Home

TMCM-1180 Firmware

1. en 19 4 5 1 Format of the Command Line ns 19 4 5 2 Format of a Reply aem tenen cei i e aa V aia Sar aeaa aea ie aae AAAA Aa EEn aaa 19 4 3 Configuring the ASCII Interface sees cenando iiaii eia 20 4 6 Commands utto oneal cheats a at ah heels batch ate LAETUS 21 461 ROR rotate righit c iicet a iet tet Re I nent ane dideaeca thes 21 Ibid ROL rotate lit iaa 22 406 3 IMST motor Stop nde nee ida 23 4 6 4 MVP move to POSI Nicanor d dun 24 46 5 SAP set axis parameter reiciendise 26 4 6 6 GAP get axis parameter seus Lese eati eate bond ete pe e le beu 27 4 6 7 STAP store axis parameter cccscsssssessssessssssssssssnssessssssessesssssassussessesssesnesesseenesesseenesesaeenesesasenesneatenees 28 4 68 RSAP restore axis parameter c cccsessessssessesssssssesessessssecsessesessssnesesssenesesseenesessesnesessesnesessesassessteneseeseenees 29 4 6 9 SGP set glob l pararieter 5 iiti ene ab eie Ch dedi aiai 30 4610 GGP get global parameter iet tierce a 31 4 6 11 STGP store global parameter sse enanas 32 4 6 12 RSGP restore global parameter sse tententtnttntte tette tte trente tentent nena 33 4 6 13 RES reference search intret Htec HG TIRE Ia HE HEU HARDER MEHR I EORR ERR LE RA ER 34 4 6 14 SIO set input output ciatis than t ndntacin Fibra T a tna AD enia bea 35 4 6 15 GIO get Input output a A a 37 46 16 CALC calculate tette dete t
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 Byte Byte1 Byte0 Value hex 01 1b 01 00 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 46 4 6 23 STOP stop TMCL program execution This function stops executing a TMCL program The host address and the reply are only used to transfer the instruction to the TMCL program memory This command should be placed at the end of every standalone TMCL program It is not to be used in direct mode Internal function TMCL instruction fetching is stopped Related commands none Mnemonic STOP Binary representation INSTRUCTION NO 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 Byte Byte1 Byte0 Value hex 01 1c 00 00 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 4 6 24 SCO set coordinate Up to 20 position values coordinates can be stored for every axis for use with the MVP COORD command This command sets a coordinate to a specified value Depending on the gl
3. This command is intended for standalone operation only Internal function The actual TMCL program counter value is saved to an internal stack afterwards overwritten with the passed value The number of entries in the internal stack is limited to 8 This also limits nesting of subroutine calls to 8 The command will be ignored if there is no more stack space left Related commands RSUB JA Mnemonic CSUB 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 lISave program counter and jump to label SubW MVP ABS 0 0 JA Loop SubW WAIT POS 0 0 WAIT TICKS 0 50 RSUB Continue with the command following the CSUB command Binary format of the CSUB SubW command assuming that the label SubW is at address 100 Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction T Motor Operand Operand Operand Operand address Number ype Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 17 00 00 00 00 00 64 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 4 6 21 RSUB return from subroutine Return from a subroutine to the command after the CSUB command 44 This command is intended for use in standalone mode only Internal function The TMCL program counter is se
4. When moving to a coordinate the coordinate has to be set properly in advance with the help of the SCO CCO or ACO command www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 26 4 6 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 5 Related commands GAP STAP RSAP AAP Mnemonic SAP parameter number 0 value Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 5 lt parameter number gt 0 value 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 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte Byte1 Byte0 Value hex 01 05 06 00 00 00 00 c8 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2
5. Configuration EEPROM locked Ov ur wir eR Command not available 4 3 Standalone Applications The module is equipped with an EEPROM for storing TMCL applications You can use TMCL IDE for developing standalone TMCL applications You can load them down into the EEPROM and then it will run on the module The TMCL IDE contains an editor and the TMCL assembler where the commands can be entered using their mnemonic format They will be assembled automatically into their binary representations Afterwards this code can be downloaded into the module to be executed there www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 4 4 TMCL Command Overview In this section a short overview of the TMCL commands is given 44 1 TMCL Commands Command Number Parameter Description ROR 1 motor number velocity Rotate right with specified velocity ROL 2 motor number velocity Rotate left with specified velocity MST 3 motor number Stop motor movement MVP 4 ABS REL COORD motor number Move to position absolute or relative position offset SAP 5 parameter motor number value Set axis parameter motion control specific settings GAP 6 parameter motor number Get axis parameter read out motion control specific settings STAP 7 pa
6. The following functions are for host control purposes only and are not allowed for standalone mode In most cases there is no need for the customer to use one of those functions except command 139 TMCL control commands have no mnemonics as they cannot be used in TMCL programs These Functions are to be used only by the TMCL IDE e g to download a TMCL application into the module CONTROL COMMANDS THAT COULD BE USEFUL FOR A USER HOST APPLICATION ARE get firmware revision command 136 please note the special reply format of this command described at the end of this section run application command 129 All other functions can be achieved by using the appropriate functions of the TMCL IDE Instruction 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 c
7. 1 Actual position The current position of the motor Should 272 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 19MHz puise divisor HStEPS parameter is set by hardware to the ee i maximum speed during acceleration and to zero during deceleration and rest 3 Actual speed The current rotation speed 2047 RW 16MHz gpulse aivisor d 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 uu Pe ER lt 50 or above the upper limit Sus de 5 Maximum The limit for acceleration and deceleration 0 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 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 ES 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 El als 88 95 168 175 248 255 16 23 96 103 176 183 24 31 104 111 184 191 32 3E 112 119 192 199 40 47 120 127 200 207 48 55 128 135 208 215
8. 2014 MAY 16 48 4 6 25 GCO get coordinate This command makes possible to read out a previously stored coordinate In standalone mode the requested value will be copied to the accumulator register for further processing purposes such as conditioned jumps In direct mode the value is only output in the value field of the reply without affecting the accumulator Please note that the coordinate number 0 is always stored in RAM only Depending on the global parameter 84 the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup with the default setting the coordinates are stored in RAM only Internal function the desired value is read out of the internal coordinate array copied to the accumulator register and in direct mode returned in the value field of the reply Related commands SCO CCO MVP Mnemonic GCO coordinate number 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 31 coordinate number 0 don t care 0 20 Reply in direct mode STATUS VALUE 100 OK don t care Example Get motor value of coordinate 1 Mnemonic GCO 1 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 1f 01 00 00 00 00 00 Reply Byte Index 0 1 2 3
9. 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 a va UU Rms lt value 255 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 63 Number Axis Parameter Description Range Unit Acc 7 Standby current The current limit two seconds after the motor 0 255 RWE has stopped Ipeax lt value gt x 22 Iams lt value gt x u 8 Target pos Indicates that the actual position equals the 0 1 R reached target position 9 Ref switch The logical state of the reference home 0 1 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 16MHz gpulse divisor Steps 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
10. INSTRUCTION NO TYPE MOT BANK VALUE 32 coordinate number 0 don t care 0 20 Reply in direct mode STATUS VALUE 100 OK don t care Example Store current position of the axis 0 to coordinate 3 Mnemonic CCO 3 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 20 03 00 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 50 4 6 27 ACO accu to coordinate valid from TMCL version 4 18 on With the ACO command the actual value of the accumulator is copied to a selected coordinate of the motor Depending on the global parameter 84 the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup with the default setting the coordinates are stored in RAM only Please note also that the coordinate number O is always stored in RAM only For Information about storing coordinates refer to the SCO command Internal function The actual value of the accumulator is stored in the internal position array Related commands GCO CCO MVP COORD SCO Mnemonic ACO coordinate number 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE lt coordinate number gt 39 0 20 0 don t care Reply in direct mode STATUS VALUE 100
11. Mnemonic STGP parameter number bank number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 11 parameter number bank number don t care 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 Byte Byte1 Byte0 Value hex 01 0b 2a 02 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 33 4 6 12 RSGP restore global parameter With this command the contents of a TMCL user variable can be restored from the EEPROM By default most parameters are automatically restored after power up A single parameter that has been changed before can be reset by this instruction For a table with parameters and bank numbers which can be used together with this command please refer to chapter 6 Internal function The specified parameter is copied from the configuration EEPROM memory to its RAM location Relate commands SAP STAP GAP and AAP Mnemonic RSAP parameter number 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 12 lt parameter number gt lt bank number gt don t care
12. Operand Operand Operand Operand address Number Bank Byte3 Byte Byte1 Byte0 Value hex 01 14 00 00 00 00 03 e8 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 41 4 6 18 JC jump conditional The JC instruction enables a conditional jump to a fixed address in the TMCL program memory if the specified condition is met The conditions refer to the result of a preceding comparison Please refer to COMP instruction for examples This function is for standalone operation only Internal function the TMCL program counter is set to the passed value if the arithmetic status flags are in the appropriate state s Related commands JA COMP WAIT CLE Mnemonic JC condition label where condition ZE NZ EQ NE GT GE LT LE ETO EAL EDV EPO Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 21 O 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 get axis parameter type no 1 actual position motor 0 value O don t care COMP 1000 Ilcompare actual value to 1000 JC GE Label Iljump type 5 gre
13. for further information about that 4 4 2 6 5 Using Interrupts in TMCL For using an interrupt proceed as follows Define an interrupt handling routine using the VECT command If necessary configure the interrupt using an SGP type 3 value command Enable the interrupt using an EI interrupt command Globally enable interrupts using an EI 255 command An interrupt handling routine must always end with a RETI command EXAMPLE FOR A TIMER INTERRUPT VECT o TimeroIrq 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 o 5o SIO 3 2 0 WAIT TICKS 0 50 JA Loop Here is the interrupt handling routine TimeroIrq GIO o 2 check if OUTo is high JC NZ OutoOff jump if not SIO 0 2 1 switch OUTo high RETI end of interrupt OutoOff SIO o 2 O switch OUTo low RETI end of interrupt In the example above the interrupt numbers are used directly To make the program better readable use the provided include file Interrupts inc This file defines symbolic constants for all interrupt numbers www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 18 which can be used in all interrupt commands The beginning of the program above then looks like the fo
14. 1 0 port Command Range 2 5 STOP L 1 6 4 STOP R SIO 0 O lt bitmask gt 0 7 5 HOME www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 37 4 6 15 GIO get input output With this command the status of the two available general purpose inputs of the module can be read out The function reads a digital or analogue input port Digital lines will read O and 1 while the ADC channels deliver their 10 bit result in the range of 0 1023 GIO IN STANDALONE MODE In standalone mode the requested value is copied to the accumulator accu for further processing purposes such as conditioned jumps GIO IN DIRECT MODE In direct mode the value is only output in the value field of the reply without affecting the accumulator The actual status of a digital output line can also be read Internal function The specified line is read Related commands SIO WAIT Mnemonic GIO lt port number gt lt bank number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 15 lt port number gt lt bank number gt don t care Reply in direct mode STATUS VALUE 100 OK lt status of the port gt 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 Byte Byte
15. 4 5 6 7 Function Target Target Status Instruction Operand Operand Operand Operand address address Byte3 Byte Byte1 Byte0 Value hex 02 01 64 0a 00 00 00 00 gt Value 0 Two special functions of this command have been introduced that make it possible to copy all coordinates or one selected coordinate from the EEPROM to the RAM GCO 0 255 0 copies all coordinates except coordinate number 0 from the EEPROM to the RAM GCO coordinate number 255 0 copies the coordinate selected by coordinate number from the EEPROM to the RAM The coordinate number must be a value between 1 and 20 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 4 6 26 CCO capture coordinate The actual position of the axis is copied to the selected coordinate variable Depending on the global parameter 84 the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup with the default setting the coordinates are stored in RAM only Please see the SCO and GCO commands on how to copy coordinates between RAM and EEPROM 49 Note that the coordinate number 0 is always stored in RAM only Internal function The selected position values are written to the 20 by 3 bytes wide coordinate array Related commands SCO GCO MVP Mnemonic CCO coordinate number 0 Binary representation
16. GLOBAL PARAMETERS ARE GROUPED INTO 4 BANKS bank 0 global configuration 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 6 1 Bank 0 Parameters with numbers from 64 on configure stuff like the serial address of the module RS232 RS485 baud rate or the CAN bit rate Change these parameters to meet your needs The best and easiest way to do this is to use the appropriate functions of the TMCL IDE The parameters with numbers between 64 and 128 are stored in EEPROM only Attention An SGP command on such a parameter will always store it permanently and no extra STGP command is needed Take care when changing these parameters and use the appropriate functions of the TMCL IDE to do it in an interactive way MEANING OF THE LETTERS IN COLUMN ACCESS Access Related Description Type Command s 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
17. PC the data direction is controlled by the RTS pin of the COM port Please note that this will only work with Windows 2000 Windows XP or Windows NT4 not with Windows 95 Windows 98 or Windows ME due to a bug in these operating systems Another problem is that Windows 2000 XP NT4 switches the direction back to receive too late To overcome this problem set the telegram pause time global parameter 75 of the module to 15 or more if needed by issuing an SGP 75 0 15 command in direct mode The parameter will automatically be stored in the configuration EEPROM For RS232 set the telegram pause time to zero for maximum data throughput www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 77 8 TMCL Programming Techniques and Structure 8 1 Initialization The first task in a TMCL program like in other programs also is to initialize all parameters where different values than the default values are necessary For this purpose SAP and SGP commands are used 8 2 Main Loop Embedded systems normally use a main loop that runs infinitely This is also the case in a TMCL application that is running stand alone Normally the auto start mode of the module should be turned on After power up the module then starts the TMCL program which first does all necessary initializations and then enters the main loop which does all necessary tasks end never ends only when the module is powered off or re
18. Rev 1 10 2014 MAY 16 9 Life Support Policy TRINAMIC Motion Control GmbH amp Co KG does not authorize or warrant any of its products for use in life support systems without the specific written consent of TRINAMIC Motion Control GmbH amp Co KG Life support systems are equipment intended to support or sustain life and whose failure to perform when properly used in accordance with instructions provided can be reasonably expected to result in personal injury or death TRINAMIC Motion Control GmbH amp Co KG 2010 2014 Information given in this data sheet is believed to be accurate and reliable However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties which may result from its use Specifications are subject to change without notice All trademarks used are property of their respective owners www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 81 10 Revision History 10 1Firmware Revision Version Date Description 4 26 2010 APR 26 First version supporting all TMCL features 4 27 2010 JUL 05 Firmware updates for other modules 4 28 2010 AUG 09 RFS start resets deviation flags too Thus a reference search is stopped if an encoder deviation is detected 4 29 4 36 2011 DEC 01 Firmware updates for other modules 4 37 2012 JAN 06 Axis parameter 200
19. W SGP AGP Parameter writable INTERRUPT PARAMETERS BANK 3 Number Global parameter Description Range Access 0 Timer 0 period ms Time between two interrupts ms O RW 4 294 967 295 ms 1 Timer 1 period ms Time between two interrupts ms O RW 4 294 967 295 ms 2 Timer 2 period ms Time between two interrupts ms O RW 4 294 967 295 ms 27 Stop left 0 trigger transition O off 1 low high 2 high low 0 3 RW 3 both 28 Stop right O trigger transition O off 1 low high 2 high low 0 3 RW 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 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 74 7 Hints and Tips This chapter gives some hints and tips on using the functionality of TMCL for example how to use and parameterize the built in reference point search algorithm or the incremental encoder interface 7 1 Reference Search The built in reference search features switching point calibration and support of one or two reference switches The internal operation is based on a state machine that can be started stopped and monitored instruction RFS no 13 The settings of the automatic stop functions corresponding to the switches axis parameters 12 and 13 have no influence on the reference sea
20. can change a user variable that is polled by the host using a direct mode GGP command A TMCL program can be started by the host using the run command in direct mode This way also a set of TMCL routines can be defined that are called by a host In this case it is recommended to place JA commands at the beginning of the TMCL program that jump to the specific routines This assures that the entry addresses of the routines will not change even when the TMCL routines are changed so when changing the TMCL routines the host program does not have to be changed Example Jump commands to the TMCL routines Funcl JA FunclStart Func2 JA Func2Start Func3 JA Func3Start FunclStart MVP ABS 0 1000 WAIT POS 0 O MVP ABS 0 O WAIT POS 0 O STOP Func2Start ROL 0 500 WAIT TICKS 0 100 MST 0 STOP Func3Start ROR 0 1000 WAIT TICKS 0 700 MST 0 STOP This example provides three very simple TMCL routines They can be called from a host by issuing a run command with address 0 to call the first function or a run command with address 1 to call the second function or a run command with address 2 to call the third function You can see the addresses of the TMCL labels that are needed for the run commands by using the Generate symbol file function of the TMCL IDE Please refer to the TMCL IDE User Manual for further information about the TMCL IDE www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual
21. current 1 3 RW current up step 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 172 smartEnergy The lower threshold for the stallGuard2 0 15 RW hysteresis start value see smart Energy current up step 173 stallGuard2 Enables the stallGuard2 filter for more 0 1 RW filter enable precision of the measurement If set reduces the measurement frequency to one measurement per four fullsteps In most cases it is expedient to set the filtered mode before using coolStep Use the standard mode for step loss detection 0 standard mode 1 filtered mode 174 stallGuard2 This signed value controls stallGuard2 64 63 RW threshold threshold level for stall output and sets the optimum measurement range for readout A lower value gives a higher sensitivity Zero is the starting value A higher value makes stallGuard2 less sensitive and requires more torque to indicate a stall 0 Indifferent value 1 63 less sensitivity 1 64 higher sensitivity 175 Slope control Determines the slope of the motor driver 0 3 RW high side outputs Set to 2 or 3 for this module or rather use the default value 0 lowest slope 3 fastest slope www trinamic com TMCM 1180 and PD86 1
22. driver This makes possible choosing a velocity between 0 and 2047 Related commands ROL MST SAP GAP Mnemonic ROR 0 velocity Binary representation INSTRUCTION NO 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 address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 01 00 00 00 00 01 5e www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 22 4 6 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 TMC428 429 stepper motor controller and the TMC262A PC power driver This makes possible choosing a velocity between 0 and 2047 Related commands ROR MST SAP GAP Mnemonic ROL 0 velocity Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 2 don t care 0 velocity 0 20
23. 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 half step 2 4 microsteps 3 8 microsteps 4 16 microsteps 5 32 microsteps 6 64 microsteps 7 128 microsteps 8 256 microsteps 141 Ref switch For three switch mode a position range 0 4095 RW tolerance where an additional switch connected to usteps the REFL input won t cause motor stop 149 soft stop flag If cleared the motor will stop immediately 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 TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 64 Number Axis Parameter Description Range Unit Acc 160 Step Step interpolation is supported with a 16 0 1 RW inter
24. the CS Current Scale see axis parameter 6 value I168 minimum Minimum motor current SEIMIN 0 1 2 of CS 1 1 4 of CS Sets the number of stallGuard2 readings above the upper threshold necessary for each current decrement of the motor 1169 smartEnergy current down current Number of stallGuard2 measurements per decrement step Scaling 0 3 32 8 2 1 0 slow decrement 3 fast decrement Sets the current increment step The current becomes incremented for each measured stallGuard2 value below the lower threshold see smartEnergy hysteresis start 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 smartinengy Slow TUR speed Please adjust the threshold speed with axis parameter current 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 SG181 stop on stall Motor stop in case of stall V182 smartEnergy threshold speed Above this speed coolStep becomes enabled Standstill period before the current is changed down to T214 power down delay standby current The standard value is 200 value equates 2000msec www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 70 6 Global Parameters
25. the current in the coolStep area depending on the load has to be configured with parameters Iy 9 and 1474 In this chapter only basic axis parameters are mentioned which concern coolStep and stallGuard2 The complete list of axis parameters in chapter 5 contains further parameters which offer more possibilities for configuration coolStep M adjustment points and thresholds Velocity Current The current depends on the load of the motor I7 ae Time T214 E coolStep area area without coolStep 2 123 Current and parameter V123 Velocity and parameter T123 Time parameter S123 stallGuard27 parameter The lower threshold of the coolStep current can be adjusted up to I6 4 Refer to parameter 168 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 69 Number Axis parameter Description The maximum value is 255 This value means 100 of the maximum current of the module The current adjustment is E mox cane within the range O 255 and can be adjusted in 32 steps 0 I6 CS I Current Scale i 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 I7 standby current The current limit two seconds after the motor has stopped Sets the lower motor current limit for coolStep operation by smartEnergy current scaling
26. will be erased first When changing this value from 1 or 3 to 0 or 2 the TMCL program will be erased 82 CAN heartbeat Heartbeat for CAN interface If this time limit ms RWE is exceeded and no further command is noticed the motor will be stopped O parameter is disabled 83 CAN secondary Second CAN ID for the module Switched off 0 7ff RWE address when set to zero 85 Do not store user o user variables are restored default 0 1 RWE variables 1 user variables are not restored 87 Serial secondary Second module target address for RS232 0 255 RWE address RS485 128 TMCL application 0 stop O 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 0 2147483647 RW 6 2 Bank 1 The global parameter bank 1 is normally not available It may be used for customer specific extensions of the firmware Together with user definable commands these variables form the interface between extensions of the firmware written in C and TMCL applications www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 6 3 Bank 2 Bank 2 contain
27. 0 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 Byte Byte1 Byte0 Value hex 01 22 00 00 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 53 4 6 30 AGP accumulator to global parameter The content of the accumulator register is transferred to the specified global parameter For practical usage the accumulator has to be loaded e g by a preceding GAP instruction The accumulator may have been modified by the CALC or CALCX calculate instruction Note The global parameters in bank 0 are EEPROM only and thus should not be modified automatically by a standalone application Related commands AAP SGP GGP SAP GAP Mnemonic AGP parameter number bank number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 35 parameter number bank number don t care Reply in direct mode STATUS VALUE 100 OK don t care For a table with parameters and bank numbers which can be used together with this command please refer to chapter 6 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 Opera
28. 014 MAY 16 27 4 6 6 GAP get axis parameter Most parameters of the TMCM 1180 can be adjusted individually for the axis With this parameter they can be read out In standalone mode the requested value is also transferred to the accumulator register for further processing purposes such as conditioned jumps In direct mode the value read is only output in the value field of the reply without affecting the accumulator For a table with parameters and values which can be used together with this command please refer to chapter 5 Internal function The parameter is read out of the correct position in the appropriate device The parameter format is converted adding leading zeros or ones for negative values Related commands SAP STAP AAP RSAP Mnemonic GAP lt parameter number gt 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 6 lt parameter number gt 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 Get the actual position of motor Mnemonic GAP 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 Byte Byte1 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 Instruction Operand Oper
29. 1 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 Instructi Operand Operand Operand Operand address address on Byte3 Byte2 Bytel ByteO Value hex 02 01 64 Sof 00 00 01 Sta gt value 506 4 6 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 T O port Command Range gt Y 4 a 3 OUT 0 SIO 0 2 n n 0 1 1 0 4 OUT 1 SIO 1 2 n n 0 1 1 0 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 38 READING ALL DIGITAL INPUTS WITH ONE GIO COMMAND Set the type parameter to 255 and the bank parameter to 0 In this case the status of all digital input lines will be read to the lower eight bits of the accumulator USE FOLLOWING PROGRAM TO REPRESENT THE STATES OF THE INPUT LINES ON THE OUTPUT LINES Loop GIO 255 0 SIO 255 2 1 JA Loop THE FOLLOWING COMMAND CAN BE USED FOR READING OUT THE ENABLE PIN OC EN OF THE STEP DIR INTERFACE GIO 12 0 4 6 15 2 I O bank 1 analogue inputs The ADIN lines can be read back as digital or analogue inputs at the same time The digital states can be accessed in bank 0 Pin 1 0 Command Range 1 6 port 1 IN 0 GIO 0 1 0 1023 2 IN 1 GIO 1 1 0 1023 4 6 15 3
30. 1 search left stop switch only 1 3 RWE mode 2 search right stop switch then search left stop switch 3 search right stop switch then search left stop switch from both sides Adding 128 to these values reverses the polarity of the home switch input 194 Reference search For the reference search this value directly 0 2047 RWE speed specifies the search speed 195 Reference switch Similar to parameter no 194 the speed for 0 2047 RWE speed the switching point calibration can be selected 196 Reference switch This parameter provides the distance between 0 2 147 483 647 R distance the end switches after executing the RFS command mode 2 or 3 200 Boost current Current used for acceleration and deceleration 0 255 RWE phases If set to 0 the same current as set by axis parameter 6 will be used Ipeak lt value gt x 255 Igus lt value gt x 255 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 67 Number Axis Parameter Description Range Unit Acc 204 Freewheeling Time after which the power to the motor 0 65535 RWE will be cut when its velocity has reached O never zero msec 206 Actual load Readout of the actual load value with used 0 1023 R value for stall detection stallGuard2 208 TMC262 driver Bit 0 stallGuard2 status 0 1 R error flags 1 threshold reached Bit 1 Overte
31. 180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 66 Number Axis Parameter Description Range Unit Acc 176 Slope control Determines the slope of the motor driver 0 3 RW low side outputs Set identical to slope control high side 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 2yus 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 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 enabled 0 2047 RW threshold speed 16MHZ divisor UStEPS 65536 sec 183 smartEnergy Sets the motor current which is used below 0 255 RW slow run current the threshold speed Iyeax lt value gt x zc Iams lt value gt x 255 193 Reference search
32. 2 feature the load of the motor can be detected with high resolution The module is designed to be mounted directly on an 86mm flange QMot stepper motor Electrical data Supply voltage 24V DC or 48V DC nominal Motor current up to 5 5A RMS programmable PANdrive motor Two phase bipolar stepper motor with up to 5 5A RMS nom coil current Holding torque 7Nm Encoder Integrated sensOstep magnetic encoder max 256 increments per rotation e g for step loss detection under all operating conditions and positioning Integrated motion controller Motion profile calculation in real time TMC428 429 motion controller On the fly alteration of motor parameters e g position velocity acceleration High performance microcontroller for overall system control and serial communication protocol handling Bipolar stepper motor driver Up to 256 microsteps per full step High efficient operation low power dissipation Dynamic current control Integrated protection stallGuard2 feature for stall detection coolStep feature for reduced power consumption and heat dissipation Interfaces inputs for stop switches left and right and home switch general purpose inputs and 2 general purpose outputs USB RS232 RS485 and CAN 2 0B up to 1Mbit s communication interfaces Safety features Shutdown input The driver will be disabled in hardware as long as this pin is left open or shorted to ground Separate supply voltage inputs for driver and digital log
33. 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 Unit of acceleration www trinamic com 536870912 2puls_divisor ramp_divisor 16MHz microsteps sec TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 68 5 1 coolStep Related Parameters The figure below gives an overview of the coolStep related parameters Please have in mind that the figure shows only one example for a drive There are parameters which concern the configuration of the current Other parameters are for velocity regulation and for time adjustment THE FOLLOWING ADJUSTMENTS HAVE TO BE MADE Thresholds for current Ig I and I483 and velocity V455 have to be identified and set The stallGuard2 feature has to be adjusted and enabled with parameters SG479 and S6G4g4 The reduction or increasing of
34. 4 6 33 El enable interrupt ccessssssscsssssssssessssessessssesessesecsessesnssessesssesncsssesuesesseenesusseeaesessesnesesseeaesesseeassneeeenees 56 4 6 34 DI disable A 57 4 6 35 RETI return from interrupt cccccsssessessssscsssssssssesessessessssessessssesassueseesesesseenesesseenesesseeaesesasenesessseneseessenees 58 4 6 36 Customer Specific TMCL Command Extension UFO UF7 User Function 58 4 6 37 Request Target Position Reached Event een 59 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 4 6 38 BIN return to binary mode cccsssessessssessssessessssessessesecsessescsesassnssessesesseenesessssnesessesnesesssensseessensseestenees 59 4 6 39 TMCL Control FUNCIONS hiite Rte i od rialetan adaha erle at 60 5 oAxis Pararteters ot eon aa A ita 62 5 1 coolStep Related Parameters c cscsssssssssssssssssssssscscscsesssssssssssscscscscscscsssesessssssssesesescscssseesseseeesssesescacscsesesesees 68 6 Global Parameters3 cicitexius SHEER RR oi hate Sn Biete asia les 70 6 1 SEDI SUCRE E XX 70 6 2 Bank di a aM T AME O LN EUR EI AC ETE eMe 72 6 3 A it ANN a id uox CC Ne LAN LARA LO C b Lo cu Lcd EL 73 6 4 Bank 3 A detur e triti itti ue eure n d SE RU A IRURE reci tede 73 T Hints and E EE lid 74 7 1 Reference Search e A is 74 7 2 Changing the Prescaler Value of an Encoder sesenta tnnt tete 75 7 3 S
35. 47 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 Byte Byte1 Byte0 Value hex 01 02 00 00 00 00 04 b0 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 23 4 6 3 MST motor stop With this command the motor will be instructed to stop Internal function The axis parameter target velocity is set to zero Related commands ROL ROR SAP GAP Mnemonic MST 0 Binary representation INSTRUCTION NO 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 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 03 00 00 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 24 4 6 4 MVP move to position With this command the motor will be inst
36. 485 RS232 USB CAN to the bus master Only then should the master transfer the next command Normally the module will just switch to transmission and occupy the bus for a reply otherwise it will stay in receive mode It will not send any data over the interface without receiving a command first This way any collision on the bus will be avoided when there are more than two nodes connected to a single bus The Trinamic Motion Control Language TMCL provides a set of structured motion control commands Every motion control command can be given by a host computer or can be stored in an EEPROM on the TMCM module to form programs that run standalone on the module For this purpose there are not only motion control commands but also commands to control the program structure like conditional jumps compare and calculating Every command has a binary representation and a mnemonic The binary format is used to send commands from the host to a module in direct mode whereas the mnemonic format is used for easy usage of the commands when developing standalone TMCL applications using the TMCL IDE IDE means Integrated Development Environment There is also a set of configuration variables for the axis and for global parameters which allow individual configuration of nearly every function of a module This manual gives a detailed description of all TMCL commands and their usage 4 1 Binary Command Format Every command has a mnemonic and a binary represent
37. 76 7 3 stallGuard2 The module is equipped with TMC262A PC motor driver chip The TMC262A PC features load measurement that can be used for stall detection stallGuard2 delivers a sensorless load measurement of the motor as well as a stall detection signal The measured value changes linear with the load on the motor in a wide range of load velocity and current settings At maximum motor load the stallGuard value goes to zero This corresponds to a load angle of 90 between the magnetic field of the stator and magnets in the rotor This also is the most energy efficient point of operation for the motor Ax Start value depends on motor and 700 di operating conditions stallGuard value reaches zero Motor stalls above this point 500 and indicates danger of stall Load angle exceeds 90 and T This point is set by stallGuard ng A 400 threshold value SGT available torque sinks 300 200 100 0 10 20 30 40 50 60 70 80 90 100 motor load max torque Figure 7 4 Principle function of stallGuard2 Stall detection means that the motor will be stopped when the load gets too high It is configured by axis parameter 174 Stall detection can also be used for finding the reference point Do not use RFS in this case Mixed decay should be switched off when stallGuard2 operational in order to get usable results 7 4 Using the RS485 interface With most RS485 converters that can be attached to the COM port of a
38. I O bank 2 the states of digital outputs The states of the OUT lines that have been set by SIO commands can be read back using bank 2 b Pin 1 0 Command Range E XI port ii 5 3 OUT 0 GIO 0 2 n 1 0 4 OUT 1 GIO 1 2 lt n gt 1 0 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 39 4 6 16 CALC calculate A value in the accumulator variable previously read by a function such as GAP get axis parameter can be modified with this instruction Nine different arithmetic functions can be chosen and one constant operand value must be specified The result is written back to the accumulator for further processing like comparisons or data transfer Related commands CALCX COMP JC AAP AGP GAP GGP GIO Mnemonic CALC operation value where op is ADD SUB MUL DIV MOD AND OR XOR NOT or LOAD Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 19 0 ADD add to accu don t care operand 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
39. K VALUE 10 see chapter 6 bank number 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 Byte Byte1 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 Instruction Operand Operand Operand Operand address address Byte3 Byte Byte1 Byte0 Value hex 02 01 64 0a 00 00 00 01 c Status no error Value 1 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 4 6 11 STGP store global parameter This command is used to store TMCL user variables permanently in the EEPROM of the module Some global parameters are located in RAM memory so without storing modifications are lost at power down This instruction enables enduring storing Most parameters are automatically restored after power up 32 For a table with parameters and bank numbers which can be used together with this command please refer to chapter 6 Internal function The specified parameter is copied from its RAM location to the configuration EEPROM Related commands SGP GGP RSGP AGP
40. MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive Firmware Version V4 45 TMCL FIRMWARE MANUAL TMCM 1180 PD86 1180 1 Axis Stepper Controller Driver 5 5A RMS 24 or 48V DC USB RS232 RS485 and CAN coolStep stallGuard2 A TRINAMIC Motion Control GmbH amp Co KG Hamburg Germany www trinamic com MOTION CONTROL TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 Table of Contents LEAN ia 4 2 OVERVICW P 5 3 Putting the PD86 1180 into Operation as 6 A A piso ete ta ecu eR ERN RBRRU Ee RI E HER Re Uu BR RR NA ETAT 6 3 2 Testing with a Simple TMCL Program ssssssessesene nenas 9 3 3 Operating the Module in Direct MOde s scsecessesecesesecessesesessesessseeeeeseseeseseeeeaeseseseeeeesaeseeeeasseeeseeseeaees 10 A gt TIME and TMCESIDE 9e e a EE RETI E ae EE EET 11 4 1 Binary Command Format sss sees edes dese estere eie aa deese ete ete eue Deuce date 11 4 2 Reply Format esed ltda ee teca 12 Alen Status Cod RR P M m 13 4 3 Standalone Applications cscssscsssssssssssessssssssscscsescsssssssssssssscsesesescscscscssssssseseseseacscscsseeseseessesesescacacsesesesees 13 44 TMEL Command QVerview uuse id 14 441 TMCL Commands cde Red ie dee eie huile ED lev AA is 14 44 2 Commands Listed According to Subject Area sese nentes 15 4 5 Iss seii i rice r E
41. Motor Bank Value 1 ROR rotate right v 0 don t care D Motor 0 x 100 Copy Copy to editor Manual Instruction Input Address Instruction Type Motor Bank Value Datagram S 0 0 0 0 amp 070000 00 00 00 00 00 07 Execute Answer Host Target Status Instr Value Datagram 2 1 100 l 100 02 01 64 01 00 00 00 64 CC Close Examples ROR rotate right motor 0 value 100 gt Click Execute The first motor is rotating now MST motor stop motor 0 gt Click Execute The first motor stops now Note Chapter 5 axis parameters includes a diagram which shows important coolStep related axis parameters and their functions www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 11 4 TMCL and TMCL IDE The TMCM 1180 supports TMCL direct mode binary commands or ASCII interface and standalone TMCL program execution You can store up to 2048 TMCL instructions on it In direct mode and most cases the TMCL communication over RS485 RS232 USB or CAN follows a strict master slave relationship That is a host computer e g PC PLC acting as the interface bus master will send a command to the TMCL 1180 The TMCL interpreter on the module will then interpret this command do the initialization of the motion controller read inputs and write outputs or whatever is necessary according to the specified command As soon as this step has been done the module will send a reply back over RS
42. Motor Operand Operand Operand Operand address Number YP Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 07 04 00 00 00 00 00 The STAP command will not have any effect when the configuration EEPROM is locked refer to 6 1 In direct mode the error code 5 configuration EEPROM locked see also section 4 2 1 will be returned in this case www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 29 4 6 8 RSAP restore axis parameter For all configuration related axis parameters non volatile memory locations are provided By default most parameters are automatically restored after power up A single parameter that has been changed before can be reset by this instruction also For a table with parameters and values which can be used together with this command please refer to chapter 5 Internal function The specified parameter is copied from the configuration EEPROM memory to its RAM location Relate commands SAP STAP GAP and AAP Mnemonic RSAP parameter number 0 Binary representation INSTRUCTION NO 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 By
43. OK don t care Example Copy the actual value of the accumulator to coordinate 1 of motor 0 Mnemonic ACO 1 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 27 01 00 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 51 4 6 28 CALCX calculate using the X register This instruction is very similar to CALC but the second operand comes from the X register The X register can be loaded with the LOAD or the SWAP type of this instruction The result is written back to the accumulator for further processing like comparisons or data transfer Related commands CALC COMP JC AAP AGP Mnemonic CALCX operation with 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 don t care don t care 1 SUB subtract X register from accu 2 MUL multiply accu by X register 3 DIV divide accu by X register 4 MOD modulo divide accu by x register 5 AND logical and accu with X register 6 OR logical or accu with X register 7 XOR logical exor accu with X register 8 NOT logical invert X register 9 LOAD load accu to X register 10 SWAP swap accu with X register Example Multiply ac
44. Operand Operand Operand address Number Bank Byte3 Byte Byte1 Byte0 Value hex 01 13 02 00 SFF SFF SEC 78 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 40 4 6 17 COMP compare The specified number is compared to the value in the accumulator register The result of the comparison can for example be used by the conditional jump JC instruction This command is intended for use in standalone operation only Internal function The specified value is compared to the internal accumulator which holds the value of a preceding get or calculate instruction see GAP GGP CALC CALCX The internal arithmetic status flags are set according to the comparison result Related commands JC jump conditional GAP GGP CALC CALCX Mnemonic COMP value Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 20 don t care don t care comparison value Example Jump to the address given by the label when the position of motor is greater than or equal to 1000 GAP 1 2 0 IIget axis parameter type no 1 actual position motor 0 value O don t care COMP 1000 Ilcompare actual value to 1000 JC GE Label Ihump 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
45. Reply structure in direct mode STATUS VALUE 100 OK don t care Example Restore user variable 42 Mnemonic RSGP 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 Byte1 Byte0 Value hex 01 0c 2a 02 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 34 4 6 13 RFS reference search The TMCM 1180 has a built in reference search algorithm which can be used The reference search algorithm provides switching point calibration and three switch modes The status of the reference search can also be queried to see if it has already finished In a TMCL program it is better to use the WAIT command to wait for the end of a reference search Please see the appropriate parameters in the axis parameter table to configure the reference search algorithm to meet your needs chapter 5 The reference search can be started stopped and the actual status of the reference search can be checked Internal function The reference search is implemented as a state machine so interaction is possible during execution Related commands WAIT Mnemonic RFS lt START STOP STATUS gt 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE O START start ref search 13 1 STOP abort ref search 0 see below 2 S
46. TATUS 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 no ref search active other values 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 Byte1 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 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 35 4 6 14 SIO set input output SIO sets the status of the general digital output either to low 0 or to high 1 Bank 2 is used for this purpose SIO is also used to switch the pull up resistors for all digital inputs ON or OFF 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 port number bank number value Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 14 port number bank number j ws Reply structure STATUS VALUE 100 OK don t care Example Set OUT 7 t
47. accumulator to an axis parameter AGP 35 Copy accumulator 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 4 4 2 6 Interrupt Commands Due to some customer requests interrupt processing has been introduced in the TMCL firmware s Mnemonic Command number Meaning ET 25 Enable interrupt DI 26 Disable interrupt VECT 37 Set interrupt vector RETI 38 Return from interrupt 4 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 symboli
48. and Operand Operand address address Byte3 Byte Byte1 Byte0 Value hex 02 01 64 06 00 00 02 c7 c status no error position 711 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 28 4 6 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 For a table with parameters and values which can be used together with this command please refer to chapter 5 Internal function An axis parameter value stored in SRAM will be transferred to EEPROM and loaded from EEPORM after next power up Related commands SAP RSAP GAP AAP Mnemonic STAP parameter number 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 7 parameter number on don t care motor 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 STATUS VALUE 100 OK don t care Parameter ranges Parameter number Motor number Value s chapter 5 0 s chapter 5 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 Tvpe
49. aracter the address character has to be sent The address character is A when the module address is 1 B for modules with address 2 and so on After the address character there may be spaces but this is not necessary Then send the command with its parameters At the end of a command line a CR character has to be sent EXAMPLES FOR VALID COMMAND LINES AMVP ABS 1 50000 A MVP ABS 1 50000 AROL 2 500 A MST 1 ABIN The command lines above address the module with address 1 To address e g module 3 use address character C instead of A The last command line shown above will make the module return to binary mode 4 5 2 Format of a Reply After executing the command the module sends back a reply in ASCII format The reply consists of the address character of the host host address that can be set in the module the address character of the module the status code as a decimal number the return value of the command as a decimal number a CR character So after sending AGAP 0 1 the reply would be BA 100 5000 if the actual position of axis 1 is 5000 the host address is set to 2 and the module address is 1 The value 100 is the status code 100 that means command successfully executed www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 20 4 5 3 Configuring the ASCII Interface The module can be configured so that it starts up either in binary mode or in ASCII mode Global para
50. as reached its target position This instruction can only be used in direct mode in standalone mode it is covered by the WAIT command and hence does not have a mnemonic Internal function Send an additional reply when the motor has reached its target position Mnemonic Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 138 0 1 don t care 1 Reply in direct mode right after execution of this command Byte Index 0 1 2 3 4 5 6 7 Function Target Target Status Instruction Operand Operand Operand Operand address address Byte3 Byte Byte1 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 Instruction Operand Operand Operand Operand address address Byte3 Byte Byte1 Byte0 Value hex 02 01 128 138 00 00 00 Motor bit mask 4 6 38 BIN return to binary mode This command can only be used in ASCII mode It quits the ASCII mode and returns to binary mode Related Commands none Mnemonic BIN Binary representation This command does not have a binary representation as it can only be used in ASCIT mode www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 4 6 39 TMCL Control Functions 60
51. ater 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 Byte Byte1 Byte0 Value hex 01 15 05 00 00 00 00 0a www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 42 4 6 19 JA jump always Jump to a fixed address in the TMCL program memory This command is intended for standalone operation only Internal function the TMCL program counter is set to the passed value Related commands JC WAIT CSUB Mnemonic JA Label Binary representation INSTRUCTION NO TYPE MOT BANK VALUE don t care don t care jump address gt Example An infinite loop in TMCL Loop MVP ABS 0 10000 WAIT POS 0 0 MVP ABS 0 0 WAIT POS 0 0 JA Loop IlJump 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 Byte Byte1 Byte0 Value hex 01 16 00 00 00 00 00 14 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 43 4 6 20 CSUB call subroutine This function calls a subroutine in the TMCL program memory
52. ation 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 This is different when communicating is via the CAN bus Address and checksum are included in the CAN standard and do not have to be supplied by the user The binary command format for RS232 RS485 USB is as follows Bytes Meaning Module address Command number Type number Value MSB first 1 1 1 1 Motor or Bank number 4 1 Checksum The checksum is calculated by adding up all the other bytes using an 8 bit addition When using CAN bus just leave out the first byte module address and the last byte checksum www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 12 CHECKSUM CALCULATION As mentioned above the checksum is calculated by adding up all bytes including the module address byte using 8 bit addition Here are two examples to show how to do this in C unsigned char i Checksum unsigned char Command 9 Set the Command array to the desired command Chec
53. boost current new 4 38 4 40 2012 JUN 20 Firmware updates for other modules 4 41 2012 SEP 21 Global parameter 87 new Reference search the last position before setting the counter to zero can be read out with axis parameter 197 4 42 2012 NOV 20 Global parameter 82 CAN heart beat new Global parameter 85 do not store user variables new Axis parameter 254 step dir mode new Axis parameter 200 boost current new Axis parameter 215 absolute encoder value new 4 43 2013 FEB 20 Not deployed 4 44 2013 OKT 15 Not deployed 4 45 21 01 2014 Improved USB connection Improved command request target position reached 10 2Document Revision Version Date Author Description 1 00 2010 JUN 28 SD Initial version 1 01 2010 AUG 31 SD Minor corrections 1 02 2010 SEP 16 SD Paragraph Changing the Prescaler Value of an Encoder completed 1 03 2010 NOV 19 SD Value range of axis parameter 215 corrected 1 04 2010 DEC 22 SD Units of axis parameters 130 182 and 183 corrected Diagram for coolStep related parameters added Value range of axis parameter 206 corrected Axis parameter 1 05 2011 FEB 21 SD 205 deleted The functionality of this parameter is handled by parameter 174 1 06 2011 MAR 21 SD Minor changes 1 07 2011 SEP 13 SD Axis parameter 181 corrected 1 08 2012 NOV 20 SD Global parameter 65 updated Chapter 8 new TMCL programming techniques and structures Changes related to TRINAMICs design G
54. c constants of the interrupt numbers 4426 2 Interrupt Processing When an interrupt occurs and this interrupt is enabled and a valid interrupt vector has been defined for that interrupt the normal TMCL program flow will be interrupted and the interrupt handling routine will be called Before an interrupt handling routine gets called the context of the normal program will be saved automatically i e accumulator register X register TMCL flags On return from an interrupt handling routine the context of the normal program will automatically be restored and the execution of the normal program will be continued There is no interrupt nesting i e all other interrupts are disabled while an interrupt handling routine is being executed www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 17 4 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 Stall stallauard2 21 Deviation 27 Stop left 28 Stop right 39 IN 0 change 40 IN 1 change 4 42 6 Further Configuration of Interrupts Some interrupts need further configuration e g the timer interval of a timer interrupt This can be done using SGP commands with parameter bank 3 SGP type 3 value Please refer to the SGP command paragraph 4 6 9
55. cu 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 Byte Byte1 Byte0 Value hex 01 21 02 00 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 4 6 29 AAP accumulator to axis parameter The content of the accumulator register is transferred to the specified axis parameter For practical usage the accumulator has to be loaded e g by a preceding GAP instruction The accumulator may have been modified by the CALC or CALCX calculate instruction 52 For a table with parameters and values which can be used together with this command please refer to chapter 5 Related commands AGP SAP GAP SGP GGP GIO GCO CALC CALCX Mnemonic AAP parameter number 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 34 lt parameter number gt 0 don t care Motor number is always 0 as only one motor is involved Reply in direct mode STATUS VALUE 100 OK don t care Example Positioning motor by a potentiometer connected to the analogue input tt0 Start GIO 01 CALC MUL 4 AAP 0 0 JA Start II get value of analogue input line O Il multiply by 4 I transfer result to target position of motor
56. e is only one motor involved Now your test program looks as follows A simple example for using TMCL and TMCL IDE Puno ROL 0 500 WAIT TICKS 0 500 MST 0 ROR 0 250 WAIT TICKS 0 500 MST 0 SAP 4 0 500 SAP 5 0 50 MVP ABS 0 10000 WAIT POS 0 0 MVP ABS 0 10000 WAIT POS 0 O JA Loop Rotate motor 0 with speed 500 Rotate motor 0 with 250 Set max Velocity Set max Acceleration Move to Position 10000 Wait until position reached Move to Position 10000 Wait until position reached Infinite Loop Assamble By EE mb stop Download Click on Icon Assemble to convert the TMCL into machine code Then download the program to the TMCM 1180 module via the icon Download Press icon Run The desired program will be executed Click Stop button to stop the program www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 3 3 Operating the Module in Direct Mode Start TMCL Direct Mode amp Ls Mode 10 If the communication is established the PD86 1180 is automatically detected If the module is not detected please check all points above cables interface power supply COM port baud rate 3 Issue a command by choosing Instruction Type if necessary Motor and Value and click Execute to send it to the module n A TMCL Direct Mode TMCM 1180 TMCL Instruction Selector Instruction
57. er supply www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 4 Start the TMCL IDE software development environment The TMCL IDE is available on the TechLibCD and on www trinamic com Installing the TMCL IDE Make sure the COM port you intend to use is not blocked by another program Open TMCL IDE by clicking TMCL exe Choose Setup and Options and thereafter the Connection tab A TMCL Integrated Development Environment New File 1 77 File Edit TMCL Debug Help B z a Eu 5 Options New File 1 N Configure Module Gi Search Module Install OS stallGuard gt stallGuard2 amp coolStep Parameter Calculation s BLDC Configurataion Tool For RS232 and RS485 choose COM port and type with the parameters shown below baud rate 9600 Click OK n A Options Assembler Connection Debugger Type RS232 R5485 USB COM port y R5232 RS485 Port y Baut s00 y Address 1 Please refer to the TMCL IDE User Manual for more information about connecting the other interfaces see www TRINAMIC com www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 3 2 Testing with a Simple TMCL Program Open the file test2 tmc Change the motor number 2 in the second paragraph in motor number 0 because ther
58. ers of the version string Type set to 1 version number in binary format Please use the normal reply format The version number is output in the value field of the reply in the following way Byte index in value field Contents 1 Version number low byte Version number high byte Type number low byte currently not used 2 3 4 Type number high byte currently not used www trinamic com 61 TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 5 Axis Parameters The following sections describe all axis parameters that can be used with the SAP GAP AAP STAP and RSAP commands MEANING OF THE LETTERS IN COLUMN ACCESS 62 Access Related Description type command s R GAP Parameter readable WwW 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 274 1 RW position ramp mode no 138 usteps
59. ese baee A A 39 4 6 17 COMPucOM pare iii cocto tre ie tecac e tion hause bo cud cdi AR 40 4 6 18 JC jump conditional orereta A EA AAA 41 4 6 19 JA ump always iniciacion idedaciedasshccdasdadevadcsahccssadecscsdeadhcctsadadeusieaiiacesadecousdassicied 42 4 6 20 GSUB call subroutine 5 eintritt enero erred vcn genug 43 4 6 21 RSUB return from subroutine essent tette tette tnnt tn tete tn tante tne tnnsns 44 4 6 22 WAIT wait for an event to occur cececsessesssssssesecsessesessessesesssssesesseesesessssnesesstesesesstsaesesstenesessteneseeaeenees 45 4 6 23 STOP stop TMCL program execution scsssssssesssssssssessessesessssscsssssssesesseenesesssenesesatsnesessssaesessteneseestenees 46 4 6 04 SCO set coordinate ice itis tiae edant stsusecssadecocsacsohccesacecsesdeadhcatsadedeusieaviacisadesousdasensers 4 4 6 25 GCO get coordinate eei aci t 48 4 6 26 CCO capture coordinate itc tae AA Ada 49 4 6 27 ACO accu to coordinate valid from TMCL version 4 18 on 50 4 6 28 CALCX calculate using the X register scccsccsececssssessesseesesseesesseeseeseesteseeseeseesesesaeeeseaeeaeesteaeeateaeeaeeas 51 4 6 29 AAP accumulator to axis parameter entente tenete terne tette tnnt tenes 52 4 6 30 AGP accumulator to global parameter nciciccnniininnnnm cea 53 4 631 CLE clear error flags e o dedi set e iacet eC dade Ruido ec ode se cedri 54 46 32 MECT se interrupt Vector nne dada das 55
60. et axis parameter STAP 7 Store axis parameter into EEPROM RSAP 8 Restore axis parameter from EEPROM SGP 9 Set global parameter GGP 10 Get global parameter STGP 11 Store global parameter into EEPROM RSGP 12 Restore global parameter from EEPROM 4 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 4 4 2 4 I O Port Commands These commands control the external I O ports and can be used in direct mode and in standalone mode Mnemonic Command number Meaning SIO 14 Set output GIO 15 Get input www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 16 44 2 5 Calculation Commands These commands are intended to be used for calculations within TMCL applications Although they could also be used in direct mode it does not make much sense to do so Mnemonic 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
61. f the interrupt handling routine Related commands El DI RETI Mnemonic VECT interrupt number label Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 37 interrupt number don t care label 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 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 Byte1 Byte0 Value hex 01 25 03 00 00 00 01 SF4 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 56 4 6 33 EI enable interrupt The EI command enables an interrupt Tt needs the interrupt number as parameter Interrupt number 255 globally enables interrupts Related command DI VECT RETI Mnemonic EI interrupt number Binary representation INSTRUCTION NO 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 Interr
62. ference point STOP L STOP R left stop right stop switch Y 7 DAS OSA switch traveler Figure 7 1 Left and right limit switches STOP L STOP R negative positive left stop direction direction switch Sot OA o oo traveler right stop switch Figure 7 2 Limit switches and reference switch STOP L D HOME reference switch Figure 7 3 One reference switch www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 75 7 2 Changing the Prescaler Value of an Encoder The PD86 1180 PANdrive is a full mechatronic solution including a 86mm flange high torque motor a motion controller driver and a integrated sensOstep encoder The built in encoder has 256 steps per rotation FOR THE OPERATION WITH ENCODER CONSIDER THE FOLLOWING HINTS The encoder counter can be read by software and can be used to control the exact position of the motor This also makes closed loop operation possible To read out or to change the position value of the encoder axis parameter 209 is used So to read out the position of your encoder O use GAP 209 0 The position values can also be changed using command SAP 209 0 n with n 0 1 2 To change the encoder settings axis parameter 210 is used For changing the prescaler of the encoder 0 use SAP 210 0 lt p gt Automatic motor stop on deviation error is also usable This can be set using axis parameter 212 maximum deviation This function
63. get position reached 15 Stall stallGuard2 21 Deviation 27 Stop left 28 Stop right 39 IN 0 change 40 IN 1 change Examples Disable interrupts globally DI 255 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 Byte1 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 Byte Byte1 Byte0 Value hex 01 1A 03 00 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 58 4 6 35 RETI return from interrupt This command terminates the interrupt handling routine and the normal program execution continues At the end of an interrupt handling routine the RETI command must be executed Internal function The saved registers A register X register flags are copied back Normal program execution continues Related commands FI 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 B
64. ic driver supply voltage may be switched off externally while supply for digital logic and therefore digital logic remains active Software Available with TMCL or CANopen Standalone TMCL operation or remote controlled operation Program memory non volatile for up to 2048 TMCL commands PC based application development software TMCL IDE available for free CANopen CiA 301 CiA 402 homing mode profile position mode and velocity mode supported Please refer to separate Hardware Manual for further information www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 2 Overview As with most TRINAMIC modules the software running on the microprocessor of the TMCM 1180 consists of two parts a boot loader and the firmware itself Whereas the boot loader is installed during production and testing at TRINAMIC and remains normally untouched throughout the whole lifetime the firmware can be updated by the user New versions can be downloaded free of charge from the TRINAMIC website http www trinamic com The firmware shipped with this module is related to the standard TMCL firmware shipped with most of TRINAMIC modules with regard to protocol and commands Corresponding this module is based on the TMC428 429 stepper motor controller and the TMC262A PC power driver and supports the standard TMCL with a special range of values The TMC262A PC is a new energy efficient high current high precision microste
65. inary 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 Byte Byte1 Byte0 Value hex 01 26 00 00 00 00 01 00 4 6 36 Customer Specific TMCL Command Extension UFO UF7 User 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 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 Instruction Operand Operand Operand Operand address address Byte3 Byte Byte1 Byte0 Value hex 02 01 user 64 71 user user user user defined defined defined defined defined www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 59 4 6 37 Request Target Position Reached Event This command is the only exception to the TMCL protocol as it sends two replies One immediately after the command has been executed like all other commands also and one additional reply that will be sent when the motor h
66. inary representation INSTRUCTION NO TYPE MOT BANK VALUE 9 parameter number bank number value 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 Typ Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 09 42 00 00 00 00 03 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 31 4 6 10 GGP get global parameter All global parameters can be read with this function Global parameters are related to the host interface peripherals or application specific variables The different groups of these parameters are organized in banks to allow a larger total number for future products Currently only bank O and 1 are used for global parameters and bank 2 is used for user variables Bank 3 is used for interrupt configuration For a table with parameters and bank numbers which can be used together with this command please refer to chapter 6 Internal function The parameter is read out of the correct position in the appropriate device Related commands SGP STGP RSGP AGP Mnemonic GGP parameter number bank number Binary representation INSTRUCTION NO TYPE MOT BAN
67. is turned off when the maximum deviation is set to O TO SELECT A PRESCALER THE FOLLOWING VALUES CAN BE USED FOR P Value for p Resulting SAP command for motor 0 Microstep solution of axis prescaler SAP 210 0 lt p gt parameter 140 102400 200 SAP 210 0 102400 8 256 microsteps 51200 100 SAP 210 0 51200 7 128 microsteps 25600 50 SAP 210 0 25600 6 64 microsteps 12800 25 SAP 210 0 12800 5 32 microsteps 6400 default 12 5 SAP 210 0 6400 4 16 microsteps 3200 6 25 SAP 210 0 3200 3 8 microsteps 1600 3 125 SAP 210 0 1600 2 4 microsteps 800 1 5625 SAP 210 0 800 1 2 microsteps Note The table above shows a subset of prescalers that can be selected Other values between those given in the table can be used The values 1 2 4 and 16 must not be used for p Consider the following formula for your calculation Prescaler 12 Example There is one special function that can also be configured using p value to p p 6400 6400 512 12 5 prescaler To select it just add the following SAP command for motor 0 Adder for p SAP 210 MO p 4 Clear encoder with next null channel event Add up both p values from these tables to get the required value for the SAP 210 command www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16
68. it s 6 250kBit s 7 500kBit s 8 1000kBit s Default 70 CAN reply ID The CAN ID for replies from the board 0 7ff RWE default 2 71 CAN ID The module target address for CAN default 0 7ff RWE 1 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 For CAN interface this parameter has no effect 76 Serial host Host address used in the reply telegrams sent 0 255 RWE address back via RS232 RS485 71 Auto start mode 0 Do not start TMCL 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 80 Shutdown pin Select the functionality of the SHUTDOWN 0 2 RWE www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 72 Number Parameter Description Range Access 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
69. it until a limit switch of the motor specified by the motor parameter has been triggered An optional timeout value 0 for no timeout must be specified by the ticks parameter RFS Wait until the reference search of the motor specified by the motor field has been reached An optional timeout value 0 for no timeout must be specified by the ticks parameter The timeout flag ETO will be set after a timeout limit has been reached You can then use a JC ETO command to check for such errors or clear the error using the CLE command Internal function The TMCL program counter is held until the specified condition is met Related commands JC CLE Mnemonic WAIT condition 0 ticks where condition is TICKS POS REFSW LIMSW RFS Binary representation INSTRUCTION NO TYPE MOT BANK VALUE O TICKS timer ticks don t care no of ticks M 0 no of ticks for timeout 1 POS target position reached 0 for no timeout 2 1 1 i 2 REFSW reference switch 0 no of ticks for timeout 21 O for no timeout 2 1 1 1 3 LIMSW limit switch 0 no of ticks for timeout O for no timeout 4 RFS reference search 0 no of ticks for timeout completed 0 for no timeout 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
70. ksum Command 0 for i 1 i lt 8 1 Checksum Command i Command 8 Checksum insert checksum as last byte of the command Now send it to the module in Delphi var i Checksum byte Command array 0 8 of byte Set the Command array to the desired command Calculate the Checksum Checksum Command 0 for i 1 to 7 do Checksum Checksum Command i Command 8 Checksum Now send the Command array 9 bytes to the module 4 2 Reply Format Every time a command has been sent to a module the module sends a reply The reply format for RS485 RS232 USB is as follows Bytes Meaning Reply address Module address Status e g 100 means no error Command number Value MSB first PIB PIP Pp Checksum The checksum is also calculated by adding up all the other bytes using an 8 bit addition When using CAN bus the first byte reply address and the last byte checksum are left out Do not send the next command before you have received the reply www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 13 4 2 1 Status Codes The reply contains a status code The status code can have one of the following values Code Meaning 100 Successfully executed no error 101 Command loaded into TMCL program EEPROM Wrong checksum Invalid command Wrong type Invalid value
71. llowing include Interrupts inc VECT TI TIMERo Timerolrq SGP TI TIMERo 3 1000 EI TI TIMERo EI TI GLOBAL Please also take a look at the other example programs 4 4 2 7 ASCII Commands Mnemonic Command number Meaning 139 Enter ASCII mode Quit ASCIT mode and return to binary mode This command can only be used in ASCII mode BIN www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 19 4 5 The ASCII Interface There is also an ASCII interface that can be used to communicate with the module and to send some commands as text strings THE FOLLOWING COMMANDS CAN BE USED IN ASCII MODE ROL ROR MST MVP SAP GAP STAP RSAP SGP GGP STGP RSGP RFS SIO GIO SCO GCO CCO UFO UF1 UF2 UF3 UF4 UF5 UF6 and UF7 Only direct mode commands can be entered in ASCII mode SPECIAL COMMANDS WHICH ARE ONLY AVAILABLE IN ASCII MODE BIN This command quits ASCII mode and returns to binary TMCL mode RUN This command can be used to start a TMCL program in memory STOP Stops a running TMCL application ENTERING AND LEAVING ASCII MODE 1 The ASCII command line interface is entered by sending the binary command 139 enter ASCII mode 2 Afterwards the commands are entered as in the TMCL IDE 3 For leaving the ASCIT mode and re enter the binary mode enter the command BIN 4 5 1 Format of the Command Line As the first ch
72. lobal parameter list updated 87 serial second address new 82 CAN heart beat new 85 do not store user variables new 1 09 2013 JAN 02 SD Axis parameter list updated 254 step dir mode new encoder parameters updated 209 210 212 200 boost current new 215 absolute encoder value new unit for current parameters corrected SIO command updated 1 10 2014 MAY 16 SD Firmware revision updated www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 11 References TMCM 1180 PD86 1180 TMCM 1180 and PD86 1180 Hardware Manual TMC262 TMC262 Datasheet TMCL IDE TMCL IDE User Manual QSH8618 QSH8618 Manual Please refer to www trinamic com www trinamic com 82
73. meter 67 is used for this purpose please see also chapter 6 Bit O determines the startup mode if this bit is set the module starts up in ASCII mode else it will start up in binary mode default Bit 4 and Bit 5 determine how the characters that are entered are echoed back Normally both bits are set to zero In this case every character that is entered is echoed back when the module is addressed Characters can also be erased using the backspace character press the backspace key in a terminal program When bit 4 is set and bit 5 is clear the characters that are entered are not echoed back immediately but the entire line will be echoed back after the lt CR gt character has been sent When bit 5 is set and bit 4 is clear there will be no echo only the reply will be sent This may be useful in RS485 systems www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 21 4 6 Commands The module specific commands are explained in more detail on the following pages They are listed according to their command number 4 6 1 ROR rotate right With this command the motor will be instructed to rotate with a specified velocity in right direction increasing the position counter Internal function First velocity mode is selected Then the velocity value is transferred to axis parameter 0 target velocity The module is based on the TMC428 429 stepper motor controller and the TMC262A PC power
74. mperature 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 209 Encoder position The value of an encoder register can be read encoder steps RW out or written 210 Encoder Prescaler for the sensOstep encoder See paragraph 7 1 RWE prescaler 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 changed 1 65535 RWE delay down to standby current The standard value 10msec is 200 value equates 2000msec 215 Absolute Absolute value of the encoder O 255 encoder value encoder steps 254 Step Dir mode 1 Use of the ENABLE input on step dir connector to 1 5 RWE switch between hold current and run current no automatic switching
75. n With this connector the module supports RS232 RS485 and CAN communication j Label Description 1 RS232 Tx RS232 transmit data D 2 RS232 Rx RS232 receive data bus D 1 8 3 GND Module ground system and signal ground 4 CAN H CAN H bus line dominant high 5 CAN L CAN L bus line dominant low 6 GND Module ground system and signal ground 7 RS485 RS485 non inverted bus signal 8 RS485 RS485 inverted bus signal Figure 3 2 RS232 RS485 and CAN connector b Connect the USB interface A 5 pin mini USB connector is available on the board Download and install the file TMCM 1180 inf www trinamic com Pin Label Description 1 VBUS 5V power 19 Y 2 D Data 00000 Ea 3 D Data 4 ID Not connected 5 GND ground 2 Connect the power supply A 4 pin JST BO4P VL connector is used for power supply Pin Label Description Module driver stage power supply input yo E Wre nom 48V DO DUTY 2 le Optional separate digital logic power supply input 1 4 Logie nom 48V DQ 3 GND Module ground power supply and signal ground 4 GND Module ground power supply and signal ground 3 Switch ON the power supply The LED for power should glow now This indicates that the on board 5V supply is available If this does not occur switch power OFF and check your connections as well as the pow
76. nce in a program You can change the definition of the constant and do not have to change all occurrences of it in your program 8 4 Using Variables The User Variables can be used if variables are needed in your program They can store temporary values The commands SGP GGP and AGP are used to work with user variables SGP is used to set a variable to a constant value e g during initialization phase GGP is used to read the contents of a user variable and to copy it to the accumulator register for further usage AGP can be used to copy the contents of the accumulator register to a user variable e g to store the result of a calculation Example MyVariable 42 Use a symbolic name for the user variable This makes the program better readable and understandable SGP MyVariable 2 1234 Initialize the variable with the value 1234 GGP MyVariable 2 Copy the contents of the variable to the accumulator register CALC MUL 2 Multiply accumulator register with two AAP MyVariable 2 Store contents of the accumulator register to the variable Furthermore these variables can provide a powerful way of communication between a TMCL program running on a module and a host The host can change a variable by issuing a direct mode SGP command remember that while a TMCL program is running direct mode commands can still be executed without interfering with the running program If the TMCL program polls this variable
77. nd Operand Operand address Number Bank Byte3 Byte Byte1 Byte0 Value hex 01 23 03 02 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 4 6 31 CLE clear error flags This command clears the internal error flags It is intended for use in standalone mode only and must not be used in direct mode The following error flags can be cleared by this command determined by the flag parameter ALL clear all error flags ETO clear the timeout flag Related commands JC Mnemonic CLE flags where lt flags gt ALL ETO EAL EDV EPO ESD Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 36 0 ALL all flags 1 ETO timeout flag don t care don t care 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 Byte1 Byte0 Value hex 01 24 01 00 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 4 6 32 VECT set interrupt vector The VECT command defines an interrupt vector Tt needs an interrupt number and a label as parameter like in JA JC and CSUB commands 55 This label must be the entry point o
78. o high bank 2 output 7 Mnemonic SIO 7 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 Byte Byte1 Byte0 Value hex 01 0e 07 02 00 00 00 01 Available I O ports of TMCM 1180 Pin I O port Command Range gt gt A 3 OUT 0 SIO 0 2 n n 0 1 1 0 4 OUT_1 SIO 1 2 lt n gt n 0 1 1 0 ADDRESSING BOTH OUTPUT LINES WITH ONE SIO COMMAND Set the type parameter to 255 and the bank parameter to 2 The value parameter must then be set to a value between 0 255 where every bit represents one output line The value can also be set to 1 In this special case the contents of the lower 8 bits of the accumulator are copied to the output pins Example Set both output pins high Mnemonic SIO 255 2 3 THE FOLLOWING PROGRAM WILL SHOW THE STATES OF THE INPUT LINES ON THE OUTPUT LINES Loop GIO 255 0 SIO 255 2 1 JA Loop www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 COMMAND FOR SWITCHING THE PULL UP RESISTORS FOR STOP L STOP R AND HOME Every pull up resistor can be switched individually Bit 0 is used for switching the pull up resistor of HOME Bit 1 is used for switching the pull up resistor of STOP I Bit 2 is used for switching the pull up resistor of STOP R Pin
79. o 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 5us to 20us will fit Off time setting for constant to chopper Nae 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 coolStep operation by scaling the CS minimum Current Scale see axis parameter 6 value SEIMIN minimum motor current 0 1 2 of CS 1 1 4 of CS www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 65 Number Axis Parameter Description Range Unit Acc 169 smartEnergy Sets the number of stallGuard2 readings 0 3 RW current down above the upper threshold necessary for step 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 170 smartEnergy Sets the distance between the lower and 0 15 RW hysteresis 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 32 171 smartEnergy Sets the current increment step The
80. obal parameter 84 the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup with the default setting the coordinates are stored in RAM only 47 Note the coordinate number 0 is always stored in RAM only Internal function The passed value is stored in the internal position array Related commands GCO CCO MVP Mnemonic SCO coordinate number 0 position Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 30 coordinate number 0 position 0 20 gH 271 Reply in direct mode STATUS VALUE 100 OK don t care Example Set coordinate 1 of motor to 1000 Mnemonic SCO 1 0 1000 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byte0 Value hex 01 1e 01 00 00 00 03 e8 Two special functions of this command have been introduced that make it possible to copy all coordinates or one selected coordinate to the EEPROM SCO 0 255 0 SCO lt coordinate number gt 255 0 copies all coordinates except coordinate number 0 from RAM to the EEPROM copies the coordinate selected by lt coordinate number gt to the EEPROM The coordinate number must be a value between 1 and 20 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10
81. ommand 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 memory memory location is read address 135 get application one of these values is 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 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 SPECIAL REPLY FORMAT OF COMMAND 136 Type set to 0 reply as a string Byte index Contents 1 Host Address 2 9 Version string 8 characters e g 1180V1 30 There is no checksum in this reply format To get also the last byte when using the CAN bus interface just send this command in an eight byte frame instead of a seven byte frame Then eight bytes will be sent back so you will get all charact
82. ordinate number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 4 O ABS absolute 0 position 1 REL relative 0 offset 2 COORD coordinate 0 coordinate number 0 20 motor number is always O as only one motor is involved Reply in direct mode STATUS 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 Byte Byte1 Byte0 Value hex 01 04 00 00 00 01 5f 90 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 25 Example Move motor from current position 1000 steps backward move relative 1000 Mnemonic MVP REL 0 1000 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instructi Type Motor Operand Operand Operand Operand address on Bank Byte3 Byte2 Bytel ByteO Number Value hex 01 04 01 00 Sff Sff 5fc 18 Example Move motor to previously stored coordinate 8 Mnemonic MVP COORD 0 8 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte Byte1 Byte0 Value hex 01 04 02 00 00 00 00 08
83. parameters to factory defaults after the next power up This is useful in case of miss configuration 65 RS232 RS485 0 9600 baud Default 0 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 Warning The highest possible speed for RS232 is 115200 baud limited by the RS232 transceiver The RS232 might work with higher speed but out of specification 66 Serial address The module target address for RS232 O0 255 RWE RS485 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 71 functionality pin 0 no function 1 high active 2 low active Number Parameter Description Range Access 67 ASCIT mode Configure the TMCL ASCII interface RWE Bit 0 0 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 68 Serial heartbeat Serial heartbeat for the RS485 interface If this ms RWE time limit is exceeded and no further command is noticed the motor will be stopped 0 parameter is disabled 69 CAN bit rate 2 20kBit s 2 8 RWE 3 SOkBit s 4 100kBit s 5 125kB
84. polation 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 classic const off time 164 Chopper Hysteresis decrement setting This setting 0 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 t
85. pping driver IC for bipolar stepper motors and offers TRINAMICs patented coolStep feature with its special commands Please mind this technical innovation All commands and parameters available with this unit are explained on the following pages www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 3 Putting the PD86 1180 into Operation Here you can find basic information for putting your PANdrive into operation The further text contains a simple example for a TMCL program and a short description of operating the module in direct mode The things you need PD83 1180 Interface RS232 RS485 USB or CAN suitable to your PANdrive with cables Nominal supply voltage 24V DC 24 or 48V DC for your module TMCL IDE program and PC External encoder optional The PANdrive has an integrated sensOstep encoder Precautions Do not connect or disconnect the PD86 1180 while powered Do not connect or disconnect the motor while powered Do not exceed the maximum power supply of 55V DC Start with power supply OFF 3 1 Starting up Encoder Step Dir Input Output Serial communication USB Motor Figure 3 1 Overview connectors www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 1 Connect the interface a Connect the RS232 the RS485 or the CAN interface A 2mm pitch 8 pin JST B8B PH K connector is used for serial communicatio
86. rameter motor number Store axis parameter permanently non volatile RSAP 8 parameter motor number Restore axis parameter SGP 9 parameter bank number value Set global parameter module specific settings e g communication settings or TMCL user variables GGP 10 parameter bank number Get global parameter read out module specific settings e g communication settings or TMCL user variables STGP 11 parameter bank number Store global parameter TMCL user variables only RSGP 12 parameter bank number Restore global parameter TMCL user variable only RFS 13 START STOP STATUS motor number Reference search SIO 14 port number bank number Set digital output to specified value value GIO 15 port number bank number Get value of analogue digital input CALC 19 operation value Process accumulator amp value COMP 20 value 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 condition motor number ticks Wait with further program execution STOP 28 Stop program execution SCO 30 coordinate number motor Set coordinate number position GCO 31 coordinate n
87. rch Definition of the switches Selecting the referencing mode axis parameter 193 in modes 1 and 2 the motor will start by moving left negative position counts In mode 3 three switch mode the right stop switch is searched first to distinguish the left stop switch from the reference switch by the order of activation when moving left reference switch and left limit switch share the same electrical function Until the reference switch is found for the first time the searching speed is identical to the maximum positioning speed axis parameter 4 unless reduced by axis parameter 194 After hitting the reference switch the motor slowly moves right until the switch is released Finally the switch is re entered in left direction setting the reference point to the center of the two switching points This low calibrating speed is a quarter of the maximum positioning speed by default axis parameter 195 In the drawings shown here the connection of the left and the right limit switch can be seen Also the connection of three switches as left and right limit switch and a reference switch for the reference point are shown The reference switch is connected in series with the left limit switch The differentiation between the left limit switch and the reference switch is made through software Switches with open contacts normally closed are used In circular systems there are no end points and thus only one reference switch is used for finding the re
88. regularly it can react on such changes of its contents The host can also poll a variable using GGP in direct mode and see if it has been changed by the TMCL program 8 5 Using Subroutines The CSUB and RSUB commands provide a mechanism for using subroutines The CSUB command branches to the given label When an RSUB command is executed the control goes back to the command that follows the CSUB command that called the subroutine This mechanism can also be nested From a subroutine called by a CSUB command other subroutines can be called In the current version of TMCL eight levels of nested subroutine calls are allowed www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 79 8 6 Mixing Direct Mode and Standalone Mode Direct mode and standalone mode can also be mixed When a TMCL program is being executed in standalone mode direct mode commands are also processed and they do not disturb the flow of the program running in standalone mode So it is also possible to query e g the actual position of the motor in direct mode while a TMCL program is running Communication between a program running in standalone mode and a host can be done using the TMCL user variables The host can then change the value of a user variable using a direct mode SGP command which is regularly polled by the TMCL program e g in its main loop and so the TMCL program can react on such changes Vice versa a TMCL program
89. ructed to move to a specified relative or absolute position or a pre programmed coordinate It will use the acceleration deceleration ramp and the positioning speed programmed into the unit This command is non blocking that is a reply will be sent immediately after command interpretation and initialization of the motion controller Further commands may follow without waiting for the motor reaching its end position The maximum velocity and acceleration are defined by axis parameters 4 and 5 The range of the MVP command is 32 bit signed 2 147 483 648 2 147 483 647 Positioning can be interrupted using MST ROL or ROR commands THREE OPERATION TYPES ARE AVAILABLE Moving to an absolute position in the range from 2 147 483 648 2 147 483 647 2 1 2 1 Starting a relative movement by means of an offset to the actual position In this case the new resulting position value must not exceed the above mentioned limits too Moving the motor to a previously stored coordinate refer to SCO for details Please note that the distance between the actual position and the new one should not be more than 2 147 483 647 274 1 microsteps Otherwise the motor will run in the opposite direction in order to take the shorter distance Internal function A new position value is transferred to the axis parameter 2 target position Related commands SAP GAP SCO CCO GCO MST Mnemonic MVP lt ABS REL COORD gt 0 position offset co
90. s 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 73 Access Related Description Type Command s R GGP Parameter readable WwW 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 0 for use in TMCL applications Qu 231 RWE 55 56 255 general purpose variables 56 for use in TMCL applications 2 42 RW H255 6 4 Bank 3 Bank 3 contains interrupt parameters Some interrupts need configuration e g the timer interval of a timer interrupt This can be done using the SGP commands with parameter bank 3 SGP 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 Access Related Description type command s R GGP Parameter readable
91. set There are exceptions to this e g when TMCL routines are called from a host in direct mode MOST BUT NOT ALL STANDALONE TMCL PROGRAMS LOOK LIKE THIS Initialization SAP 4 0 500 define max positioning speed SAP 5 0 100 define max acceleration MainLoop do something in this example just running between two positions MVP ABS 0 5000 WAIT POS 0 O MVP ABS 0 O WAIT POS 0 O JA MainLoop end of the main loop gt run infinitely 8 3 Using Symbolic Constants To make your program better readable and understandable symbolic constants should be taken for all important numerical values that are used in the program The TMCL IDE provides an include file with symbolic names for all important axis parameters and global parameters Example Define some constants include TMCLParam tmc MaxSpeed 500 MaxAcc 100 Position0 O Positionl 5000 Initialization SAP APMaxPositioningSpeed Motor0 MaxSpeed SAP APMaxAcceleration Motor0 MaxAcc MainLoop MVP ABS Motor0O Positionl WAIT POS MotorO O0 MVP ABS Motor0 PositionO WAIT POS Motor0 O0 JA MainLoop Just have a look at the file TMCLParam tmc provided with the TMCL IDE Tt contains symbolic constants that define all important parameter numbers www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 78 Using constants for other values makes it easier to change them when they are used more than o
92. t 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 4 6 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 Byte Byte1 Byte0 Value hex 01 18 00 00 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 4 6 22 WAIT wait for an event to occur This instruction interrupts the execution of the TMCL program until the specified condition is met 45 This command is intended for standalone operation only THERE ARE FIVE DIFFERENT WAIT CONDITIONS THAT CAN BE USED TICKS Wait until the number of timer ticks specified by the ticks parameter has been reached POS Wait until the target position of the motor specified by the motor parameter has been reached An optional timeout value 0 for no timeout must be specified by the ticks parameter REFSW Wait until the reference switch of the motor specified by the motor parameter has been triggered An optional timeout value 0 for no timeout must be specified by the ticks parameter LIMSW Wa
93. tallGuard2t Lois Loose Nicosia e DD PU Lo LM Ce Ed a nee 76 7 4 Using the RS485 interface scessecccessesesssesecestecessesesecsesessssesseessenescseseeesseneeaeseseeseseesueaesesaeaeeeseesseeseaeseees 76 8 TMCL Programming Techniques and Structure concisa 77 8 1 Initializatiori zio eetannum die enean tui cs a uet Au eI 77 8 2 uETInMiWefojo e E 711 8 3 Using Symbolic Constants use tene bte ded bae tea od boten bcne 77 8 4 Using Variables Rc 78 8 5 Using SUDFOUTINGS eR 78 8 6 Mixing Direct Mode and Standalone Mode cnn 79 9 Life Support Pollcyzc tet i A a a e dee Pune 80 10 RevisionzHistony tede ee steep blir b ett ete cod 81 10 1 gt Firmware Revisio Niisiis tada 81 10 2 Document Revision cinc rana 81 T1 References uen Oi RI LL AULA NE AT 82 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 1 Features The PD86 1180 is a full mechatronic solution with state of the arte feature set It is highly integrated and offers a convenient handling The PD86 1180 consists of a NEMA 34 flange size 86mm stepper motor controller driver electronics and integrated encoder The TMCM 1180 is an intelligent stepper motor controller driver module featuring the new outstanding coolStep technology for sensorless load dependent current control This allows energy efficient motor operation With the advanced stallGuard
94. te Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte Byte1 Byte0 Value hex 01 08 06 00 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 30 4 6 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 Bank 3 is used for interrupt configuration All module settings will automatically be stored non volatile internal EEPROM of the processor The TMCL user variables will not be stored in the EEPROM automatically but this can be done by using STGP commands For a table with parameters and bank numbers which can be used together with this command please refer to chapter 6 Internal function the parameter format is converted The parameter is transferred to the correct position in the appropriate on board device Related commands GGP STGP RSGP AGP Mnemonic SGP parameter number bank number value B
95. umber motor number Get coordinate CCO 32 coordinate number motor number Capture coordinate CALCX 33 operation Process accumulator amp X register AAP 34 parameter motor number Accumulator to axis parameter AGP 35 parameter bank number Accumulator to global parameter VECT 37 interrupt number lt label gt Set interrupt vector RETI 38 Return from interrupt ACO 39 coordinate number motor number Accu to coordinate www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 15 4 4 2 Commands Listed According to Subject Area 4 4 2 1 Motion Commands These commands control the motion of the motor They are the most important commands and can be used in direct mode or in standalone mode Mnemonic 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 4 4 2 2 Parameter Commands These commands are used to set read and store axis parameters or global parameters Axis parameters can be set independently for each axis whereas global parameters control the behavior of the module itself These commands can also be used in direct mode and in standalone mode Mnemonic Command number Meaning SAP 5 Set axis parameter GAP 6 G
96. upt 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 Examples Enable interrupts globally ET 255 Binary format of EI Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte Byte1 Byte0 Value hex 01 19 SFF 00 00 00 00 00 Enable interrupt when target position reached EI 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 Byte Byte1 Byte0 Value hex 01 19 03 00 00 00 00 00 www trinamic com TMCM 1180 and PD86 1180 TMCL Firmware V4 45 Manual Rev 1 10 2014 MAY 16 57 4 6 34 DI disable interrupt The DI command disables an interrupt It needs the interrupt number as parameter Interrupt number 255 globally disables interrupts Related command ET VECT RETI Mnemonic DI interrupt number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 26 interrupt number 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 Tar

TMCM-1180 Firmware

Contents

Download Pdf Manuals

Related Search

Related Contents