add X register to accu don t care don t care 1 SUB subtract X register from accu 2 MUL multiply accu by X register 3 DIV divide accu by X register 4 MOD modulo divide accu by x register 5 AND logical and accu with X register 6 OR logical or accu with X register 7 XOR logical exor accu with X register 8 NOT logical invert X register 9 LOAD load accu to X register 10 SWAP swap accu with X register Example Multiply accu by X register Mnemonic CALCX MUL Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte Byte Value hex 01 21 02 00 00 00 00 00 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 36 4 6 22 AAP accumulator to axis parameter The content of the accumulator register is transferred to the specified axis parameter For practical use the accumulator has to be loaded e g by a preceding GAP instruction The accumulator may have been modified by
38. gure 3 2 Setup menu Figure 3 3 Connection tab of TMCL IDE Operating the Module in Direct Mode Start TMCL Direct Mode ch rect Mode If the communication is established the TMCM 1630 is automatically detected If the module is not detected please check all points above cables interface power supply COM port baud rate Issue a command by choosing instruction type if necessary motor and value and click execute to send it to the module www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 A TMCL Direct Mode TMCM 1630 TMCL Instruction Selector Instruction Motor Bank Value 1 ROR rotate right y 0 lt don t care 0 H Copy to editor Manual Instruction Input Address Instruction Type Motor Bank Value Datagram 1 e 0 e 0 e D e 39 ZS 01000000 00 00 00 00 01 Execute Answer Host Target Status Inst Value Datagram Close Figure 3 4 TMCL direct mode window Examples ROR rotate right motor 0 value 500 gt Click Execute The first motor is rotating now MST motor stop motor 0 gt Click Execute The first motor stops now www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 10 4 TMCL and TMCL IDE The TMCM 1630 module supports TMCL direct mode binary commands and standalone TMCL program execution You can store up to 2048 TMCL instructions on it In direct mode the TMCL communication over USB CA
39. hed first www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 48 Number Global Description Range Access parameter 81 TMCL code Protect a TMCL program against disassembling or 0 1 2 3 RWE protection overwriting 0 no protection 1 protection against disassembling 2 protection against overwriting 3 protection against disassembling and overwriting If you switch off the protection against disassembling the program will be erased first Changing this value from 1 or 3 to O or 2 the TMCL program will be wiped off 85 Do not restore O user variables are restored default 0 1 RWE user variables 1 user variables are not restored 128 TMCL 0 stop 0 3 R application 1 run status 2 step 3 reset 129 Download 0 normal mode 0 1 R mode 1 download mode Attention Download mode can only be used if the motor has been stopped first Otherwise the download mode setting will be disallowed During download mode the motor driver will be deactivated and the actuator will be turned off 130 TMCL program The index of the currently executed TMCL instruction o 2047 R counter 132 Tick timer A 32 bit counter that gets incremented by one every 0 RW millisecond It can also be reset to any start value 4294967295 255 Suppress reply O reply default 0 1 RW 1 no reply 6 2 Bank 2 Bank 2 contains general purpose 32 bit variables for the use in TMCL applicat
40. in direct mode THINGS YOU NEED TMCM 1630 Interface suitable to your TMCM 1630 with cables Nominal supply voltage 24V DC or 48V DC for your module Encoder optional BLDC motor TMCL IDE program and PC PRECAUTIONS Do not mix up connections or short circuit pins Avoid bounding I O wires with motor power wires as this may cause noise picked up from the motor supply The power supply has to be buffered by a capacitor Otherwise the module will be damaged Do not exceed the maximum power supply of 55V DC Do not connect or disconnect the motor while powered Start with power supply OFF 3 1 Starting up The following figure shows how the connectors have to be used jan P N o e EI ome Figure 3 1 Connectors of the TMCM 1630 Domain Connector type Mating connector type I Os interfaces TSM 113 03 L DV K A 2x13 poles double SSW SSQ SSM BSW ESW ESQ BCS SLW encoder row 2 54mm pitch SMD vertical Samtec CES HLE IDSS and IDSD series Samtec Power hallFX TSM 113 03 L DV K A 2x13 poles double SSW SSQ SSM BSW ESW ESQ BCS SLW motor row 2 54mm pitch SMD vertical Samtec CES HLE IDSS and IDSD series Samtec www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 1 Connect the motor power supply and hall sensors Since the two connectors of the TMCM 1630 are si
41. ion Here is an example for the calculation in unsigned char i Checksum unsigned char Command o9 Ier the Command array to the desired command Checksum Command o for i 1 i lt 8 i Checksum Command i Command 8 Checksum insert checksum as last byte of the command Now send the command back to the module 4 2 Reply Format Every time a command has been sent to a module the module sends a reply The reply format for RS232 RS485 USB is structured as follows Bytes Meaning Reply address Module address Status e g 100 means no error Command number Value MSB first Checksum PIB Pl RPlP P The checksum is calculated by adding up all the other bytes using an 8 bit addition When using CAN bus the first byte reply address and the last byte checksum are left out Do not send the next command before you have received the reply 4 2 1 Status Codes The reply contains a status code The status code can have one of the following values Code Meaning 100 Successfully executed no error 101 Command loaded into TMCL program EEPROM Wrong checksum Invalid command Wrong type Invalid value Configuration EEPROM locked Command not available AJA wr eRe www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 12 4 3 Standalone Applications The module is equipped with an EEPROM for sto
42. ions They are located in RAM and can be stored to EEPROM 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 Related Description type commands R GGP Parameter readable W SGP AGP Parameter writable E STGP RSGP Parameter automatically restored from EEPROM after reset or power on GLOBAL PARAMETERS OF BANK 2 Number Global parameter Description Range Access 0 55 General purpose variable 0 55 for use in TMCL applications BC CM RWE int32 56 255 General purpose variables 56 255 for use in TMCL applications 231 23 RW int32 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 49 7 Motor Regulation 7 1 Structure of the Cascaded Motor Regulation Modes The TMCM 1630 supports a current velocity and position PID regulation mode for motor control in different application areas These regulation modes are cascaded as shown in figure 12 1 The individual modes are explained in the following sections enable al disable R target ramp 3 SAP 146 velocity SAP 4 b4 max position velocity current target PID ae accelerat PID E Seier PID josition velocity Steng SAP 0 values SAP 2 RARAS values eu 155 sap 6 he FOC base current PID position PID target
43. is recommended to leave this parameter unchanged at its default value of 1ms Higher values may be necessary for very slow and less dynamic drives STRUCTURE OF THE VELOCITY REGULATOR Pparam 256 Clip VRAMPGEN Jupe Vmax VACTUAL Figure 7 3 Velocity regulation Parameter Description VACTUAL Actual motor velocity GAP 3 VRAMPGEN Target velocity of ramp generator SAP 2 GAP 13 VMax Max target velocity SAP 4 esum Error sum for integral calculation GAP 229 Dana Velocity P parameter SAP 234 Tparam Velocity I parameter SAP 235 Imax Max target current SAP 6 Trarget Target current for current PID regulator GAP 155 PARAMETERIZING THE VELOCITY REGULATOR SET 1 Set the velocity I parameter to zero 2 Start the motor by using a medium target velocity e g 2000 rpm 3 Modify the velocity P parameter Start from a low value and go to a higher value until the actual motor speed reaches 80 or 90 of the target velocity A The lasting 10 or 20 speed difference can be reduced by slowly increasing the velocity I parameter www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 52 7 4 Velocity Ramp Generator For a controlled start up of the motor s velocity a velocity ramp generator can be activated deactivated by axis parameter 146 The ramp generator uses the maximal allowed motor velocity axis parameter 4 the acceleration axis p
44. it 14 Position end flag This flag is set if the motor has been stopped at the target position Bit 15 unused Bit 16 unused Bit 17 Izt exceeded flag This flag is set if the It sum exceeded the et limit of the motor reset by SAP 29 after the time specified by the It thermal winding time constant Flag 0 to 15 are automatically reset Only flag 17 must be cleared manually 159 Commutation 6 FOC based on hall sensor 6 7 8 RWE mode 7 FOC based on encoder 8 FOC controlled 161 Encoder set 1 set position counter to zero at next N channel 0 1 RWE NULL event 162 Switch set NULL 1 set position counter to zero at next switch 0 1 RWE event www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 41 Number Axis Parameter Description Range Unit Access 163 Encoder 1 set position counter to zero only once 0 1 RWE set NULL 0 always at an N channel event 164 Activate Bit 0 Left stop switch When this bit is set 0 3 RWE switch enable the motor will be stopped if it is moving In negative direction and the left stop switch input becomes active Bit 1 Right stop switch When this bit is set enable the motor will be stopped if it is moving in positive direction and the right stop switch input becomes active Please see parameter 166 for selecting the stop switch input polarity 165 Actual encoder This value re
45. l 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 lt Label gt Binary representation COMMAND TYPE MOT BANK VALUE 23 don t care don t care lt subroutine address gt 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 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byted Value hex 01 17 00 00 00 00 00 64 4 6 18 2 RSUB return from subroutine 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 COMMAND TYPE MOT BANK VALUE 24 don t care don t care don t care Binary format of RSUB Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 18 00 00 00 00 00 00 www trinamic com TMCM 1630 TMCL Firmware V2 0
46. lt comparison value gt Example Jump to the address given by the label when the position of the motor 0 is greater or equal to 1000 GAP 1 0 0 Joer axis parameter type no 1 actual position motor 0 value 0 don t care COMP 1000 compare actual value to 1000 JC GE Label Ifjump 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 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 14 00 00 00 00 03 e8 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 4 6 16 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 This function is for standalone operation only The host address and the reply are required to take the instruction to the TMCL program memory while the TMCL program downloads It is not possible to use this command in direct mode 30 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 Mnemonic JC lt condition gt lt label gt where lt condition gt ZE NZ EQ NE GT GE LT
47. mands for dealing with inputs and outputs SIO sets the status of the general digital output either to low 0 or to high 1 26 With GIO the status of all general purpose inputs of the module can be read out The command reads out a digital or analogue input port Digital lines will read 0 and 1 while the ADC channel delivers 12 bit in the range of 0 4095 CORRELATION BETWEEN I OS AND BANKS Inputs Outputs Bank Description Digital inputs Bank 0 Digital inputs are accessed in bank 0 Analogue inputs Bank 1 Analog inputs are accessed in bank 1 Digital outputs Bank 2 The states of the OUT lines that have been set by SIO commands can be read back using bank 2 4 6 13 1 SIO set output Bank 2 is used for setting the status of the general digital output either to low 0 or to high 1 Internal function the passed value is transferred to the specified output line Related commands GIO WAIT Mnemonic SIO lt port number gt lt bank number gt lt value gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE lt bank number gt lt value gt 14 lt port number gt 2 on Reply structure STATUS VALUE 100 OK don t care Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 0e 07 02 00 00 00 0
48. milar be careful not to connect the module turned around When powered up this would damage the module Be sure to place the connectors exactly to their opponents A deviation of only one pin row can damage the module also Start with power supply OFF Pin Label Description Pin Label Description 1 W Motor coil W 2 W Motor coil W 3 W Motor coil W 4 W Motor coil W 5 IV Motor coil V 6 V Motor coil V 7 IV Motor coil V 8 IV Motor coil V 9 jU Motor coil U 10 U Motor coil U 11 U Motor coil U 12 U Motor coil U 13 VM Module driver supply voltage 14 VM Module driver supply voltage 15 VM Module driver supply voltage 16 VM Module driver supply voltage 17 GND Module ground power supply and 18 GND Module ground power supply signal ground and signal ground 19 GND Module ground power supply and 20 GND Module ground power supply signal ground and signal ground 21 GND Module ground power supply and 22 GND Module ground power supply signal ground and signal ground 23 cu EE 24 HALL3 Hall sensor 3 signal input encoder and or hall sensor supply 25 HALL1 Hall sensor 1 signal input 26 HALL2 Hall sensor 2 signal input 2 Connect the interface IOs and the encoder as follows Since the two connectors of the TMCM 1630 are similar be careful not to connect the module turned around When powered up this would damage the module Be sure to place the connectors exactly
49. ng time is motor specific In the datasheet of the motor this time is described as thermal winding time constant and can be set for each module using axis parameter 25 The number of measurement values within this time depends on how often the current regulation and thus the It monitoring is invoked The value of the actual It sum can be read by axis parameter 27 With axis parameter 26 the default value for the Pt limit can be changed default 211200 If the actual Ir sum exceeds the It limit of the motor flag 17 in axis parameter 156 is set and the motor pwm is set to zero as long as the It exceed flag is set The actual regulation mode will not be changed Furthermore the Pt exceed counter is increased once every second as long as the actual Tet sum exceeds the Ir limit The Pt exceed flag can be cleared manually using parameter 29 but only after the cool down time given by the thermal winding time constant has passed The Pt exceed flag will not be reset automatically The Ir limit can be determined as follows I mA I mA Pt _ 1000 1000 tiw ms I is the desired average current try is the thermal winding time constant given by the motor datasheet Example Tet limits for an average current of a 1A b 2A c 3A and d 4A over a thermal winding time of 13 2s 1000 mA _ 1000 ma 1000 1000 a Pt limit 13200 ms 13200 mA ms 2000 mA 2000 mA 1000 1000 b It limit 13200 ms
50. perand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte Value hex 01 0b 00 02 00 00 00 00 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 4 6 12 RSGP restore global parameter This instruction copies a value from the configuration EEPROM to its RAM location and so recovers the permanently stored value of a RAM located parameter Most parameters are automatically restored after power up Related commands SGP GGP STGP Mnemonic RSGP lt parameter number gt lt bank number gt Binary representation 25 COMMAND TYPE MOT BANK VALUE 12 lt parameter number gt lt bank number gt don t care Reply in direct mode STATUS VALUE 100 OK don t care A list of all parameters which can be used for the RSGP command is shown in section 6 Example Copy variable 0 at bank 2 from the configuration EEPROM to the RAM location Mnemonic RSGP 0 2 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 0c 00 02 00 00 00 00 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 4 6 13 SIO set output and GIO get input output The TMCM 1630 provides two com
51. ple Wait for motor to reach its target position without timeout Mnemonic WAIT POS 0 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte Byte Value hex 01 1b 01 01 00 00 00 00 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 34 4 6 20 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 Every standalone TMCL program needs the STOP command at its end It is not to be used in direct mode Internal function TMCL instruction fetching is stopped Related commands none Mnemonic STOP Binary representation COMMAND TYPE MOT BANK VALUE 28 don t care don t care don t care Example Stop TMCL execution Mnemonic STOP Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 1c 00 00 00 00 00 00 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 35 4 6 21 CALCX calculate using the X register This instruction is very similar to CALC but the second operand comes from the X regist
52. presents the internal commutation 0 65535 RWE commutation offset offset 0 max encoder steps per rotation 166 Stop BitO Left stop switch Bit set Left stop 0 3 RWE polarity polarity switch input is high active Bit clear Left stop switch input is low active Bit 1 Right stop switch Bit set Right stop polarity switch input is high active Bit clear Right stop switch input is low active 172 P parameter for P parameter of current PID regulator 0 65535 RWE current PID 173 I parameter for I parameter of current PID regulator 0 65535 RWE current PID 177 Start current Motor current for controlled commutation This 0 20000 RWE parameter is used in commutation mode mA 200 Current Actual error of current PID regulator 2147483648 R error 2147483647 201 Current Sum of errors of current PID regulator 2147483648 R error sum 2147483647 210 Actual hall Actual hall angle value 32767 32767 R angle 211 Actual encoder Actual encoder angle value 32767 32767 R angle 212 Actual Actual controlled angle value 32767 32767 R controlled angle 226 Position Actual error of position PID regulator 214748 3648 R error 2147483647 228 Velocity Actual error of velocity PID regulator 214748 3648 R error 2147483647 229 Velocity Sum of errors of velocity PID regulator 214748 3648 R error sum 2147483647 230 P parameter for P parameter of position PID regulator 0 65535 RWE position PID w
53. r number 0 lt value gt Binary representation COMMAND TYPE MOT BANK VALUE 5 lt parameter number gt 0 lt value gt Reply in direct mode STATUS COMMAND VALUE 100 OK 5 don t care A list of all parameters which can be used for the SAP command is shown in section 5 Example Set the absolute maximum current to 2000mA Mnemonic SAP 6 0 2000 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte Byte Value hex 01 05 06 00 00 00 07 D0 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 4 6 6 GAP get axis parameter 20 Most parameters of the TMCM 1630 can be adjusted individually They can be read out using the GAP command Related commands SAP STAP and RSAP Mnemonic GAP lt parameter number gt 0 Binary representation COMMAND TYPE MOT BANK VALUE 6 lt parameter number gt 0 don t care Reply in direct mode STATUS COMMAND VALUE 100 OK 6 don t care A list of all parameters which can be used for the GAP command is shown in section 5 Example Get the actual position of motor Mnemonic GAP 1 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Oper
54. ring TMCL applications You can use the TMCL IDE for developing standalone TMCL applications You can load your program down into the EEPROM and then it will run on the module The TMCL IDE contains an editor and a 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 44 Testing with a Simple TMCL Program Open the file test2 tmc of the TMCL IDE The following source code appears on the screen A simple example for using TMCL and TMCL IDE Loop ROL 0 4000 vrotate left with 4000 rev min WAIT TICKS 0 ROR 0 4000 vrotate right with 4000 rev min WAIT TICKS 0 JA Loop Download Figure 4 1 Assemble download stop and run icons of TMCL IDE Click on icon Assemble to convert the example into binary code Then download the program to the TMCM 1630 module via the icon Download Press icon Run The desired program will be executed Click Stop button to stop the program Pw me For further information about the TMCL IDE and TMCL programming techniques please refer to the TMCL IDE User Manual on TRINAMICs website TRINAMIC offers two software tools for BLDC applications the TMCM BLDC and the BLDC tool of the TMCL IDE Whereas the TMCM BLDC is used for testing different configurations in all modes of operation the TMCL IDE is mainly designed for concei
55. s Number Bank Byte3 Byte2 Byte Byte Value hex 01 01 00 00 00 00 01 5e www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 4 6 2 ROL rotate left 16 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 2 target velocity Related commands ROR MST SAP GAP Mnemonic ROL 0 lt velocity gt Binary representation COMMAND TYPE MOT BANK VALUE lt velocity gt 2 don t care 0 200000 200000 Reply in direct mode STATUS COMMAND VALUE 100 OK 2 don t care Example Rotate left velocity 1200 Mnemonic ROL 0 1200 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte Byte Value hex 01 02 00 00 00 00 04 b0 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 17 4 6 3 MST motor stop The motor will be instructed to stop Internal function The axis parameter target velocity is set to zero Related commands ROL ROR SAP GAP Mnemonic MST 0 Binary representation COMMAND TYPE MOT BAN
56. sired a higher value for the MVP target reached velocity parameter will save a lot of time The best value should be tried out in the actual application CORRELATION OF AXIS PARAMETERS 10 AND 7 THE TARGET POSITION AND THE POSITION END FLAG MVP target reached distance Slow down distance Velocity Max positioning velocity Motor regulated by Velocity PID Acceleration MVP target reached velocity Motor regulated by combination of Velocity and Position PID Position Target position Target reached flag set via MVP only set when velocity and position are in this area Figure 7 5 Positioning algorithm Depending on motor and mechanics a low oscillation is normal This can be reduced to at least 1 encoder steps Without oscillation the regulation cannot keep the position www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 54 8 Temperature Calculation Axis parameter 152 delivers the actual ADC value of the motor driver This ADC value can be converted to a temperature in C as follows ADC actual value of GAP 152 B 3434 material constant S 8 9011 2 NTC ADC B 298 16 T R 273 16 C B In EC 298 16 Example 1 Example 2 ADC 1000 ADC 1200 RNTC 6 81 RNTC 5 31 T 35 C T 42 C 9 Ier Monitoring The It monitor determines the sum of the square of the motor current over a given time The integrati
57. t Status Instructio Operand Operand Operand Operand address address n Byte3 Byte2 Byte1 Byte0 Value hex 02 01 user 64 71 user user user user defined defined defined defined defined www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 4 6 25 Command 136 Get Firmware Version Command 136 is used for reading out the module type and firmware version as a string or in binary format Motor Bank and Value are ignored 38 Other control functions can be used with axis parameters Command Type Parameter Description Access 136 0 string 1 binary Firmware version Get the module type and firmware revision as a string or in binary format Motor Bank and Value are ignored read TYPE SET TO O REPLY AS A STRING Byte index Contents 1 Host Address SE Version string 8 characters e g 1630V202 There is no checksum in this reply format TYPE SET TO 1 VERSION NUMBER IN BINARY FORMAT The version number is output in the value field Byte index in value field Contents 1 Version number low byte 2 Version number high byte 3 Type number low byte 4 Type number high byte www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 39 5 Axis Parameter Overview SAP GAP STAP RSAP AAP The following section describes all axis parameters that can be us
58. tc It does not make sense to use them in direct mode They are intended for standalone mode only Mnemonic Command number Meaning JA 22 Jump always JC 21 Jump conditional COMP 20 Compare accumulator with constant value CSUB 23 Call subroutine RSUB 24 Return from subroutine WAIT 27 Wait for a specified event STOP 28 End of a TMCL program 4 5 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 Command number Meaning SIO 14 Set output GIO 15 Get input www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 14 4 5 5 Calculation Commands These commands are intended to be used for calculations within TMCL applications in standalone mode only For calculating purposes there are 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 Mnemonic Command number Meaning CALC 19 Calculate using the accumulator and a constant value CALCX 33 Calculate using the accumulator and the X register AAP 34 Copy accumulator to an axis parameter AGP 35 Copy accumulator to a global parameter MIXING STANDALONE
59. the CALC or CALCX calculate instruction Related commands AGP SAP GAP SGP GGP CALC CALCX Mnemonic AAP lt parameter number gt 0 Binary representation COMMAND TYPE MOT BANK VALUE 34 lt parameter number gt 0 lt don t care gt Reply in direct mode STATUS VALUE 100 OK don t care See chapter 5 for a complete list of axis parameters Example Positioning a motor by a potentiometer connected to analogue input 0 Start GIO 0 1 II get value of analogue input line 0 CALC MUL 4 multiply by A AAP 0 0 II transfer result to target position of motor 0 JA Start Il jump back to start Binary format of the AAP 0 0 command Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byted Value hex 01 22 00 00 00 00 00 00 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 37 4 6 23 AGP accumulator to global parameter The content of the accumulator register is transferred to the specified global parameter For practical use the accumulator has to be loaded e g by a preceding GAP instruction The accumulator may have been modified by the CALC or CALCX calculate instruction Note that the global parameters in bank O are mostly EEPROM only and thus should not be modified automaticall
60. vate velocity ramp generator for position 0 1 RWE PID control Allows usage of acceleration and positioning velocity for MVP command POSITION REGULATION MODE Number Axis Parameter Description Range Unit Access 1 Actual position Set get the position counter without moving the 2147483648 RW motor 2147483647 0 Target position The target position of a currently executed ramp 2147483648 RW 2147483647 7 MVP Target Maximum velocity at which end position flag can O 200000 rpm RWE reached velocity be set Prevents issuing of end position when the target is passed at high velocity 10 MVP target Maximum distance at which the position end flag 0 100000 RWE reached is set distance 161 Encoder set 1 set position counter to zero at next N channel 0 1 RWE NULL event 162 Switch set NULL 1 set position counter to zero at next switch 0 1 RWE event 163 Encoder clear 1 set position counter to zero only once 0 1 RWEP set NULL 0 always at an N channel event 164 Activate stop Bit 0 Left stop switch When this bit is set 0 3 RWE switch enable the motor will be stopped if it is moving in negative direction and the left stop switch input becomes active Bit 1 Right stop switch When this bit is set enable the motor will be stopped if it is moving in positive direction and the right stop switch input becomes active Please see parameter 166 for selecting the stop switch input polarity
61. velocity regulator 0 10 RWE loop delay ms 134 Current Delay of the PID current regulator 0 10 RWE regulation loop 50us delay 146 Activate ramp 1 Activate velocity ramp generator for position 0 1 RWE and velocity mode Allows usage of acceleration and positioning velocity for MVP command 150 Actual motor Get actual motor current 2147483648 R current 2147483647 mA 151 Actual voltage Actual supply voltage 0 4294967295 R 152 Actual driver Actual temperature of the motor driver 0 4294967295 R temperature 155 Target current Get desired target current or set target current to 20000 20000 RW activate current regulation mode turn motor mA in right direction turn motor in left direction 156 Error Status Bit 0 Overcurrent flag This flag is set if the max 0 4294967295 R flags current limit is exceeded Bit 1 Undervoltage flag This flag is set if supply voltage is too low for motor operation Bit 2 Overvoltage flag This flag is set if the motor becomes switched off due to overvoltage Bit 3 Overtemperature flag This flag is set if overtemperature limit is exceeded Bit 4 Motor halted flag This flag is set if motor has been switched off Bit 5 Hall error flag This flag is set upon a hall error Bit 6 TMC603 error flag Bit 7 unused Bit 8 unused Bit 9 Velocity mode active flag Bit 10 Position mode active flag Bit 11 Torque mode active flag Bit 12 unused Bit 13 unused B
62. vide by 5 AND logical and accu with 6 OR logical or accu with 7 XOR logical exor accu with 8 NOT logical invert accu 9 LOAD load operand to accu Example Multiply accu by 5000 Mnemonic CALC MUL 5000 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 13 02 00 SFF SFF SEC 78 www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 29 4 6 15 COMP compare The specified number is compared to the value in the accumulator register The result of the comparison can be used for example by the conditional jump UC instruction This command is intended for use in standalone operation only The host address and the reply are required to take the instruction to the TMCL program memory while the TMCL program downloads 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 lt value gt Binary representation COMMAND TYPE MOT BANK VALUE 20 don t care don t care
63. ving programs and firmware updates New versions of the TMCM BLDC and the TMCL IDE can be downloaded free of charge from the TRINAMIC website http www trinamic com www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 13 4 5 TMCL Command Overview The following section provides a short overview of the TMCL commands supported by the TMCM 1630 4 5 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 Command number Meaning ROL 2 Rotate left ROR 1 Rotate right MVP 4 Move to position MST 3 Motor stop 4 5 2 Parameter Commands These commands are used to set read and store axis parameters or global parameters Axis parameters can be set independently for the 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 Command number Meaning SAP 5 Set axis parameter GAP 6 Get axis parameter STAP 7 Store axis parameter into EEPROM RSAP 8 Restore axis parameter from EEPROM SGP 9 Set global parameter GGP 10 Get global parameter STGP 11 Store global parameter into EEPROM RSGP 12 Restore global parameter from EEPROM 4 5 3 Control Commands These commands are used to control the program flow loops conditions jumps e
64. when the target is passed at high velocity 9 Motor halted If the actual speed is below this value the motor 0 200000 rpm RWE velocity halted flag will be set 10 MVP target Maximum distance at which the position end flag 0 100000 RWE reached is set distance 11 Acceleration Acceleration parameter for ROL ROR and the 0 100000 RWE velocity ramp of MVP RPM s 13 Ramp generator The actual speed of the velocity ramp used for 2147483648 R speed positioning and velocity mode 2147483647 rpm 25 Thermal Thermal winding time constant for the used 0 4294967295 RWE winding time motor Used for I2t monitoring ms constant 26 Tet limit An actual Pt sum that exceeds this limit leads to 0 4294967295 RWE increasing the Pt exceed counter 27 Tet sum Actual sum of the Ir monitor 0 4294967295 R 28 Tet exceed Counts how often an It sum was higher than the 0 4294967295 RWE counter Tet limit 29 Clear Pt Clear the flag that indicates that the It sum has ignored W exceeded flag exceeded the It limit 30 Minute counter Counts the module operational time in minutes 0 4294967295 RWE min www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 40 Number Axis Parameter Description Range Unit Access 31 BLDC Restart the timer and initialize encoder ignored WwW re initialization 133 PID regulation Delay of the position and
65. ww trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2015 MAR 04 42 Number Axis Parameter Description Range Unit Access 234 P parameter for P parameter of velocity PID regulator 0 65535 RWE velocity PID 235 I parameter for I parameter of velocity PID regulator 0 65535 RWE velocity PID 241 Sine Velocity during initialization in init sine mode 2 200000 200000 RWE initialization Refer to axis parameter 249 too rpm speed 244 Init sine delay Duration for sine initialization sequence This 0 10000 RWE parameter should be set in a way that the motor ms has stopped mechanical oscillations after the specified time 245 Overvoltage 1 Enable overvoltage protection 0 1 RWE protection 249 Init sine mode 0 Initialization in controlled sine commutation O 1 2 RWE determines the encoder offset 1 Initialization in block commutation using hall sensors 2 Initialization in controlled sine commutation use the previous set encoder offset 250 Encoder steps Encoder steps per rotation 0 65535 RWE 251 Encoder Set the encoder direction in a way that ROR 0 1 RWE direction increases position counter 253 Number of Number of motor poles 2 254 RWE motor poles 254 Hall sensor 1 Hall sensor invert Invert the hall scheme e g 0 1 RWE invert used by some Maxon motors www trinamic com TMCM 1630 TMCL Firmware V2 07 Manual Rev 2 02 2
66. y by a standalone application See chapter Fehler Verweisquelle konnte nicht gefunden werden for a complete list of global parameters Related commands AAP SGP GGP SAP GAP Mnemonic AGP lt parameter number gt lt bank number gt Binary representation COMMAND TYPE MOT BANK VALUE 35 lt parameter number gt lt bank number gt don t care Reply in direct mode STATUS VALUE 100 OK don t care Example Copy accumulator to TMCL user variable 3 Mnemonic AGP 3 2 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 23 03 02 00 00 00 00 4 6 24 Customer Specific TMCL Command Extension user functions 0 7 The user definable functions UFO UF7 are predefined functions without topic for user specific purposes A user function UF command uses three parameters Please contact TRINAMIC for a customer specific programming Internal function Call user specific functions implemented in C by TRINAMIC Related commands none Mnemonic UFO UF7 lt parameter number gt Binary representation COMMAND TYPE MOT BANK VALUE 64 71 user defined user defined user defined Reply in direct mode Byte Index 0 1 2 3 4 5 6 7 Function Target Targe

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