Home

TMCM-1161 TMCL Firmware Manual

1. Interrupt number Interrupt type 0 Timer 0 1 Timer 1 2 Timer 2 3 Target position reached 15 Stall stallGuard2 21 Deviation 27 Stop left 28 Stop right 39 IN_0 change 40 IN_1 change 41 IN_2 change 42 IN_3 change Example Define interrupt vector at target position 500 VECT 3 500 Binary format of VECT Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 25 03 00 00 00 01 F4 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 50 3 5 29EI 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 lt interrupt number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 25 lt interrupt number gt don t care don t care THE FOLLOWING TABLE SHOWS ALL INTERRUPT VECTORS THAT CAN BE USED Interrupt number Interrupt type 0 Timer 0 1 Timer 1 2 Timer 2 3 Target position reached 15 Stall stallGuard2 21 Deviation 27 Stop left 28 Stop right 39 IN_0 change 40 IN_1 change 41 IN_2 change 42 IN_3 change Examples Enable interrupts globally EL 255 Binary for
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 Bytel Byte0 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 Bytel Byte0 Value hex 02 01 64 06 00 00 02 c7 gt status no error position 711 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 26 3 5 7 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 lt parameter number 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 7 lt parameter number gt pr don t care lmotor number is always O as only one motor is involved 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
3. lt value CS Current adjustment is within the range 0 255 and can be Scale adjusted in 32 steps Iams lt value rx 0 7 79 87 160 167 240 247 8 15 88 95 168 175 248 255 16 23 96 103 176 183 24 31 104 111 184 191 32 39 112 119 192 199 40 47 120 127 200 207 48 55 128 135 208 215 56 63 136 143 216 223 64 71 144 151 224 231 72 79 152 159 232 239 The most important motor setting since too high values might cause motor damage 7 Standby current The current limit two seconds after the motor has 0 255 stopped Ka lt value 2 Irms lt value gt X Fee 140 Microstep D full step 0 8 resolution 1 half step 2 A microsteps 3 8 microsteps 4 16 microsteps 5 32 microsteps 6 64 microsteps 7 128 microsteps 8 256 microsteps 1 Unit of acceleration www trinamic com 536870912 2Puls_divisor ramp_divisor 16MHz microsteps sec TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 11 2 3 Testing with a Simple TMCL Program Type in the following program Loop P yn ROL 0 500 Rotate motor O with speed 500 WAIT TICKS O 500 MST o ROR o 500 Rotate motor O with 500 WAIT TICKS 0 500 MST o SAP 4 0 500 Set max Velocity SAP 5 0 50 Set max Acceleration MVP ABS O 10000 Move to Position 10000 WAIT POS o O Wait until position reached MVP ABS O 10000
4. lt p gt SAP 210 MO lt p gt 4 Clear encoder with next null channel event Add up both lt p gt values from these tables to get the required value for the SAP 210 command The resulting prescaler is Value 512 6 3 Using the RS485 Interface With most RS485 converters that can be attached to the COM port of a PC the data direction is controlled by the RTS pin of the COM port Please note that this will only work with Windows 2000 Windows XP or Windows NT4 not with Windows 95 Windows 98 or Windows ME due to a bug in these operating systems Another problem is that Windows 2000 XP NT4 switches the direction back to receive too late To overcome this problem set the telegram pause time global parameter 75 of the module to 15 or more if needed by issuing an SGP 75 0 15 command in direct mode The parameter will automatically be stored in the configuration EEPROM www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 7 Life Support Policy TRINAMIC Motion Control GmbH 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 Moti
5. 0 3 0 2 0 1 0 T T T T T emm 0 50 100 150 200 250 300 350 Velocity RPM Figure 1 2 Energy efficiency example with coolStep www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 2 Putting the Module into Operation Here you can find basic information for putting your TMCM 1161 into operation If you are already common with TRINAMICs modules you may skip this chapter The things you need TMCM 1161 with fitting motor Interface RS232 RS485 USB suitable to your module with cables Nominal supply voltage 24V DC for your module TMCL IDE program and PC PRECAUTIONS Do not connect or disconnect the TMCM 1161 while powered Do not connect or disconnect the motor while powered Do not exceed the maximum power supply voltage of 30V DC Note that the module is not protected against reverse polarity START WITH POWER SUPPLY OFF 2 1 Basic Set Up The following paragraph will guide you through the steps of connecting the unit and making first movements with the motor 2 11 Connecting the module Converter e g USB 2 485 e R Serial USB d interface A TRINAMIC Ge Pin 6 RS232_RXD Pin 5 RS232_TXD RS485 Pin 4 RS485 Pin 3 RS485 Power supply Pin 2 10 30V DC RINA Pin 1 GND Note that the Sie 7 GND pin has to loto be used for the power supply and for the RS485 interface too coolStep
6. 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 Bytel Byte0 Value hex 01 04 01 00 Sff Sff Sfc 18 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 3 5 5 SAP set axis parameter With this command most of the motion control parameters of the module can be specified The settings will be stored in SRAM and therefore are volatile That is information will be lost after power off 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 lt parameter number 0 lt value gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 5 lt parameter 0 lt value gt number gt motor number is always O as only one motor is involved Reply in direct mode STATUS VALUE 100 OK don t care Example Set the absolute maximum current of motor to 200mA Mnemonic SAP 6 0 200 Binary Byte Index 0 1 2
7. Now send it to the module in Delphi var 1 Checksum byte Command array 0 8 of byte Set the Command array to the desired command Calculate the Checksum Checksum Command 0 for i 1 to 7 do Checksum Checksum Command i Command 8 Checksum Now send the Command array 9 bytes to the module 3 2 Reply Format Every time a command has been sent to a module the module sends a reply The reply format for RS485 RS232 USB is as follows Bytes Meaning Reply address Module address Status e g 100 means no error Command number Value MSB first PIB PI RP PIP Checksum The checksum is also calculated by adding up all the other bytes using an 8 bit addition Do not send the next command before you have received the reply www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 14 3 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 ODju Aajw nja 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 applicatio
8. 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 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 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 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 Command number Meaning SIO 14 Set output GIO 15 Get input www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 17 3 4 2 5 Calculation Commands These commands are intended to be used for calculations within TMCLTM applications Although they could also be used in direct mode it does not make much sense to do so 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 accumulat
9. STATUS VALUE 100 OK don t care Parameter ranges Parameter number Motor number Value s chapter 4 0 s chapter 4 Example Store the maximum speed of motor 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 Number Bank Byte3 Byte2 Bytel Byte0 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 refer to 5 1 In direct mode the error code 5 configuration EEPROM locked see also section 3 2 1 will be returned in this case www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 27 3 5 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 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 lt parameter number gt 0 Binary representation
10. The content of the accumulator register is transferred to the specified global parameter For practical usage the accumulator has to be loaded e g by a preceding GAP instruction The accumulator may have been modified by the CALC or CALCX calculate instruction Note that the global parameters in bank 0 are EEPROM only and thus should not be modified automatically by a standalone application See chapter 5 for a complete list of global parameters Related commands AAP SGP GGP SAP GAP Mnemonic AGP lt parameter number lt bank number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 35 lt parameter lt bank number gt don t care number gt 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 Bytel Byte0 Value hex 01 23 03 02 00 00 00 00 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 48 3 5 27 CLE clear error flags This command clears the internal error flags It is intended for use in standalone mode only and must not be used in direct mode The following error flags can be cleared by this command determined by the lt flag gt parameter AL
11. 180 smartEnergy This status value provides the actual motor 0 31 RW actual current current setting as controlled by coolStep The value goes up to the CS value and down to the portion of CS as specified by SEIMIN actual motor current scaling factor O 31 1 32 2 32 32 32 181 Stop on stall Below this speed motor will not be stopped 0 2047 RW Above this speed motor will stop in case stallGuard2 load value reaches zero 182 smartEnergy Above this speed coolStep becomes 0 2047 RW threshold speed enabled EATE es tcs WEEE 183 smartEnergy Sets the motor current which is used below 0 255 RW slow run current the threshold speed Ipeak lt value oxo Irms lt value gt 193 Ref search mode search left stop switch only 1 8 RWE 2 search right stop switch then search left stop switch 3 search right stop switch then search left stop switch from both sides 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 positive direction ignore end switches 8 search home switch in negative direction ignore end switches Additional functions Add 128 to a mode value for inverting the home switch can be used with mode 5 8 Add 64 to a mode for driving the right instead of the left refer
12. 3 5 25 AAP accumulator to axis parameter The content of the accumulator register is transferred to the specified axis parameter For practical usage the accumulator has to be loaded e g by a preceding GAP instruction The accumulator may have been modified by the CALC or CALCX calculate instruction For a table with parameters and values which can be used together with this command please refer to chapter 4 Related commands AGP SAP GAP SGP GGP CALC CALCX Mnemonic AAP lt parameter number gt 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 34 lt parameter 0 lt don t care gt number gt 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 II get value of analogue input line 0 CALC MUL 4 UU multiply by 4 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 Bytel Byte0 Value hex 01 22 00 00 00 00 00 00 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 3 5 26 AGP accumulator to global parameter
13. INSTRUCTION NO TYPE MOT BANK VALUE 8 lt parameter number gt 0 don t care motor number is always O as only one motor is involved Reply structure in direct mode STATUS VALUE 100 OK don t care Example Restore the maximum current of motor Mnemonic RSAP 6 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 08 06 00 00 00 00 00 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 28 3 5 9 SGP set global parameter With this command most of the module specific parameters not directly related to motion control can be specified and the TMCL user variables can be changed Global parameters are related to the host interface peripherals or application specific variables The different groups of these parameters are organized in banks to allow a larger total number for future products Currently only bank O and 1 are used for global parameters and bank 2 is used for user variables All module settings will automatically be stored non volatile internal EEPROM of the processor The TMCL user variables will not be stored in the EEPROM automatically but this can be done by using STGP commands For a table with parameters and bank numbers which can be used together with this c
14. 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 lt Label gt Binary representation INSTRUCTION NO 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 Bytel Byte0 Value hex 01 16 00 00 00 00 00 14 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 41 3 5 20 CSUB call subroutine This function calls a subroutine in the TMCL program memory It is intended for standalone operation only The host address and the reply are only used to take the instruction to the TMCL program memory while the program loads down This command cannot be used in direct mode Internal function The actual TMCL program counter value
15. Pin 1 A1 Pin 2 A2 Pin 3 A3 Pin 4 A4 Stepper motor Figure 2 1 Starting up www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 1 Connect power supply and choose your interface a Connect RS232 or RS485 and power supply Pin Label Description 1 GND Module and signal ground 2 VCC 10 30V DC power supply nom 24V DC 3 RS485A RS485 non inverted bus signal 4 RS485B RS485 inverted bus signal 5 RS232 TxD RS232 transmit data from module 6 RS232 RxD RS232 receive data to module b Connect USB interface as alternative to RS232 and RS485 use a normal USB cable Download and install the file TMCM 1161 inf www trinamic com Pin Label Description 1 VBUS 5V power 2 D Data 3 D Data 4 ID Not connected 5 GND ground 2 Connect motor Pin Label Description 1 OA1 Motor coil A 2 OA2 Motor coil A 3 OB1 Motor coil B 4 OB2 Motor coil B 3 Connect In Out connector If you like to work with the GPIOs switches or the step dir interface use the In Out connector Pin Label Description 1 GND Module ground system and signal ground 2 VCC 10 30V DC power supply nom 24V DC 3 OUT_O General purpose output open collector 4 OUT TL General purpose output open collector 5 AIN_O Analog input O 10V analog to digital converter range Digital input 24V
16. RS232 RS485 0 9600 baud Default O 11 RWE baud rate 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 8 230400 baud 9 250000 baud Not supported by Windows 10 500000 baud Not supported by Windows 11 1000000 baud Not supported by Windows Attention The upper speed for RS232 is 115200 baud limited by the RS232 transceiver The RS232 might work with higher speed but out of specification 66 serial address The module target address for RS232 RS485 0 255 RWE www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 66 Number Parameter Description Range Access 67 ASCII mode Configure the TMCL ASCII interface RWE Bit 0 O start up in binary normal mode 1 start up in ASCIT mode Bits 4 and 5 00 echo back each character 01 echo back complete command 10 do not send echo only send command reply 73 configuration Write 1234 to lock the EEPROM 4321 to 0 1 RWE EEPROM lock flag unlock it Read 1 EEPROM locked O EEPROM unlocked 75 telegram pause Pause time before the reply via RS232 or 0 255 RWE time RS485 is sent For RS232 set to 0 For RS485 it is often necessary to set it to 15 for RS485 adapters controlled by the RTS pin 76 serial host Host address used in the reply telegrams sent 0 255 RWE address back via RS232 or RS485 77 auto start mode 0 Do not start TMC
17. 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 INSTRUCTION NO TYPE MOT BANK VALUE 20 don t care don t care lt comparison value gt 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 Joer axis parameter type no 1 actual position motor 0 value O don t care COMP 1000 IIcompare actual value to 1000 JC GE Label Ihjump 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 Bytel Byte0 Value hex 01 14 00 00 00 00 03 e8 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 39 3 5 18 JC jump conditional The JC instruction enables a conditional jump to a fixed address in the TMCL program memory if the specified condition is met The conditions refer to the result of a preceding comparison Please refer to COMP instruction for examples This function is for standalone operation only The host address and the reply are only used to take the instruction to the TMCL program memory while the program
18. gt is ADD SUB MUL DIV MOD AND OR XOR NOT or LOAD Binary representation INSTRUCTION NO TYPE 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 divide by 5 AND logical and accu with 6 OR logical or accu with 7 XOR logical exor accu with 8 NOT logical invert accu 9 LOAD load operand to accu 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 Bytel Byte0 Value hex 01 13 02 00 SFF SFF SEC 78 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 38 3 5 17 COMP compare The specified number is compared to the value in the accumulator register The result of the comparison can for example be used by the conditional jump JQ 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
19. in column Access 56 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 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 Axis Parameter Description Range Unit Acc 0 Target next The desired position in position mode see 271 1 RW position ramp mode no 138 steps 1 Actual position The current position of the motor Should 234 1 RW only be overwritten for reference point usteps setting 2 Target next The desired speed in velocity mode see ramp 2047 RW speed mode no 138 In position mode this IDN puse divisor HStePS parameter is set by hardware to the ae Re maximum speed during acceleration and to zero during deceleration and rest 3 Actual speed The current rotation speed 2047 RW 16MHz ppulse_divisor 65536 sec 4 Maximum Should not exceed the physically highest 0 2047 RWE positioning possible value Adjust the pulse divisor axis speed parameter 154 if the speed value is very low a PESE lt 50 or above the u
20. 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 TYPE MOT BANK VALUE 3 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 22 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 Bytel Byte0 Value hex 01 03 00 00 00 00 00 00 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 23 3 5 4 MVP move to position With this command the motor will be instructed to move to a specified relative or absolute position It will use the acceleration deceleration ramp and the positioning speed programmed into the unit This command is non blocking that is a reply will be sent immediately after command interpretation and initialization of the motion controller Further commands may follow without waiting for the motor reaching its end position The maximum velocity and acceleration 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 R
21. 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 lt condition gt lt label gt where lt condition gt ZE NZ EQ NE GT GE LT LEJETO EAL EDV EPO Binary representation INSTRUCTION NO 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 12 ESD shutdown error Example Jump to address given by the label when the position of motor is greater than or equal to 1000 GAP 1 0 0 Joer axis parameter type no 1 actual position motor 0 value O don t care COMP 1000 IIcompare actual value to 1000 JC GE Label Jump type 5 greater equal Label ROL 0 1000 Binary format of JC GE Label when Label is at address 10 Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 15 05 00 00 00 00 0a www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 3 5 19 JA jump always
22. number gt Capture coordinate CALCX 33 lt operation gt Process accumulator amp X register AAP 34 lt parameter gt lt motor number gt Accumulator to axis parameter AGP 35 lt parameter gt lt bank number gt Accumulator to global parameter VECT 37 lt interrupt number gt lt label gt Set interrupt vector RETI 38 Return from interrupt ACO 39 lt coordinate number gt lt motor number gt Accu to coordinate www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 16 3 4 2 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 Command number Meaning ROL 2 Rotate left ROR 1 Rotate right MVP 4 Move to position MST 3 Motor stop RFS 13 Reference search SCO 30 Store coordinate cco 32 Capture coordinate GCO 31 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 Command number Meaning SAP 5 Set axis parameter GAP 6 Get axis parameter STAP 7 Store axis parameter into EEPROM
23. the load on the motor in a wide range of load velocity and current settings At maximum motor load the stallGuard2 value goes to zero This corresponds to a load angle of 90 between the magnetic field of the stator and magnets in the rotor This also is the most energy efficient point of operation for the motor Stall detection means that the motor will be stopped when the load gets too high It is configured by axis parameter 174 Stall detection can also be used for finding the reference point Do not use RFS in this case 4 2 coolStep Related Axis Parameters The figure below gives an overview of the coolStep related parameters Please have in mind that the figure shows only one example for a drive There are parameters which concern the configuration of the current Other parameters are for velocity regulation and for time adjustment It is necessary to identify and configure the thresholds for current 16 17 and 1183 and velocity V182 Furthermore the stallGuard2 feature has to be adjusted and enabled SG170 and SG181 The reduction or increasing of the current in the coolStep area depending on the load has to be configured with parameters 1169 and 1171 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 threshold
24. the status of all digital input lines will be read to the lower eight bits of the accumulator USE FOLLOWING PROGRAM TO REPRESENT THE STATES OF THE INPUT LINES ON THE OUTPUT LINES Loop GIO 255 0 SIO 255 2 1 JA Loop 3 5 15 2 1 0 Bank 1 Analogue Inputs The ADIN lines can be read back as digital or analogue inputs at the same time The digital states can be accessed in bank 0 Pin I O port Command Range 5 INO GIO 0 1 lt n gt 0 4095 READ OUT OPERATING VOLTAGE AND TEMPERATURE T O port Command Operating voltage 1 10 V GIO 8 1 Temperature C GIO 9 1 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 37 3 5 15 3 I O Bank 2 States of Digital Outputs The states of the OUT lines that have been set by SIO commands can be read back using bank 2 Pin 1 0 port Command Range 3 OUTO GIO 0 2 lt n gt 1 0 OUT_1 GIO 1 2 lt n gt 1 0 3 5 16 CALC calculate A value in the accumulator variable previously read by a function such as GAP get axis parameter can be modified with this instruction Nine different arithmetic functions can be chosen and one constant operand value must be specified The result is written back to the accumulator for further processing like comparisons or data transfer Related commands CALCX COMP JC AAP AGP GAP GGP Mnemonic CALC lt operation gt lt value gt where lt op
25. 00 00 01 00 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 3 5 32 Customer specific TMCL command extension UFO function The user definable functions UFO 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 UFO UF7 Binary representation UF7 user INSTRUCTION NO 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 Target Status Instructio Operand Operand Operand Operand address address n Byte3 Byte2 Bytel Byte0 Value hex 02 01 user 64 71 user user user user defined defined defined defined defined 3 5 33 Request target position reached event This command is the only exception to the TMCL protocol as it sends two replies One immediately after the command has been executed like all other commands also and one additional reply that will be sent when the motor has reached its target position This instruction can only be used in direct mode in standalone mode it is covered by the WAIT command and hence does not have a mnemonic Internal funct
26. 1 Hardware Manual TMC262 TMC262 Datasheet TMC429 TMC429 Datasheet TMCL IDE TMCL IDE User Manual QSH5718 QSH5718 Manual QSH6018 QSH6018 Manual Please refer to www trinamic com www trinamic com 75
27. 29 Manual Rev 1 08 2014 OKT 07 69 6 Hints and Tips This chapter gives some hints and tips on using the functionality of TMCL for example how to use and parameterize the built in reference point search algorithm or the incremental sensOstep encoder Further you will find basic information about stallGuard2 and coolStep 6 1 Reference Search The built in reference search features switching point calibration and support of one or two reference switches The internal operation is based on a state machine that can be started stopped and monitored instruction RFS no 13 The settings of the automatic stop functions corresponding to the switches axis parameters 12 and 13 have no influence on the reference search Please note Until the reference switch is found for the first time the searching speed is identical to the maximum positioning speed axis parameter 4 unless reduced by axis parameter 194 After hitting the reference switch the motor slowly moves until the switch is released Finally the switch is re entered in the other direction setting the reference point to the center of the two switching points This low calibrating speed is a quarter of the maximum positioning speed by default axis parameter 195 The reference switch is connected in series with the left limit switch The differentiation between the left limit switch and the home switch is made through software Switches with open contacts normally closed are
28. 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 05 06 00 00 00 00 c8 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 25 3 5 6 GAP get axis parameter Most parameters of the TMCM 1161 can be adjusted individually for the axis With this parameter they can be read out In standalone mode the requested value is also transferred to the accumulator register for further processing purposes such as conditioned jumps In direct mode the value read is only output in the value field of the reply without affecting the accumulator For a table with parameters and values which can be used together with this command please refer to chapter 4 Internal function The parameter is read out of the correct position in the appropriate device The parameter format is converted adding leading zeros or ones for negative values Related commands SAP STAP AAP RSAP Mnemonic GAP lt parameter number 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 6 lt parameter number gt O 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 Get the actual position of motor Mnemonic GAP 0 1
29. 5 SAP Set axis paraimiete inca idad 24 3 5 6 GAP get axis parameter nica A A A a 25 35 7 STAP tore axis para Meteo A ias 26 3 5 8 RSAP restore axis parameter ENEE 27 3 5 9 SGP set global parameter EEN 28 3 5 10 GGP get global parameter EEN 29 3 5 11 STGP Store global parameter iii r 30 3 5 12 RSGP restore global parameter ENEE 31 3 5 13 RES reference Sean AA A A aa 32 3 5 14 STO set input OUTPUT ENEE 33 3 5 15 GIO get input OUtPUt ENEE 35 3 5 16 CACA dels 37 35 17 COMP compar it A A iaa 38 d EH JG Gump conditional iia E 39 BELO SAUS EE 40 ASEO 41 3 5 21 RSUB return from subroutnel ENEE 42 3 5 22 WAIT wait for an event to occul ENEE 43 3 5 23 STOP stop TMCL program executton ENEE 44 3 5 24 CALCX calculate using the X register ENEE 45 3 5 25 AAP accumulator to axis ParaMeter c cccsessesssssssessssessessessssesessesscsessssnesessessesessesnesessssnesessteneseestseeseess 46 3 5 26 AGP accumulator to global parameter EEN 47 30 21 CLE clear error flags iio A 48 3 5 28 VECT Set interrupt Veco mias dadas 49 3 5 29 El enable interrupt creeert aa a EAEE EEA EAS AEREA RESER AEAEE 50 3 5 30 DI disable mterrupth E 51 3 5 31 RETI return from interrupt NEEN 52 3 5 32 Customer specific TMCL command extension UFO UF7 user function occcncicicccnnincnnonoconnonos 53 3 5 33 Request target position reached event ENEE 53 35 34 TM L Control FUNCHONS ieia ee a 54 O E E E A te
30. 5 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 Example Get the analogue value of ADC channel 0 Mnemonic GIO 0 1 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 Bytel 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 Bytel Byte0 Value hex 02 01 64 SOf 00 00 01 2e Status no error value 320 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 36 Bei G coolStep Motor Figure 3 2 Connectors 3 5 15 1 1 0 Bank 0 Digital Inputs The ADIN lines can be read as digital or analogue inputs at the same time The analogue values can be accessed in bank 1 Pin 1 0 port Command Range 5 INO GIO 0 0 lt n gt 0 1 6 IN1 GIO 1 0 lt n gt 0 1 7 IN2 GIO 2 0 lt n gt 0 1 8 IN 3 GIO 3 0 lt n gt 0 1 FURTHER READ OUT COMMANDS T O port Command SID ENABLE input D active 1 off GIO 12 0 Limited performance because of double seizure of I O port READING ALL DIGITAL INPUTS WITH ONE GIO COMMAND Set the type parameter to 255 and the bank parameter to 0 In this case
31. Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 1A SFF 00 00 00 00 00 Disable interrupt when target position reached DI 3 Binary format of DI Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 1A 03 00 00 00 00 00 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 52 3 5 31 RETI return from interrupt This command terminates the interrupt handling routine and the normal program execution continues At the end of an interrupt handling routine the RETI command must be executed Internal function the saved registers A register X register flags are copied back Normal program execution continues Related commands EI DI VECT Mnemonic RETI Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 38 don t care don t care don t care Example Terminate interrupt handling and continue with normal program execution RETI Binary format of RETI Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 26 00 00
32. L clear all error flags ETO clear the timeout flag EAL clear the external alarm flag EDV clear the deviation flag EPO clear the position error flag Related commands JC Mnemonic CLE lt flags gt where lt flags gt ALL ETO EDV EPO Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 36 0 ALL all flags don t care don t care 1 ETO timeout flag 2 EAL alarm flag 3 EDV deviation flag 4 EPO position flag 5 ESD shutdown flag Example Reset the timeout flag Mnemonic CLE ETO 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 Bytel Byte0 Value hex 01 24 01 00 00 00 00 00 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 49 3 5 28 VECT set interrupt vector The VECT command defines an interrupt vector It needs an interrupt number and a label as parameter like in JA JC and CSUB commands This label must be the entry point of the interrupt handling routine Related commands El DI RETI Mnemonic VECT lt interrupt number gt lt label gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 37 lt interrupt number gt don t care lt label gt THE FOLLOWING TABLE SHOWS ALL INTERRUPT VECTORS THAT CAN BE USED
33. L application after power 0 1 RWE up default 1 Start TMCL application automatically after power up 79 End switch 0 normal polarity 0 1 RWE polarity 1 reverse polarity 81 TMCL code Protect a TMCL program against disassembling 0 1 2 3 RWE protection or overwriting 0 no protection 1 protection against disassembling 2 protection against overwriting 3 protection against disassembling and overwriting If you switch off the protection against disassembling the program will be erased first Changing this value from 1 or 3 to 0 or 2 the TMCL program will be wiped off 84 Coordinate 0 coordinates are stored in the RAM only 0 1 RWE storage but can be copied explicitly between RAM and EEPROM 1 coordinates are always stored in the EEPROM only 85 Do not restore 0 user variables are restored default on RWE user variables 1 user variables are not restored default 87 Serial secondary Second module target address for RS485 0 255 RWE address 128 TMCL application 0 stop 0 3 R status 1 run 2 step 3 reset 129 download mode 0 normal mode 0 1 R 1 download mode 130 TMCL program The index of the currently executed TMCL R counter instruction 132 tick timer A 32 bit counter that gets incremented by one 0 2 RW every millisecond It can also be reset to any start value 133 random number Choose a random number Read only O 2147483647 R www trinamic com TMCM 1161 TMCL Fi
34. MODULE FOR STEPPER MOTORS Firmware Version V1 29 MODULE TMCL FIRMWARE MANUAL IN OUT 8 A NS NAMIC MOTOR coolStep UNIQUE FEATURES gt as coolStep stallGuard2 TRINAMIC Motion Control GmbH amp Co KG Hamburg Germany www trinamic com TMCM 1161 1 Axis Stepper Controller Driver Up to 2 8A RMS 24V DC USB RS485 and RS232 A TRINAMIC MOTION CONTROL TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 Table of Contents 1 2 3 4 5 EMT A Putting th Module into Operativa ariete 6 2 1 A 6 ZLI Connecting the module iii bad 6 2 1 2 Start the TMCL IDE Software Development Environment EE 8 2 2 Using TMEL Direct Mode io ip 9 2 2 1 Important Motor SettinGSs iii cita 10 2 3 Testing with a Simple TMCL Program 11 TMCL and the TMCL IDE Introduction ENEE 12 3 1 Binary Command Format c cccscccsssssssssssssssscscsssssssssssssssscscscscssssssssssssssesescscscscsssssessssesesesescscacscsesesseseseeaeacaesees 12 ILT Checksum Calculation cds 13 3 2 Reply Formats 13 312 14 AS E A A 14 3 3 Standalone Appleafl enges siecle decese ae eneee ltda 14 34 TMCL Command Overview EEN 15 BAT TMGL Eea alani gleicher 15 3 4 2 Commands Listed According to Subject Area EEN 16 3 5 Comimands Acc aetiw ar ias 20 35 1 ROR rotatecright ta Das leche do do 20 d ROL rota eet Elte et Eege 21 ISa MST Cm Oto ESO Pin A AA A AAA Di 22 3 5 4 MVP move to position ENEE 23 35
35. Move to Position 10000 WAIT POS o O Wait until position reached JA Loop Infinite Loop Assemble D Il EH stop Download Run Click the Assemble icon to convert the TMCL into machine code Then download the program to the TMCM 1161 module by clicking the Download icon Press icon Run The desired program will be executed Click the Stop button to stop the program www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 12 3 TMCL and the TMCL IDE Introduction As with most TRINAMIC modules the software running on the microprocessor of the TMCM 1161 consists of two parts a boot loader and the firmware itself Whereas the boot loader is installed during production and testing at TRINAMIC and remains untouched throughout the whole lifetime the firmware can be updated by the user New versions can be downloaded free of charge from the TRINAMIC website http www trinamic com The TMCM 1161 supports TMCL direct mode binary commands and standalone TMCL program execution You can store up to 2048 TMCL instructions on it In direct mode and most cases the TMCL communication over RS485 RS232 or USB follows a strict master slave relationship That is a host computer e g PC PLC acting as the interface bus master will send a command to the TMCL 1161 The TMCL interpreter on the module will then interpret this command do the initialization of the motion controller read inputs and write outputs or wha
36. OL or ROR commands Two operation types are available Moving to an absolute position in the range from 2 147 483 648 2 147 483 647 2 t 237 1 Starting a relative movement by means of an offset to the actual position In this case the new resulting position value must not exceed the above mentioned limits too Please note that the distance between the actual position and the new one should not be more than 2311 microsteps Otherwise the motor will run in the opposite direction in order to take the shorter distance Internal function A new position value is transferred to the axis parameter 2 target position Related commands SAP GAP and MST Mnemonic MVP lt ABS REL gt 0 lt position offset number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 4 0 ABS absolute We lt position gt 1 REL relative 0 lt offset gt motor number is always O as only one motor is involved Reply in direct mode STATUS VALUE 100 OK don t care Example Move motor to absolute position 90000 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 Bytel Byte0 Value hex 01 04 00 00 00 01 5f 90 Example Move motor from current position 1000 steps backward move relative 1000 Mnemonic
37. Rev 1 08 2014 OKT 07 SAP 193 0 5 negative limit switch positive limit switch home switch Search home switch in negative direction reverse the direction when left stop switch reached SAP 193 0 6 negative limit switch positive limit switch j home switch Search home switch in positive direction reverse the direction when right stop switch reached SAP 193 0 7 d home switch Search home switch in positive direction ignore end switches SAP 193 0 8 d home switch Search home switch in negative direction ignore end switches www trinamic com 71 TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 72 6 2 Changing the Prescaler Value of an Encoder The TMCM 1161 offers an integrated sensOstep encoder The built in encoder has 1024 steps rotation For the operation with encoder please consider the following hints e The encoder counter can be read by software and can be used to control the exact position of the motor This also makes closed loop operation possible e To read out or to change the position value of the encoder axis parameter 209 is used So to read out the position of your encoder 0 use GAP 209 0 The position values can also be changed using command SAP 209 0 lt n gt with n 0 1 2 e To change the encoder settings axis parameter 210 is used For changing the prescaler of the encode
38. anged 1 65535 RWE delay down to standby current The standard value 10msec is 200 value equates 2000msec 254 Step dir mode O Normal mode Step dir mode off 1 5 RWE 1 Use of the ENABLE input on step dir connector to switch between hold current and run current no automatic switching 2 Automatic switching between hold and run current after the first step pulse the module automatically switches over to run current and a configurable time after the last step pulse the module automatically switches back to hold current The ENABLE input on the step dir connector does not have any functionality 3 Always use run current never switch to hold current The ENABLE input on the step dir connector does not have any functionality 4 Automatic current switching like 2 but the ENABLE input is used to switch the driver stage completely off or on 5 Always use run current like 3 but the ENABLE pin is used to switch the driver stage completely off or on A d 16MHz microsteps e Unit of acceleration 536870912 2Puls_divisor ramp_divisor sec www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 63 4 1 stallGuard2 The module is equipped with TMC262 motor driver chip The TMC262 features load measurement that can be used for stall detection stallGuard2 delivers a sensorless load measurement of the motor as well as a stall detection signal The measured value changes linear with
39. anual Instruction Input Address Instruction Type Motor Bank Value Datagram 1 H Se 0 Se 0 H ZS 010000000000000001 Execute Answer Host Target Status Inst Value Datagram ESCH 3 Issue a command by choosing Instruction Type if necessary Motor and Value and click Execute to send it to the module Examples e ROR rotate right motor 0 value 500 gt Click Execute The first motor is rotating now e MST motor stop motor 0 gt Click Execute The first motor stops now Top right of the TMCL Direct Mode window is the button Copy to editor Click here to copy the chosen command and create your own TMCL program The command will be shown immediately on the editor NOTE Please mind chapter 3 programming techniques of the TMCL IDE User Manual on www trinamic com Here you will find information about creating general structures of TMCL programs In particular initialization main loop symbolic constants variables and subroutines are described there Further you can learn how to mix direct mode and stand alone mode Chapter 4 of this manual axis parameters includes a diagram which points out the coolStep related axis parameters and their functions This can help you configuring your module to meet your needs www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 10 2 2 1 Important Motor Settings There are some axis parameters which have to be adjusted righ
40. are V1 29 Manual Rev 1 08 2014 OKT 07 3 5 24 CALCX calculate using the X register This instruction is very similar to CALC but the second operand comes from the X register The X register can be loaded with the LOAD or the SWAP type of this instruction The result is written back to the accumulator for further processing like comparisons or data transfer Related commands CALC COMP JC AAP AGP Mnemonic CALCX lt operation gt with lt operation gt ADD SUB MUL DIV MOD AND OR XOR NOT LOAD SWAP Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 33 0 ADD add X register to accu 1 SUB subtract X register from accu 2 MUL multiply accu by X register 3 DIV divide accu by X register 4 MOD modulo divide accu by x register 5 AND logical and accu with X register 6 OR logical or accu with X register 7 XOR logical exor accu with X register 8 NOT logical invert X register 9 LOAD load accu to X register 10 SWAP swap accu with X register don t care don t care 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 Bytel Byte0 Value hex 01 21 02 00 00 00 00 00 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 46
41. ase refer to the SGP command paragraph 3 5 9 for further information about that 3 4 2 6 5 Using Interrupts in TMCL For using an interrupt proceed as follows Define an interrupt handling routine using the VECT command If necessary configure the interrupt using an SGP lt type gt 3 lt value gt command Enable the interrupt using an EI lt interrupt gt command Globally enable interrupts using an EI 255 command An interrupt handling routine must always end with a RETI command The following example shows the use of a timer interrupt VECT o TimeroIrg define the interrupt vector SGP o 3 1000 configure the interrupt set its period to 1000ms EI o enable this interrupt EI 255 globally switch on interrupt processing Main program toggles output 3 using a WAIT command for the delay Loop SIO 3 2 1 WAIT TICKS 0 50 SIO 3 2 0 WAIT TICKS 0 50 JA Loop Here 1s the interrupt handling routine Timerolrq GIO o 2 check if OUTo is high JC NZ Outo0ff jump if not SIO 0 2 1 switch OUTo high RETI end of interrupt Outo0ff SIO 0 2 O switch OUTo low RETI end of interrupt www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 19 In the example above the interrupt numbers are used directly To make the program better readable use the provided include file Interrupts inc This file defines symbolic constants for all interrupt numbers which can be used in all interrup
42. classic const off time 164 Chopper Hysteresis decrement setting This setting D 3 RW hysteresis determines the slope of the hysteresis during decrement on time and during fast decay time 0 fast decrement 3 very slow decrement 165 Chopper Hysteresis end setting Sets the hysteresis end 3 12 RW hysteresis end value after a number of decrements Decrement interval time is controlled by axis parameter 164 3 1 negative hysteresis end setting O zero hysteresis end setting 1 12 positive hysteresis end setting 166 Chopper Hysteresis start setting Please remark that 0 8 RW hysteresis start this value is an offset to the hysteresis end value 167 Chopper off time The off time setting controls the minimum 0 2 15 RW chopper frequency An off time within the range of bus to 20us will fit Off time setting for constant to chopper Nax 12 32 torr Minimum is 64 clocks Setting this parameter to zero completely disables all driver transistors and the motor can free wheel 168 smartEnergy Sets the lower motor current limit for 0 1 RW current minimum SEIMIN coolStep operation by scaling the CS Current Scale see axis parameter 6 value minimum motor current 0 1 2 of CS 1 1 4 of CS www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 59 Number Axis Parameter Description Range Unit Acc 169 smartEnergy current down step Sets t
43. compatible programmable internal pull up STOP L Functionality can be selected in software 6 STEP a Left stop switch input connected to REF1 input of TMC429 motion IN 1 controller b Step signal connected to step input of TMC262 stepper driver c General purpose input connected to processor Digital input 24V compatible programmable internal pull up STOP R Functionality can be selected in software l l 7 DIR a Right stop switch input connected to REFR1 input of TMC429 motion IN 2 controller gt b Direction signal connected to direction input of TMC262 stepper driver c General purpose input connected to processor Digital input 24V compatible programmable internal pull up HOME Functionality can be chosen in software 8 ENABLE a Home switch input connected to processor IN_3 b Enable signal connected to processor c General purpose input connected to processor www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 4 Switch ON the power supply Turn power ON The green LED for power lights up slowly and the motor is powered but in standstill now If this does not occur switch power OFF and check your connections as well as the power supply 2 12 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 pr
44. d 0 for no timeout l one tick is 10 milliseconds in standard firmware 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 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 1b 01 00 00 00 00 00 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 3 5 23 STOP stop TMCL program execution This function stops executing a TMCL program The host address and the reply are only used to transfer the instruction to the TMCL program memory 44 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 TYPE MOT BANK VALUE 28 don t care don t care don t care Example 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 Bytel Byte0 Value hex 01 1c 00 00 00 00 00 00 www trinamic com TMCM 1161 TMCL Firmw
45. de 1 filtered mode 0 1 RW 174 stallGuard2 threshold 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 D Indifferent value 1 63 less sensitivity 1 64 higher sensitivity 64 63 RW 175 Slope control high side 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 RW 176 Slope control low side Determines the slope of the motor driver outputs Set identical to slope control high side RW www trinamic com 60 TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 Number Axis Parameter Description Range Unit Acc 177 short protection 0 Short to GND protection is on 0 1 RW disable 1 Short to GND protection is disabled Use default value 178 Short detection 0 3 2us 0 3 RW timer 1 1 6us 2 1 2us 3 0 8us Use default value 179 Vsense sense resistor voltage based current scaling 0 1 RW 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
46. e operation and direct mode MAIN CHARACTERISTICS Motion controller Motion profile calculation in real time On the fly alteration of motor parameters e g position velocity acceleration High performance microcontroller for overall system control and serial communication protocol handling Bipolar stepper motor driver Up to 256 microsteps per full step High efficient operation low power dissipation Dynamic current control Integrated protection stallGuard2 feature for stall detection coolStep feature for reduced power consumption and heat dissipation Encoder sensOstep magnetic encoder max 1024 positions per rotation e g for step loss detection under all operating conditions and positioning supervision Interfaces inputs for stop switches left and right and home switch 1 analog input 2 general purpose outputs open collector with freewheeling diodes USB RS232 and RS485 communication interfaces Software TMCL standalone operation or remote controlled operation program memory non volatile for up to 2048 TMCL commands and PC based application development software TMCL IDE available for free Electrical and mechanical data Supply voltage 24V DC nominal 10 30V DO Motor current up to 2 8A RMS programmable Refer to separate Hardware Manual too www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 TRINAMICS UNIQUE FEATURES EASY TO USE WITH TMCL sta
47. ence switch can be used with mode 1 4 www trinamic com 61 TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 Number Axis Parameter Description Range Unit Acc 194 Referencing For the reference search this value directly 0 2047 RWE search speed specifies the search speed 195 Referencing Similar to parameter no 194 the speed for 0 2047 RWE switch speed the switching point calibration can be selected 196 Distance end This parameter provides the distance between 0 2 147 483 647 R switches the end switches after executing the RFS command mode 2 or 3 197 Last reference Reference search the last position before 234 231 1 R position setting the counter to zero can be read out steps 200 Boost current Current used for acceleration and deceleration 0 255 RWE h 4A pnases Ipeak lt value gt X gt 255 If set to 0 the same current as set by axis parameter 6 will be used Irus lt value gt x ae 204 Freewheeling Time after which the power to the motor will 0 65535 RWE be cut when its velocity has reached zero 0 never msec 206 Actual load value Readout of the actual load value with used 0 1023 R for stall detection stallGuard2 207 Extended error 1 Motor stopped because of 1 3 R flags stallGuard2 detection 2 Motor stopped because of encoder deviation 3 Motor stopped because of 1 and 2 Will be reset automat
48. er 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 O SIO 255 2 1 JA Loop SPECIAL COMMAND FOR SWITCHING THE PULL UP RESISTORS FOR STOP_L STOP_R AND HOME Pin T O port Command Range 5 STOP_L IN1 SIO 0 0 lt n gt 1 0 6 STOP_R IN 2 1 ON 7 HOME IN 3 0 OFF www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 3 5 15GIO get inpu t output With this command the status of all general purpose inputs of the module can be read out The function reads a digital or analogue input port Digital lines will read 0 and 1 while the ADC channels deliver their 12 bit result in the range of O 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 specifi ed line is read Related commands SIO WAIT Mnemonic GIO lt port numbe Binary representation r gt lt bank number gt INSTRUCTION NO TYPE MOT BANK VALUE 1
49. ges related to the TMCM 1161 1 25 2013 AUG 30 No changes related to the TMCM 1161 1 26 2013 AUG 30 No changes related to the TMCM 1161 1 27 2013 AUG 30 Problem with magnetic encoder fixed 1 29 2014 OKT 10 Problem with magnetic encoder fixed Table 8 1 Firmware revision 8 2 Document Revision Author Version Date SD Sonja Dwersteg Description JP Jonas P Proeger 1 00 2011 JUN 30 SD Preliminary version 1 01 2012 MAR 09 SD First complete version 1 02 2012 MAY 17 SD Minor changes Global parameter 79 added Global parameter 84 added 103 i an Axis parameter 141 deleted SIO GIO RFS added 1 04 2012 NOV 19 SD Global parameter 65 updated Interrupt command description completed Global parameters 84 and 85 added GIO command description and SIO command description updated 1 05 2013 MAR 27 SD 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 1 06 2013 SEP 03 JP Revision history updated 1 07 2014 JUL 18 JP Axis Parameter 254 Value 0 addded 1 08 2014 OKT 10 JP Update to Firmware V1 29 Table 8 2 Document revision www trinamic com 74 TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 9 References TMCM 1161 PD57 60 1161 TMCM 1161 and PD57 60 116
50. gether 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 lt parameter number lt bank number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 10 see chapter 6 lt bank number gt don t care Reply in direct mode STATUS VALUE 100 OK don t care Example Get the serial address of the target device Mnemonic GGP 66 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 Bytel Byte0 Value hex 01 0a 42 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 Bytel Byte0 Value hex 02 01 64 0a 00 00 00 01 gt Status no error Value 1 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 30 3 5 11 STGP store global parameter This command is used to store TMCL user variables permanently in the EEPROM of the module Some global parameters are located in RAM memory so without storing modifications are lo
51. he number of stallGuard2 readings above the upper threshold necessary for each current decrement of the motor current Number of stallGuard2 measurements per decrement Scaling 0 3 32 8 2 1 0 slow decrement 3 fast decrement 0 3 RW 170 smartEnergy hysteresis Sets the distance between the lower and the upper threshold for stallGuard2 reading Above the upper threshold the motor current becomes decreased Hysteresis smartEnergy hysteresis value 1 32 Upper stallGuard threshold smartEnergy hysteresis start smartEnergy hysteresis 1 32 0 15 RW 171 smartEnergy current up step Sets the current increment step The current becomes incremented for each measured stallGuard2 value below the lower threshold see smartEnergy hysteresis start current increment step size Scaling 0 3 1 2 4 8 0 slow increment 3 fast increment fast reaction to rising load 1 3 RW 172 smartEnergy hysteresis start The lower threshold for the stallGuard2 value see smart Energy current up step 0 15 RW 173 stallGuard2 filter enable Enables the stallGuard2 filter for more precision of the measurement If set reduces the measurement frequency to one measurement per four fullsteps In most cases it is expedient to set the filtered mode before using coolStep Use the standard mode for step Joss detection 0 standard mo
52. he only control commands that could be useful for a user host application are 54 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 Description Type Mot Bank Value 128 stop application a running TMCL standalone application is stopped don t care don t care don t care 129 run application TMCL execution is started or continued 0 run from current address 1 run from specified address don t care don t care starting address 130 step application only the next command of a TMCL application is executed don t care don t care don t care 131 reset application the program counter is set to zero and the standalone application is stopped when running or stepped don t care don t care don t care 132 start download mode target command execution is stopped and all following commands are transferred to the TMCL memory don t care don t care starting address of the application 133 quit download target command execution is don t care don t care don t care mode resumed 134 read TMCL the specified program memory don t care don t care lt memory address gt memory location i
53. iately 0 1 RWE disregarding motor limits when the reference or limit switch is hit 153 Ramp divisor The exponent of the scaling factor for the 0 13 RWE ramp generator should be de incremented carefully in steps of one 154 Pulse divisor The exponent of the scaling factor for the 0 13 RWE pulse step generator should be de incremented carefully in steps of one www trinamic com 58 TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 Number Axis Parameter Description Range Unit Acc 160 Step Step interpolation is supported with a 16 0 1 RW interpolation microstep setting only In this setting each enable 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 161 Double step Every edge of the cycle releases a 0 1 RW enable step microstep It does not make sense to activate this parameter for internal use Double step enable can be used with Step Dir interface 0 double step off 1 double step on 162 Chopper blank Selects the comparator blank time This time 0 3 RW 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 163 Chopper mode Selection of the chopper mode 0 1 RW 0 spread cycle 1
54. ically by the next motion command 208 TMC262 driver Bit 0 stallGuard2 status 0 1 R error flags 1 threshold reached Bit 1 Overtemperature 1 driver is shut down due to overtemperature Bit 2 Pre warning overtemperature 1 Threshold is exceeded Bit 3 Short to ground A 1 Short condition detected driver currently shut down Bit 4 Short to ground B 1 Short condition detected driver currently shut down Bit 5 Open load A 1 no chopper event has happened during the last period with constant coil polarity Bit 6 Open load B 1 no chopper event has happened during the last period with constant coil polarity Bit 7 Stand still 1 No step impulse occurred on the step input during the last 2 20 clock cycles Please refer to the TMC262 Datasheet for more information 209 Encoder position The value of an encoder register can be read encoder steps RW out or written 210 Encoder Prescaler for the encoder See paragraph 6 2 RWE prescaler www trinamic com 62 TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 Number Axis Parameter Description Range Unit Acc 212 Maximum When the actual position parameter 1 and 0 65535 RWE encoder the encoder position parameter 209 differ deviation more than set here the motor will be encoder steps stopped This function is switched off when the maximum deviation is set to zero 214 Power down Standstill period before the current is ch
55. 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 Le all other interrupts are disabled while an interrupt handling routine is being executed On return from an interrupt handling routine the context of the normal program will automatically be restored and the execution of the normal program will be continued www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 18 3 4 2 6 3 Interrupt Vectors The following table shows all interrupt vectors that can be used Interrupt number Interrupt type 0 Timer 0 1 Timer 1 2 Timer 2 3 Target position reached 15 stallGuard2 21 Deviation 27 Left stop switch 28 Right stop switch 39 Input change 0 40 Input change 1 41 Input change 2 42 Input change 3 255 Global interrupts 3 4 2 64 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 lt type gt 3 lt value gt Ple
56. ion Send an additional reply when the motor has reached its target position Mnemonic Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 138 don t care don t care o Motor number Reply in direct mode right after execution of this command Byte Index 0 1 2 3 4 5 6 7 Function Target Target Status Instructio Operand Operand Operand Operand address address n Byte3 Byte2 Bytel Byte0 Value hex 02 01 100 138 00 00 00 Motor bit mask Additional reply in direct mode after motors have reached their target positions Byte Index 0 1 2 3 4 5 6 7 Function Target Target Status Instructio Operand Operand Operand Operand address address n Byte3 Byte2 Bytel Byte0 Value hex 02 01 128 138 00 00 00 Motor bit mask www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 3 5 34 TMCL Control Functions The following functions are for host control purposes only and are not allowed for standalone mode In most cases there is no need for the customer to use one of those functions except command 139 They are mentioned here only for reasons of completeness These commands have no mnemonics as they cannot be used in TMCL programs The Functions are to be used only by the TMCL IDE to communicate with the module for example to download a TMCL application into the module T
57. iption of all TMCL commands and their usage 3 1 Binary Command Format Every command has a mnemonic and a binary representation When commands are sent from a host to a module the binary format has to be used Every command consists of a one byte command field a one byte type field a one byte motor bank field and a four byte value field So the binary representation of a command always has seven bytes When a command is to be sent via RS232 RS485 or USB interface it has to be enclosed by an address byte at the beginning and a checksum byte at the end In this case it consists of nine bytes The binary command format for RS232 RS485 USB is as follows Bytes Meaning Module address Command number Type number Motor or Bank number Value MSB first PIB PIP P P Checksum The checksum is calculated by adding up all the other bytes using an 8 bit addition www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 13 3 11 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 1 Checksum unsigned char Command 9 Set the Command array to the desired command Checksum Command 0 for i 1 i lt 8 i Checksum Command i Command 8 Checksum insert checksum as last byte of the command
58. 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 INSTRUCTION NO TYPE MOT BANK VALUE 23 don t care don t care lt subroutine address gt 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 WATT 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 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 17 00 00 00 00 00 64 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 42 3 5 21 RSUB return from subroutine Return from a subroutine to the command after the CSUB command This command is intended for use in standalone mode only The host address and the reply are only used to take the instruction to the TMCL program memory while the program loads down This command cannot be used in direct mode Internal function The TMCL pr
59. k 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 lt type gt 3 lt value gt 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 68 Access Related Description type Commande R GGP Parameter readable W SGP AGP Parameter writable The following table shows all interrupt parameters that can be set Number Global parameter Description Range Acce ss 0 Timer 0 period ms Time between two interrupts ms O 4 294 967 295 RW ms 1 Timer 1 period ms Time between two interrupts ms 0 4 294 967 295 RW ms 2 Timer 2 period ms Time between two interrupts ms 0 4 294 967 295 RW ms 27 Stop left 0 trigger transition O off 1 low high 2 high low 0 3 RW 3 both 28 Stop right 0 trigger O off 1 low high 2 high low 0 3 RW transition 3 both 39 Input 0 trigger transition O off 1 low high 2 high low 0 3 RW 3 both 40 Input 1 trigger transition O off 1 low high 2 high low 0 3 RW 3 both 41 Input 2 trigger transition O off 1 low high 2 high low 0 3 RW 3 both 42 Input 3 trigger transition O off 1 low high 2 high low 0 3 RW 3 both www trinamic com TMCM 1161 TMCL Firmware V1
60. llGuard2 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 stallGuard2 Nm Initial stallGuard2 SG value 100 Max load stallGuard2 SG value 0 Maximum load reached al 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 on Efficiency with coolStep 0 8 H Efficiency with 50 torque reserve 0 7 0 6 0 5 Efficiency 0 4
61. mat of El Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 19 FF 00 00 00 00 00 Enable interrupt when target position reached El 3 Binary format of El Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 19 03 00 00 00 00 00 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 3 5 30DI 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 lt interrupt number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 26 lt interrupt number gt don t care don t care THE FOLLOWING TABLE SHOWS ALL INTERRUPT VECTORS THAT CAN BE USED Interrupt number Interrupt type 0 Timer 0 1 Timer 1 2 Timer 2 3 Target position reached 15 Stall stallGuard2 21 Deviation 27 Stop left 28 Stop right 39 IN_0 change 40 IN_1 change 41 IN_2 change 42 IN_3 change Examples Disable interrupts globally DI 255 Binary format of DI Byte
62. meters and bank numbers which can be used together with this command please refer to chapter 5 Internal function The specified parameter is copied from the configuration EEPROM memory to its RAM location Relate commands SAP STAP GAP and AAP Mnemonic RSAP lt parameter number 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 8 lt parameter number gt O don t care motor number is always O if only one motor is involved Reply structure in direct mode STATUS VALUE 100 OK don t care Example Restore the maximum current of motor Mnemonic RSGP 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 Bytel Byte0 Value hex 01 0c 2a 02 00 00 00 00 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 32 3 5 13RFS reference search The TMCM 1161 has a built in reference search algorithm which can be used The reference search algorithm provides switching point calibration and three switch modes The status of the reference search can also be queried to see if it has already finished In a TMCL program it is better to use the WAIT command to wait for the end of a reference search Please see the appropriate parameters in the axis parameter table to configure the reference search alg
63. n of the module bank 1 user C variables bank 2 user TMCL variables bank 3 interrupt configuration Please use SGP and GGP commands to write and read global parameters 5 1 Bank 0 Parameters with numbers from 64 on configure stuff like the serial address of the module RS232 RS485 baud rate Change these parameters to meet your needs The best and easiest way to do this is to use the appropriate functions of the TMCL IDE The parameters with numbers between 64 and 128 are stored in EEPROM only An SGP command on such a parameter will always store it permanently and no extra STGP command is needed Take care when changing these parameters and use the appropriate functions of the TMCL IDE to do it in an interactive way Meaning of the letters in column Access Access 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 These parameters can be stored permanently in EEPROM using STGP command and also explicitly restored copied back from EEPROM into RAM using RSGP Number Parameter Description Range Access 64 EEPROM magic Setting this parameter to a different value as 0 255 RWE SE4 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 65
64. nce EE KEE 56 4 1 saltar A ra 63 4 2 coolStep Related Axis Parameters cscscsssssssssssssssssssssssssssscscsesssssesssssscscsesescscsesesssseseseseseacaesssesseeseeeeseeeses 63 Globalt parimet rss cicvrsesclectaer ied eee deve wide e iiss eyed ege 65 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 5 1 A ie ke od dene eeh SAGs eet Eder 65 5 2 A 67 5 3 A 67 5 4 BN e as AO ea dae os e ELO 68 6 Hints and INTE 69 6 1 Reference Search A O 69 6 2 Changing the Prescaler Value of an Encoder ENEE 72 6 3 Using the RS485 Interfaces adi 72 Te MESS Eelere EE 73 8 Revision HIStory sessis3s c25267Sieedatisn a a a a aaa a a dl 74 8 1 Fintiware REVISION iii ibid 74 8 2 DOCU AEREO A PR a 74 Rd e e 75 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 1 Features The TMCM 1161 is a single axis controller driver module for 2 phase bipolar stepper motors with state of the art feature set It is highly integrated offers a convenient handling and can be used in many decentralized applications The board can be mounted on the back of NEMA23 57mm flange size and NEMA24 60mm flange size stepper motors and has been designed for coil currents up to 2 8A RMS and 24V DC supply voltage It offers TRINAMICs sensOstep encoder With its high energy efficiency from the coolStep technology cost for power consumption is kept down The TMCL firmware allows for both standalon
65. ns 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 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 3 4 TMCL Command Overview In this section a short overview of the TMCL commands is given 3 4 1 TMCL Commands 15 Command Number Parameter Description ROR 1 lt motor number gt lt velocity gt Rotate right with specified velocity ROL 2 lt motor number gt lt velocity gt Rotate left with specified velocity MST 3 lt motor number gt Stop motor movement MVP 4 ABSIREL COORD lt motor number Move to position absolute or relative lt positionloffset gt SAP 5 lt parameter gt lt motor number lt value gt Set axis parameter motion control specific settings GAP 6 lt parameter gt lt motor number gt Get axis parameter read out motion control specific settings STAP 7 lt parameter gt lt motor number gt Store axis parameter permanently non volatile RSAP 8 lt parameter gt lt motor number gt Restore axis parameter SGP 9 lt parameter gt lt bank number
66. ogram Open TMCL IDE by clicking TMCL exe Choose Setup and Options and thereafter the Connection tab Choose COM port and type with the parameters shown in Figure 2 2 baud rate 9600 Click OK USB interface If the file TMCM 1161 inf is installed correctly the module will be identified automatically 4 TMCL Integrated Development Environment CAUsersiSonja Dwel File Edit TMCL Debug Setup Help BB H Ea had FELS Options Test4 tme A Configure Module Noch ein Test Gei Search Module A Options Assembler Connection Debugger Type RS232 AS485 USB COM port RS232 RS485 Pot EA e Bad 9600 sl Address 1 Search OK Cancel 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 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 2 2 Using TMCL Direct Mode 1 Start TMCL Direct Mode E MM Mode 2 If the communication is established the TMCM 1161 is automatically detected If the module is not detected please check all points above cables interface power supply COM port baud rate A TMCL Direct Mode TMCM 1161 TMCL Instruction Selector Instruction Motor Bank Value 1 ROR rotate right sel 0 lt don t care 0 Motor 0 0 3 Execute Copy Copy to editor M
67. ogram 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 TYPE MOT BANK VALUE 24 don t care don t care don t care Example please see the CSUB example section 3 5 20 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 Bytel Byte0 Value hex 01 18 00 00 00 00 00 00 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 43 3 5 22 WAIT wait for an event to occur This instruction interrupts the execution of the TMCL program until the specified condition is met This command is intended for standalone operation only The host address and the reply are only used to take the instruction to the TMCL program memory while the program loads down This command cannot be used in direct mode There are five different wait conditions that can be used TICKS Wait until the number of timer ticks specified by the 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 REFSW Wait until the reference switch of
68. ommand 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 lt parameter number lt bank number gt lt value gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 9 lt parameter lt bank number gt lt value gt number gt Reply in direct mode STATUS VALUE 100 OK don t care Example Set the serial address of the target device to 3 Mnemonic SGP 66 0 3 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 Bytel Byte0 Value hex 01 09 42 00 00 00 00 03 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 3 5 10 GGP get global parameter All global parameters can be read with this function Global parameters are related to the host interface peripherals or application specific variables The different groups of these parameters are organized in banks to allow a larger total number for future products Currently only bank O and 1 are used for global parameters and bank 2 is used for user variables For a table with parameters and bank numbers which can be used to
69. on 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 All trademarks used are property of their respective owners www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 8 Revision History 8 1 Firmware Revision Version Date Description 1 15 2012 FEB 28 Release 1 16 2012 MAY 16 Global parameter 84 added 1 19 2012 JUN 25 Global parameter 79 added 1 20 2012 OKT 04 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 1 21 2012 NOV 16 Parameter VSENSE set to 1 1 22 2013 JAN 21 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 1 23 2013 FEB 05 Reference search modes corrected Mode 7 and mode 8 end switches are always deactivated 1 24 2013 FEB 20 No changes related to the TMCM 1161 1 24 2013 FEB 20 No chan
70. or to a global parameter ACO 39 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 Command number Meaning EI 25 Enable interrupt DI 26 Disable interrupt VECT 37 Set interrupt vector RETI 38 Return from interrupt 3 4 2 6 1 Interrupt Types There are many different interrupts in TMCL like timer interrupts stop switch interrupts position reached interrupts and input pin change interrupts Each of these interrupts has its own interrupt vector Each interrupt vector is identified by its interrupt number Please use the TMCL included file Interrupts inc for symbolic constants of the
71. orithm to meet your needs chapter 4 The reference search can be started stopped and the actual status of the reference search can be checked Internal function the reference search is implemented as a state machine so interaction is possible during execution Related commands WAIT Mnemonic RFS lt START STOP STATUS gt lt motor gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE O START start ref search 0 13 1 STOP abort ref search see below 2 STATUS get status REPLY IN DIRECT MODE When using type O START or 1 STOP STATUS VALUE 100 OK don t care When using type 2 STATUS STATUS VALUE 100 OK 0 ref search active other values no ref search active Example Start reference search of motor 0 Mnemonic RFS START 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 Bytel Byte0 Value hex 01 0d 00 00 00 00 00 00 With this module it is possible to use stall detection instead of a reference search www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 33 3 5 14SIO set input output SIO sets the status of the general digital output either to low 0 or to high 1 Bank 2 is used for this purpose SIO is used to switch
72. pper limit Se ES 5 Maximum The limit for acceleration and deceleration O 2047 RWE acceleration 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 6 Absolute max The maximum value is 255 This value means 0 255 RWE current 100 of the maximum current of the module Ipeak lt value soe th CS Current Scale The current adjustment is within the range O 255 and can be adjusted in 32 steps O 7 79 87 160 167 240 247 8 15 88 95 168 175 248 255 16 23 96 103 176 183 24 31 104 111 184 191 32 39 112119 1921992 40 47 120 127 200 207 48 55 128 135 208 215 56 63 136 143 216 223 64 71 144 151 224 231 72 19 152 159 232 239 The most important motor setting since too high values might cause motor damage 255 2i I lt value gt x RMS value 255 www trinamic com 57 TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 Number Axis Parameter Description Range Unit Acc 7 Standby current The current limit two seconds after the motor 0 255 RWE 4A has stopped Ipeak lt value gt x zez Irms lt value gt x 8 Target pos Indicates that the actual posi
73. r 0 use SAP 210 0 lt p gt e Automatic motor stop on deviation error is also usable This can be set using axis parameter 212 maximum deviation This function is turned off when the maximum deviation is set to 0 To select a prescaler the following values can be used for lt p gt Value for Resulting prescaler SAP command for motor 0 Microstep solution of lt p gt SAP 210 0 lt p gt axis parameter 140 25600 50 default SAP 210 0 25600 8 256 micro steps 12800 25 SAP 210 0 12800 7 128 micro steps 6400 12 5 SAP 210 0 6400 6 64 micro steps 3200 6 25 SAP 210 0 3200 5 32 micro steps 1600 3 125 SAP 210 0 1600 4 16 micro steps 800 1 5625 SAP 210 0 800 3 8 micro steps 400 0 78125 SAP 210 0 400 2 4 micro steps 200 0 390625 SAP 210 0 200 1 2 micro steps The table above just shows a subset of those prescalers that can be selected Also other values between those given in the table can be used Only the values 1 2 4 and 16 must not be used for lt p gt because they are needed to select the special encoder function below or rather are reserved for intern usage Consider the following formula for your calculation Prescaler a5 Example lt p gt 6400 6400 512 12 5 prescaler There is one special function that can also be configured using lt p gt To select it just add the following value to lt p gt Adder for SAP command for motor 0
74. rements per decrement step Scaling 0 3 32 8 2 1 0 slow decrement 3 fast decrement 1169 Sets the current increment step The current becomes incremented for each measured stallGuard2 value below the lower threshold see smartEnergy hysteresis start 1171 smartEnergy current up step 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 1183 smartEnergy slow run current speed Please adjust the threshold speed with axis parameter 182 Sets the distance between the lower and the upper threshold SG170 smartEnergy hysteresis for stallGuard2 reading Above the upper threshold the motor current becomes decreased Below this speed motor will not be stopped Above this speed SG181 stop on stall motor will stop in case stallGuard2 load value reaches zero V182 smartEnergy threshold speed Above this speed coolStep becomes enabled Standstill period before the current is changed down to standby T214 peda Rey current The standard value is 200 value equates 2000msec For further information about the coolStep feature please refer to the TMC262 Datasheet www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 65 5 Global parameters Global parameters are grouped into 4 banks bank 0 global configuratio
75. rmware V1 29 Manual Rev 1 08 2014 OKT 07 67 5 2 Bank 1 The global parameter bank 1 is normally not available It may be used for customer specific extensions of the firmware Together with user definable commands see section 7 3 these variables form the interface between extensions of the firmware written in C and TMCL applications 5 3 Bank 2 Bank 2 contains general purpose 32 bit variables for the use in TMCL applications They are located in RAM and the first 56 variables can be stored permanently in EEPROM also After booting their values are automatically restored to the RAM Up to 256 user variables are available Meaning of the letters in column Access Access Related Description Type Commande R GGP Parameter readable W SGP AGP Parameter writable E STGP RSGP 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 Global parameter Description Range Access O 55 general purpose variables 90 for use in TMCL applications 2 234 RWE 55 56 255 general purpose variables 56 for use in TMCL applications 47 234 RW 255 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 5 4 Bank 3 Ban
76. s Velocity Current A D The current depends on the load of the motor IK L Time m T214 coolStep area area without coolStep 123 Current and parameter Vi23 Velocity and parameter T123 Time parameter SG123 stallGuard2 M parameter The lower threshold of the coolStep current can be adjusted up to 16 4 Refer to parameter 168 Figure 4 1 coolStep adjustment points and thresholds www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 64 Number 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 0 255 divided by eight e g step 0 0 7 step 1 8 15 and so on The most important motor setting since too high values might cause motor damage T6 absolute max current CS Current Scale I7 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 Minimum motor current 0 1 2 of CS 1 1 4 of CS smartEnergy current minimum 1168 SEIMIN 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 measu
77. s Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 01 00 00 00 00 01 5e www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 21 3 5 2 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 lt velocity gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 2 don t care 0 lt velocity gt 0 2047 motor number is always O as only one motor is involved Reply in direct mode STATUS VALUE 100 OK don t care Example Rotate left velocity 1200 Mnemonic ROL 0 1200 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 02 00 00 00 00 04 b0 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 3 5 3 MST motor stop With this command the motor will be
78. s read 135 get application one of these values s don t care don t care don t care status returned 0 stop 1 run 2 step 3 reset 136 get firmware version return the module type and firmware revision either as a string or in binary format 0 string 1 binary don t care don t care 137 restore factory settings reset all settings stored in the EEPROM to their factory defaults This command does not send back a reply don t care don t care must be 1234 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 Special reply format of command 136 Type set to 0 reply as a string Byte index Contents 1 Host Address d 9 Version string 8 characters e g 1161V1 27 There is no checksum in this reply format Type set to 1 version number in binary format Please use the normal reply format The version number is output in the value field of the reply in the following way Byte index in value field Contents 1 Version number low byte 2 Version number high byte 3 Type number low byte 4 Type number high byte www trinamic com 55 TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 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
79. st 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 lt parameter number gt lt bank number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 11 see chapter 8 lt bank number gt don t care see chapter 5 Reply in direct mode STATUS VALUE 100 OK don t care Example Store the user variable 42 Mnemonic STGP 42 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 Bytel Byte0 Value hex 01 0b 2a 02 00 00 00 00 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 31 3 5 12 RSGP restore global parameter With this command the contents of a TMCL user variable can be restored from the EEPROM For all configuration related axis parameters non volatile memory locations are provided By default most parameters are automatically restored after power up A single parameter that has been changed before can be reset by this instruction For a table with para
80. t commands The beginning of the program above then looks like the following Hinclude Interrupts inc VECT TI_TIMERo Timerolrq SGP TI_TIMERo 3 1000 El TI_TIMERo El TI_GLOBAL Please also take a look at the other example programs www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 20 3 5 Commands The module specific commands are explained in more detail on the following pages They are listed according to their command number 3 5 1 ROR rotate right With this command the motor will be instructed to rotate with a specified velocity in right direction increasing the position counter Internal function First velocity mode is selected Then the velocity value is transferred to axis parameter 0 target velocity The module is based on the TMC429 stepper motor controller and the TMC262 power driver This makes possible choosing a velocity between 0 and 2047 Related commands ROL MST SAP GAP Mnemonic ROR 0 lt velocity gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 1 don t care 0 lt velocity gt 0 2047 motor number is always O as only one motor is involved Reply in direct mode STATUS VALUE 100 OK don t care Example Rotate right velocity 350 Mnemonic ROR 0 350 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand addres
81. t in the beginning after installing your module Please set the upper limiting values for the speed axis parameter 4 the acceleration axis parameter 5 and the current axis parameter 6 Further set the standby current axis parameter 7 and choose your microstep resolution with axis parameter 140 Please use the SAP Set Axis Parameter command for adjusting these values The SAP command is described in paragraph 3 5 5 You can use the TMCM IDE direct mode for easily configuring your module ATTENTION The most important motor setting is the absolute maximum motor current setting since too high values might cause motor damage IMPORTANT AXIS PARAMETERS FOR MOTOR SETTING Number Axis Parameter Description Range Unit 4 Maximum Should not exceed the physically highest possible 0 2047 positioning value Adjust the pulse divisor axis parameter 154 if speed the speed value is very low lt 50 or above the upper sc gpulse divisor EP limit 65536 sec 5 Maximum The limit for acceleration and deceleration Changing 0 2047 acceleration this parameter requires re calculation of the acceleration factor no 146 and the acceleration divisor no 137 which is done automatically See TMC 429 datasheet for calculation of physical units 6 Absolute max The maximum value is 255 This value means 100 of 0 255 current the maximum current of the module The current Ipeak
82. tever is necessary according to the specified command As soon as this step has been done the module will send a reply back over RS485 RS232 USB to the bus master Only then should the master transfer the next command Normally the module will just switch to transmission and occupy the bus for a reply otherwise it will stay in receive mode It will not send any data over the interface without receiving a command first This way any collision on the bus will be avoided when there are more than two nodes connected to a single bus The Trinamic Motion Control Language TMCL provides a set of structured motion control commands Every motion control command can be given by a host computer or can be stored in an EEPROM on the TMCM module to form programs that run standalone on the module For this purpose there are not only motion control commands but also commands to control the program structure like conditional jumps compare and calculating Every command has a binary representation and a mnemonic The binary format is used to send commands from the host to a module in direct mode whereas the mnemonic format is used for easy usage of the commands when developing standalone TMCL applications using the TMCL IDE IDE means Integrated Development Environment There is also a set of configuration variables for the axis and for global parameters which allow individual configuration of nearly every function of a module This manual gives a detailed descr
83. the motor specified by the lt motor gt parameter has been triggered An optional timeout value 0 for no timeout must be specified by the lt ticks gt parameter LIMSW Wait until a limit switch of the motor specified by the lt motor gt parameter has been triggered An optional timeout value 0 for no timeout must be specified by the lt ticks gt parameter RFS Wait until the reference search of the motor specified by the lt motor gt field 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 0 lt ticks gt where lt condition gt is TICKS POS REFSW LIMSW RFS Binary representation INSTRUCTION NO TYPE MOT BANK VALUE O TICKS timer ticks don t care lt no of ticks gt EE lt motor gt lt no of ticks for timeout gt JEEP 0 for no timeout 2 REFSW reference switch lt motor gt lt no of ticks for timeout gt 27 0 for no timeout Gu lt motor gt lt no of ticks for timeout gt 3 LIMSW limit switch Domo codi 4 RFS reference search lt motor gt lt no of ticks for timeout gt complete
84. the pull up resistors for all digital inputs ON 1 and OFF 0 Bank O is used for this purpose 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 14 lt port number gt lt bank number gt lt value gt 2 0 1 Reply structure STATUS VALUE 100 OK don t care Example Set OUT_2 to high bank 2 output 2 Mnemonic SIO 2 2 1 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 Bytel Byte0 Value hex 01 0e 07 02 00 00 00 01 H 6 E y E E A Motor cools tep Figure 3 1 Connectors I O PORTS USED FOR SIO AND COMMAND Pin 1 0 port Command Range 3 OUT 0 SIO 0 2 lt n gt 1 0 4 OUT_1 SIO 1 2 lt n gt 1 0 www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 34 ADDRESSING BOTH OUTPUT LINES WITH ONE SIO COMMAND Set the type parameter to 255 and the bank parameter to d 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 low
85. tion equals the 0 1 R reached target position 9 Ref switch The logical state of the reference home OI R status switch 10 Right limit The logical state of the right limit switch 0 1 R switch status 11 Left limit switch The logical state of the left limit switch in 0 1 R status three switch mode 12 Right limit If set deactivates the stop function of the 0 1 RWE switch disable right switch 13 Left limit switch Deactivates the stop function of the left 0 1 RWE disable switch resp reference switch if set 130 Minimum speed Should always be set 1 to ensure exact 0 2047 RWE reaching of the target position Default 1 L6MHz gpulse_divisor UStEPS 65536 sec 135 Actual The current acceleration read only 0 2047 R acceleration 138 Ramp mode Automatically set when using ROR ROL MST 0 1 2 RWE 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 140 Microstep O full step 0 8 RWE resolution 1 halt step 2 4 microsteps 3 8 microsteps 4 16 microsteps 5 32 microsteps 6 64 microsteps 7 128 microsteps 8 256 microsteps 149 Soft stop flag If cleared the motor will stop immed
86. used Choose one of these values for axis parameter 193 Value Description 1 search left stop switch only 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 positive direction ignore end switches 8 search home switch in negative direction ignore end switches Adding 128 to these values reverses the polarity of the home switch input The next two pages show all possible modes of reference search according to the specific commands on top of each drawing www trinamic com TMCM 1161 TMCL Firmware V1 29 Manual Rev 1 08 2014 OKT 07 SAP 193 0 1 m negative limit switch Search left stop switch only SAP 193 0 2 negative limit switch positive limit switch Search right stop switch then search left stop switch SAP 193 0 3 negative limit switch positive limit switch Search right stop switch then search left stop switch from both sides SAP 193 0 4 i negative limit switch Search left stop switch from both sides www trinamic com 70 TMCM 1161 TMCL Firmware V1 29 Manual
87. value Set global parameter module specific settings e g communication settings or TMCLTM user variables GGP 10 lt parameter gt lt bank number gt Get global parameter read out module specific settings e g communication settings or TMCLTM user variables STGP 11 lt parameter gt lt bank number gt Store global parameter TMCL user variables only RSGP 12 lt parameter gt lt bank number gt Restore global parameter TMCL user variable only RFS 13 START STOP ISTATUS lt motor number gt Reference search SIO 14 lt port numbers lt bank number gt lt value gt Set digital output to specified value GIO 15 lt port number gt lt bank number gt Get value of analogue digital input CALC 19 lt operation gt lt value gt Process accumulator amp value COMP 20 lt value gt Compare accumulator lt gt value JC 21 lt condition gt lt jump address gt Jump conditional JA 22 lt jump address gt Jump absolute CSUB 23 lt subroutine address gt Call subroutine RSUB 24 Return from subroutine EI 25 lt interrupt number gt Enable interrupt DI 26 lt interrupt number gt Disable interrupt WAIT 27 lt condition gt lt motor number lt ticks gt Wait with further program execution STOP 28 Stop program execution SCO 30 lt coordinate number gt lt motor number gt Set coordinate lt position gt GCO 31 lt coordinate number gt lt motor number gt Get coordinate CCo 32 lt coordinate number gt lt motor

TMCM-1161 TMCL Firmware Manual

Contents

Download Pdf Manuals

Related Search

Related Contents