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TMCM-1060 Firmware Manual

1. www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 74 Number Global parameter Description Range Access 67 ASCIT mode Configure the TMCL ASCII interface RWE Bit 0 O start up in binary normal mode 1 start up in ASCIT mode Bits 4 and 5 00 Echo back each character 01 Echo back complete command 10 Do not send echo only send command reply 68 Serial heartbeat Serial heartbeat for RS485 interface and USB interface If ms RWE this time limit is up 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 125kBit s 6 250kBit s 7 500kBit s 8 1000kBit s Default 70 CAN reply ID The CAN ID for replies from the board default 2 O 7ff RWE 71 CAN ID The module target address for CAN default 1 0 7ff RWE 73 configuration Write 1234 to lock the EEPROM 4321 to unlock it 0 1 RWE EEPROM lock flag Read 1 EEPROM locked O EEPROM unlocked 75 telegram pause time Pause time before the reply via RS485 is sent 0 255 RWE 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 address Host address used in the reply telegrams sent back via 0 255 RWE RS485 77 Auto start mode 0 Do not start TMCL application after power u
2. INSTRUCTION NO TYPE MOT BANK VALUE 32 lt coordinate number gt 0 don t care 0 20 Motor number is always 0 as only one motor is involved Reply in direct mode STATUS VALUE 100 OK don t care Example Store current position of the axe to coordinate 3 Mnemonic CCO 3 0 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 20 03 00 00 00 00 00 2b www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 27 ACO 53 With the ACO command the actual value of the accumulator is copied to a selected coordinate of the motor Depending on the global parameter 84 the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup with the default setting the coordinates are stored in RAM only Please note also that the coordinate number 0 is always stored in RAM only For Information about storing coordinates refer to the SCO command Internal function The actual value of the accumulator is stored in the internal position array Related commands GCO CCO MVP COORD SCO Mnemonic ACO lt coordinate number gt 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 39 lt coordinate number gt 0 don t care 0
3. PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 60 3 7 34 DI disable interrupt The DI command disables an interrupt It needs the interrupt number as parameter Interrupt number 255 globally disables interrupts Related command EI VECT RETI Mnemonic DI lt interrupt number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 26 lt interrupt number gt don t care don t care The following table shows all interrupt vectors that can be used Interrupt number Interrupt type 0 Timer 0 1 Timer 1 2 Timer 2 3 Target position reached 15 stallGuard2 21 Deviation 27 Left stop switch 28 Right stop switch 39 Input change 0 40 Input change 1 255 Global interrupts Examples Disable interrupts globally DI 255 Binary format of DI Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 1A SFF 00 00 00 00 00 1A Disable interrupt when target position reached DI 3 Binary format of DI Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 1A 03 00 00 00 00 00 1E www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 35 RETI return from interrupt
4. www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 84 6 6 Using the RS485 Interface With most RS485 converters that can be attached to the COM port of a PC the data direction is controlled by the RTS pin of the COM port Please note that this will only work with Windows 2000 Windows XP or Windows NT4 not with Windows 95 Windows 98 or Windows ME due to a bug in these operating systems Another problem is that Windows 2000 XP NT4 switches the direction back to receive too late To overcome this problem set the telegram pause time global parameter 75 of the module to 15 or more if needed by issuing an SGP 75 0 15 command in direct mode The parameter will automatically be stored in the configuration EEPROM www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 7 Life Support Policy TRINAMIC Motion Control GmbH amp Co KG does not authorize or warrant any of its products for use in life support systems without the specific written consent of TRINAMIC Motion Control GmbH amp Co KG Life support systems are equipment intended to support or sustain life and whose failure to perform when properly used in accordance with instructions provided can be reasonably expected to result in personal injury or death TRINAMIC Motion Control GmbH amp Co KG 2012 Information given in this data sheet is believed to be accurate and reliable
5. TYPE MOT BANK VALUE 2 don t care nk 268 435 455 268 435 454 lt velocity gt Reply in direct mode motor number is always O as only one motor is involved 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 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 02 00 00 00 00 04 b0 b8 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 3 MST motor stop 25 With this command the motor will be instructed to stop The command uses the normal acceleration parameter soft stop Internal function The axis parameter target velocity is set to zero Related commands ROL ROR SAP GAP Mnemonic MST 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 3 don t care 0 don t care motor number is always O as only one motor is involved Reply in direct mode STATUS VALUE 100 OK don t care Example Stop motor Mnemonic MST 0 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 03 00
6. negative limit switch positive limit switch Search right stop switch then search left stop switch SAP 193 0 3 negative limit switch positive limit switch Search right stop switch then search left stop switch from both sides SAP 193 0 4 kee negative limit switch Search left stop switch from both sides www trinamic com 78 PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 SAP 193 0 5 R negative limit switch positive limit switch S j home switch Search home switch in negative direction reverse the direction when left stop switch reached SAP 193 0 6 negative limit switch positive limit switch 3 j home switch Search home switch in positive direction reverse the direction when right stop switch reached SAP 193 0 7 d home switch Search home switch in positive direction ignore end switches SAP 193 0 8 d home switch Search home switch in negative direction ignore end switches www trinamic com 79 PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 80 6 2 Changing the Prescaler Value of an Encoder The PD 1060 PANdrive is a full mechatronic solution including a 57 or 60mm flange high torque motor a motion controller driver and an integrated sensOstep encoder The built in encoder has 256 steps rotation For the operation
7. 3 7 22 WAIT wait for an event to occur This instruction interrupts the execution of the TMCL program until the specified condition is met This command is intended for standalone operation only The host address and the reply are only used to take the instruction to the TMCL program memory while the program loads down This command cannot be used in direct mode There are five different wait conditions that can be used TICKS Wait until the number of timer ticks specified by the lt ticks gt parameter has been reached POS Wait until the target position of the motor specified by the lt motor gt parameter has been reached An optional timeout value 0 for no timeout must be specified by the lt ticks gt parameter REFSW Wait until the reference switch of the motor specified by the lt motor gt parameter has been triggered An optional timeout value 0 for no timeout must be specified by the lt ticks gt parameter LIMSW Wait until a limit switch of the motor specified by the lt motor gt parameter has been triggered An optional timeout value 0 for no timeout must be specified by the lt ticks gt parameter RFS Wait until the reference search of the motor specified by the lt motor gt field has been reached An optional timeout value 0 for no timeout must be specified by the lt ticks gt parameter The timeout flag ETO will be set after a timeout limit has been reached You can then use a JC ETO command to check for suc
8. Example Copy accumulator to TMCL user variable 3 Mnemonic AGP 3 2 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 23 03 02 00 00 00 00 29 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 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 lt flag gt parameter ALL clear all error flags ETO clear the timeout flag EAL clear the external alarm flag EDV clear the deviation flag EPO clear the position error flag Related commands JC Mnemonic CLE lt flags gt where lt flags gt ALL ETO EDV EPO Binary representation 57 INSTRUCTION NO TYPE MOT BANK VALUE 0 ALL all flags don t care don t care 1 ETO timeout flag 2 EAL alarm flag 3 EDV deviation flag 4 EPO position flag 5 ESD shutdown flag Example Reset the timeout flag Mnemonic CLE ETO Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value
9. 20 Motor number is always 0 as only one motor is involved Reply in direct mode STATUS VALUE 100 OK don t care Example Copy the actual value of the accumulator to coordinate 1 of motor Mnemonic ACO 1 0 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 27 01 00 00 00 00 00 29 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 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 lt operation gt with lt operation gt ADD SUB MUL DIV MOD AND OR XOR NOT LOAD SWAP Binary representation 54 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 regist
10. Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 0c 2a 02 00 00 00 00 39 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 13 RFS reference search 36 The TMCM 1060 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 193 196 in the axis parameter table to configure the reference search algorithm to meet your needs chapter 4 The reference search can be started stopped and the actual status of the reference search can be checked Internal function The reference search is implemented as a state machine so interaction is possible during execution Related commands WAIT Mnemonic RFS lt START STOP STATUS gt 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 13 O START start ref search 0 don t care 1 STOP abort ref search 2 STATUS get status motor number is always O as only one motor is i
11. Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 0a 42 00 00 00 00 00 4d Reply Byte Index 0 1 2 3 4 5 6 7 8 Function Host Target Status Instruction Operand Operand Operand Operand Checksum address address Byte3 Byte2 Bytel Byte0 Value hex 02 01 64 0a 00 00 00 01 72 gt Status no error Value 1 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 34 3 7 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 Internal function The specified parameter is copied from its RAM location to the configuration EEPROM Related commands SGP GGP RSGP AGP Mnemonic STGP lt parameter number gt lt bank number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 11 lt parameter number gt lt bank number gt 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 0 Example Store the us
12. communication USB S D Treue eww a A rege e d IR SP Motor Figure 3 2 Connectors of TMCM 1060 3 7 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 d 8 Pin_ T O port Command Range 3 IN_O GIO 0 0 0 1 ne A IN_1 GIO 1 0 0 1 Reading both digital inputs with one GIO command e Set the type parameter to 255 and the bank parameter to 0 e 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 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 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 I O port Command Range 3 IN o GIO O 1 0 1023 4 IN_1 GIO 1 1 0 1023 3 7 15 3 I O bank 2 the states of digital outputs The states of the OUT lines that have been set by SIO commands can be read back using bank 2 Pin I O port Command Range 1 OUT_O GIO 0 2 lt n gt 1 0 2 OUT_1 GIO 1 2 lt n gt 1 0 www trinamic com 41 PD 1060 TMCM 1060 T
13. 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 4 Axis Parameters Meaning of the letters in column Access 67 Access Related Description type commands 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 2 147 483 648 RW position ramp mode no 138 2 147 483 647 usteps 1 Actual position The current position of the motor Should 2 147 483 648 RW only be overwritten for reference point 2 147 483 647 setting steps 2 Target next The desired speed in velocity mode see ramp 268 435 455 RW speed mode no 138 In position mode this 268 435 454 parameter is set automatically to the pps maximum speed during acceleration and to zero during deceleration and rest 3 Actual speed The current rotation speed 268 435 455 RW 268 435 454 pps 4 Maximum Should not exceed the physically highest 0 2
14. 2 step 3 reset 136 get firmware return the module type and 0 string don t care don t care version firmware revision either as a 1 binary string or in binary format 137 restore factory reset all settings stored in the don t care don t care must be 1234 settings EEPROM to their factory defaults This command does not send back a reply 138 reserved 139 enter ASCII Enter ASCIT command line see don t care don t care don t care mode chapter 3 6 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 66 Special reply format of command 136 Type set to 0 reply as a string Byte index Contents 1 Host Address Ba S Version string 8 characters e g 1060V138 There is no checksum in this reply format To get also the last byte when using the CAN bus interface just send this command in an eight byte frame instead of a seven byte frame Then eight bytes will be sent back so you will get all characters of the version string Type set to 1 version number in binary format Please use the normal reply format The version number is output in the value field of the reply in the following way Byte index in value field Contents 1 Version number low byte 2 Version number high byte 3 Type number low byte currently not used 4 Type number high byte currently not used www trinamic com PD 1060 TMCM
15. 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 16 00 00 00 00 00 14 2b www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 20 CSUB call subroutine 46 This function calls a subroutine in the TMCL program memory It is intended for standalone operation only The host address and the reply are only used to take the instruction to the TMCL program memory while the program loads down This command cannot be used in direct mode Internal function The actual TMCL program counter value is saved to an internal stack afterwards overwritten with the passed value The number of entries in the internal stack is limited to 8 This also limits nesting of subroutine calls to 8 The command will be ignored if there is no more stack space left Related commands RSUB JA Mnemonic CSUB 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 MVP ABS 0 JA Loop Save program counter and jump to label SubW 0 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
16. Byte2 Bytel Byte0 Value hex 01 09 42 00 00 00 00 03 S4f www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 33 3 7 10 GGP get global parameter All global parameters can be read with this function Global parameters are related to the host interface peripherals or application specific variables The different groups of these parameters are organized in banks to allow a larger total number for future products Currently only bank 0 and 1 are used for global parameters and bank 2 is used for user variables Please refer to chapter 0 for a complete parameter list Internal function The parameter is read out of the correct position in the appropriate device The parameter format is converted adding leading zeros or ones for negative values Related commands SGP STGP RSGP AGP Mnemonic GGP lt parameter number gt lt bank number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 10 lt parameter number gt lt bank number gt 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 0 Example Get the serial address of the target device Mnemonic GGP 66 0 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target
17. Byte2 Bytel Byte0 Value hex 01 14 00 00 00 00 03 e8 00 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 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 44 The host address and the reply are only used to take the instruction to the TMCL program memory while the program loads down It does not make sense to use this command in direct mode See the host only control functions for details Internal function the TMCL program counter is set to the passed value if the arithmetic status flags are in the appropriate state s Related commands JA COMP WAIT CLE Mnemonic JC lt condition gt lt label gt where lt condition gt ZE NZ EQ NE GT GE LT LE ETO EAL EDV EPO Binary representation 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 INSTRUCTION NO TYPE MOT BANK VALUE 21 O ZE zero don t care lt jump address gt 1 NZ not zero 2 EQ equal Example Jump to address given by the label when the position of motor is greater than or equal to 1000 GAP 1 0
18. CALC MUL 4 multiply by 4 AAP 0 0 II transfer result to target position of motor 0 JA Start Il jump back to start Binary format of the AAP 0 0 command Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 22 00 00 00 00 00 00 23 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 56 3 7 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 that the global parameters in bank 0 are EEPROM only and thus should not be modified automatically by a standalone application See chapter 0 for a complete list of global parameters Related commands AAP SGP GGP SAP GAP GIO Mnemonic AGP lt parameter number gt lt bank number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 35 lt parameter number gt lt bank number gt don t care Reply in direct mode STATUS VALUE 100 OK don t care For a table with parameters and values which can be used together with this command please refer to chapter 0
19. 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 For higher current applications like the TMCM 1060 a setting of 2 or 3 will be required www trinamic com 68 PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 Number Axis Parameter Description Range Unit Acc 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 of
20. LE 21 3 6 3 Commands that can be used in ASCII Mode EEN 21 3 6 4 Configuring the ASCII Interface eeeesecsssesessecssecsecesecseseessecessesesesseseseseseseeseaesecuesseasseeeseeasseseeaeeeeees 22 3 7 Command EE 23 31 ROR rotate right sites vas Sege deene Eet Ae EE 23 NS ROM E 24 313 MST mgtor etoplzeueeiesre eeeeergeeed EES EENS iii 25 234 MNP MOVE to POSI ON iia tse sav deet ice A EA E aa ia 26 CN SAP set axis parameter NEE 28 A LE A 29 3 7 7 STAP store axis parameter ENEE 30 SINS 31 3 1 9 SGP set global parameter iii Ana 32 3 7 10 GGP get global parameter da 33 SLL STGP store global Parametros 34 3 7 12 RSGP restore global parameter EEN 35 3 1 13 RES reference Sari rie E E asii iii 36 31 14 SIO Set OUtpUt iii do dia 37 AL IA A A EAEE N A E E 39 SIE CALC O aeon O 42 SLIT COMPA CO E E ORAA SEA ARA 43 3 7 18 JC Gump conditional easset a AAAA TER AEA 44 ENK WE len EU E 45 35 20 CSUB callSUBrOUBI EG E 46 3 7 21 RSUB return from subroutnel ENEE 47 3 7 22 WAIT wait for an event to occul EEN 48 3 7 23 STOP stop TMCL program execution EEN 49 E SCO set cordialidad liinda 50 3 125 GCO g t coordihdte ii A ere 51 37 26 iCCO capture coord Mai A A A ii 52 ECH PCO EE 53 3 7 28 CALCX calculate using the X register ENEE 54 3 7 29 AAP accumulator to axis parameter EEN 55 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 30 AGP acc
21. 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 2us 0 3 RW timer 1 1 6us 2 1 2us 3 0 8us Use default value 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 D 31 1 32 2 32 32 32 181 Stop on stall Below this speed motor will not be stopped 0 268 435 454 RW Above this speed motor will stop in case stallGuard2 load value reaches zero pps www trinamic com 70 PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 Number Axis Parameter Description Range Unit Acc 182 smartEnergy Above this speed coolStep becomes 0 268 435 454 RW threshold speed enabled pps 183 smartEnergy Sets the motor current which is used blow 0 255 RW slow run current the threshold speed pear lt value rx Ipus lt value gt x 193 Ref search mode 1 search left stop switch only 1 8 RWE 2 search right stop switch then search left stop switch 3 search right stop switch then search left s op switch from both sides search left stop switch from both sides 5 search home
22. TMCL IDE User Manual for more information about connecting the other interfaces see www TRINAMIC com If you prefer to work with step dir interface please proceed by using axis parameter 254 for switching to step direction or back to TMCL paragraph 3 7 5 Command Description SAP 254 0 0 Normal mode move motor using TMCL commands SAP 254 0 1 Step direction mode move motor via step direction inputs www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 9 2 2 Using TMCL Direct Mode 1 Start TMCL Direct Mode A lc Mode 2 If the communication is established the TMCM 1060 is automatically detected If the module is not detected please check all points above cables interface power supply COM port baud rate A TMCL Direct Mode TMCM 1060 TMCL Instruction Selector Instruction Motor Bank Value 1 ROR rotate right sel 0 lt don t care O Motor 0 x 0 iS l Execute Copy Copy to editor y Manual Instruction Input Address Instruction Type Motor Bank Value Datagram Gi 1 e H Ge H en 3 0 S 01 000000 00 00 00 00 01 Execute Answer Host Target Status Inst Value Datagram 3 Issue a command by choosing Instruction Type if necessary Motor and Value and click Execute to send it to the module Examples e ROR rotate right motor 0 value 10000 gt Click Execute The first motor is rotating now e MST
23. 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 61 Internal function The saved registers A register X register flags are copied back Normal program execution continues Related commands EI DI VECT Mnemonic RETI Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 38 don t care don t care don t care Example Terminate interrupt handling and continue with normal program execution RETI Binary format of RETI Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 26 00 00 00 00 01 00 27 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 36 Customer 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 specific TMCL command extension UFO 62 UF7 user INSTRUCTION NO TYPE MOT BANK VALUE 64 71 u
24. and the reply are only used to transfer the instruction to the TMCL program memory 49 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 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 1c 00 00 00 00 00 00 1d www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 24 SCO set coordinate 50 Up to 20 position values coordinates can be stored for every axis for use with the MVP COORD command This command sets a coordinate to a specified value Depending on the global parameter 84 the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup with the default setting the coordinates are stored in RAM only Please note that the coordinate number 0 is always stored in RAM only Internal function The passed value is stored in the internal position array Related commands GCO CCO MVP Mnemonic SCO lt coordinate number gt 0 lt position gt Binary
25. assuming that the label SubW is at address 100 Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 17 00 00 00 00 00 64 Tc www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 21 RSUB return from subroutine Return from a subroutine to the command after the CSUB command This command is intended for use in standalone mode only 47 The host address and the reply are only used to take the instruction to the TMCL program memory while the program loads down This command cannot be used in direct mode Internal function The TMCL program counter is set to the last value of the stack The command will be ignored if the stack is empty Related command CSUB Mnemonic RSUB Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 24 don t care don t care don t care Example please see the CSUB example section 3 7 20 Binary format of RSUB Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 18 00 00 00 00 00 00 19 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 48
26. hex 01 24 01 00 00 00 00 00 26 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 32 VECT set interrupt vector The VECT command defines an interrupt vector It needs an interrupt number and a label as parameter like in JA JC and CSUB commands This label must be the entry point of the interrupt handling routine Related commands EI DI RETI Mnemonic VECT lt interrupt number gt lt label gt Binary representation 58 INSTRUCTION NO TYPE MOT BANK VALUE 37 lt interrupt number gt don t care lt label gt The following table shows all interrupt vectors that can be used Interrupt number Interrupt type 0 Timer 0 1 Timer 1 2 Timer 2 3 Target position reached 15 stallGuard2 21 Deviation 27 Left stop switch 28 Right stop switch 39 Input change 0 40 Input change 1 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 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 25 03 00 00 00 01 F4 1E www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 33 EI enable interrupt 59 The EI comma
27. motor stop motor 0 gt Click Execute The first motor stops now Top right of the TMCL Direct Mode window is the button Copy to editor Click here to copy the chosen command and create your own TMCL program The command will be shown immediately on the editor NOTE Please mind chapter 3 programming techniques of the TMCL IDE User Manual on www trinamic com Here you will find information about creating general structures of TMCL programs In particular initialization main loop symbolic constants variables and subroutines are described there Further you can learn how to mix direct mode and stand alone mode Chapter 6 4 of this manual includes a diagram which points out the coolStep related axis parameters and their functions This can help you configuring your module to meet your needs www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 10 2 2 1 Important Motor Settings There are some axis parameters which have to be adjusted right in the beginning after installing your module Please set the upper limiting values for the speed axis parameter 4 the acceleration axis parameter 5 and the current axis parameter 6 Further set the standby current axis parameter 7 and choose your microstep resolution with axis parameter 140 Please use the SAP Set Axis Parameter command for adjusting these values The SAP command is described in paragraph 3 7 5 You can use the TMCM IDE
28. number 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 7 lt parameter number gt 0 1 don t care Imotor 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 4 0 s chapter 4 For a table with parameters and values which can be used together with this command please refer to chapter 4 Example Store the maximum speed of motor Mnemonic STAP 4 0 Binary Byte Index 0 1 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 07 04 00 00 00 00 00 0d Note The STAP command will not have any effect when the configuration EEPROM is returned in this case www trinamic com locked refer to 5 1 In direct mode the error code 5 configuration EEPROM locked see also section 3 2 1 will be PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 8 RSAP restore axis parameter For all configuration related axis parameters non volatile memory locations are provided By default most pa
29. reply The reply format for RS485 or USB is as follows Bytes Meaning Reply address Module address Status e g 100 means no error Command number Value MSB first RP BR RP P Pe Checksum e The checksum is also calculated by adding up all the other bytes using an 8 bit addition e When using CAN bus the first byte reply address and the last byte checksum are left out e Do not send the next command before you have received the reply 3 2 1 Status Codes The reply contains a status code The status code can have one of the following values Code _ Meaning 100 Successfully executed no error 101 Command loaded into TMCL program EEPROM Wrong checksum Invalid command Wrong type Invalid value Configuration EEPROM locked ODju Ajwin A Command not available 3 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 PD 1060 TMCM 1060 TMCL Firmware V4 39 Ma
30. representation INSTRUCTION NO TYPE MOT BANK VALUE 30 lt coordinate number gt 0 lt position gt 0 20 23 42 Motor number is always 0 as only one motor is involved 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 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 le 01 00 00 00 03 e8 0d With TMCL version 4 18 and higher two special functions of this command have been introduced that make it possible to copy all coordinates or one selected coordinate to the EEPROM These special functions can be accessed using the following special forms of the SCO command SCO 0 255 0 SCO lt coordinate number gt 255 0 www trinamic com 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 PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 51 3 7 25 GCO get coordinate This command makes possible to read out a previously stored coordinate In standalone mode the requested value is copied to the accumulator register for further processing pu
31. the coolStep feature please refer to the TMC262 Datasheet 6 5 Velocity Calculation The axis parameters listed below are related to the speed of the motor The table is an excerpt of the complete table of axis parameters in this chapter The unit of the velocity lt value gt is pulse per second pps For calculating the speed it is necessary to set the microstep resolution of the driver axis parameter 140 first Further the fullsteps of the motor must be given QSH5718 and QSH6018 have 200 fullsteps rotation Now calculate as follows d d Gos lt value gt rounds per second rps P P microstep resolution of driver fullsteps of motor rounds per minute rpm rps 60 Number Axis Parameter Description Unit 2 target next The desired speed in velocity mode see 268 435 455 speed ramp mode no 128 In position mode 268 435 454 this parameter is set automatically to the pps maximum speed during acceleration and to zero during deceleration and rest 4 maximum Maximum feasible positioning speed Has 0 268 435 454 positioning to be adapted to motor and application pps speed 181 stop on stall Below this speed motor will not be 0 268 435 454 stopped Above this speed motor will pps stop in case stallGuard2 load value reaches zero 182 smartEnergy Above this speed coolStep will be 0 268 435 454 threshold speed enabled pps
32. with encoder please consider the following hints e The encoder counter can be read by software and can be used to control the exact position of the motor This also makes closed loop operation possible e To read out or to change the position value of the encoder axis parameter 209 is used So to read out the position of your encoder O use GAP 209 0 The position values can also be changed using command SAP 209 0 lt n gt with n 0 12 e 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 e Automatic motor stop on deviation error is also usable This can be set using axis parameter 212 maximum deviation This function is turned off when the maximum deviation is set to 0 To select_a prescaler the following values can be used for lt p gt Value for Resulting prescaler SAP command for motor 0 Microstep solution of lt p gt SAP 210 0 lt p gt axis parameter 140 25600 50 SAP 210 0 25600 8 256 micro steps 12800 25 SAP 210 0 12800 7 128 micro steps 6400 12 5 default SAP 210 0 6400 6 64 micro steps 3200 6 25 SAP 210 0 3200 5 32 micro steps 1600 3 125 SAP 210 0 1600 4 16 micro steps 800 1 5625 SAP 210 0 800 3 8 micro steps 400 0 78125 SAP 210 0 400 2 4 micro steps 200 0 390625 SAP 210 0 200 1 2 micro steps The table above just shows a subset of those presca
33. 0 Value hex 02 01 64 0a 00 00 00 00 86 gt Value 0 With TMCL version 4 18 and higher two special functions of this command have been introduced that make it possible to copy all coordinates or one selected coordinate from the EEPROM to the RAM These special functions can be accessed using the following special forms of the GCO command GCO 0 255 0 copies all coordinates except coordinate number 0 from the EEPROM to the RAM GCO lt coordinate number gt 255 0 copies the coordinate selected by lt coordinate number gt from the EEPROM to the RAM The coordinate number must be a value between 1 and 20 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 26 CCO capture coordinate The actual position of the axis is copied to the selected coordinate variable Depending on the global parameter 84 the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup with the default setting the coordinates are stored in RAM only Please see the SCO and GCO commands on how to copy coordinates between RAM and EEPROM Note that the coordinate number 0 is always stored in RAM only 52 Internal function The selected 24 bit position values are written to the 20 by 3 bytes wide coordinate array Related commands SCO GCO MVP Mnemonic CCO lt coordinate number gt 0 Binary representation
34. 0 COMP 1000 JC GE Label 115 Label ROL 0 1000 ump type 5 greater equal Binary format of JC GE Label when Label is at address 10 Joer axis parameter type no 1 actual position motor 0 value O don t care IIcompare actual value to 1000 Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 15 05 00 00 00 00 0a 25 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 19 JA jump always Jump to a fixed address in the TMCL program memory This command is intended for standalone operation only 45 The host address and the reply are only used to take the instruction to the TMCL program memory while the program loads down This command cannot be used in direct mode Internal function the TMCL program counter is set to the passed value Related commands JC WAIT CSUB Mnemonic JA lt Label gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 22 don t care don t care lt jump address gt Example An infinite loop in TMCL Loop MVP ABS 0 10000 WATT POS 0 0 MVP ABS 0 0 WATT POS 0 0 JA Loop Jump to the label Loop Binary format of JA Loop assuming that the label Loop is at address 20 Byte Index 0 1 2 3 4
35. 0 Value hex 02 01 100 138 00 00 00 Motor bit lt checksum gt mask Additional reply in direct mode after motors have reached their target positions Byte Index 0 1 2 3 4 5 6 7 8 Function Target Target Status Instruction Operand Operand Operand Operand Checksum address address Byte3 Byte2 Bytel Byte0 Value hex 02 01 128 138 00 00 00 Motor bit lt checksum gt mask www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 64 3 7 38 BIN return to binary mode This command can only be used in ASCII mode It quits the ASCII mode and returns to binary mode Related Commands none Mnemonic BIN Binary representation This command does not have a binary representation as it can only be used in ASCII mode www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 39 TMCL Control Functions The following functions are for host control purposes only and are not allowed for standalone mode In most cases there is no need for the customer to use one of those functions except command 139 They are mentioned here only for reasons of completeness These commands have no mnemonics as they cannot be used in TMCL programs The Functions are to be used only by the TMCL IDE to communicate with the module for example to download a TMCL application into the module The only control commands that could be usef
36. 0 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 20 TMCL control commands Instruction Description Type Mot Bank Value 128 stop application a running TMCL standalone don t care don t care don t care application is stopped 129 run application TMCL execution is started or 0 run from don t care don t care continued current address 1 run from starting address specified address 130 step application only the next command of a don t care don t care don t care TMCL application is executed 131 reset application the program counter is set to don t care don t care don t care zero and the standalone application is stopped when running or stepped 132 start download target command execution is don t care don t care starting address mode stopped and all following of the application commands are transferred to the TMCL memory 133 quit download target command execution is don t care don t care don t care mode resumed 134 read TMCL the specified program memory don t care don t care lt memory memory location is read address gt 135 get application one of these values s don t care don t care don t care status returned 0 stop 1 run 2 step 3 reset 136 get firmware return the module type and 0 string don t care don t care version firmware revision either as a 1 binary string or in binary format 137 restore factory reset all settings stored in the don t care don t care must be
37. 00 00 00 00 00 05 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 26 3 7 4 MVP move to position With this command the motor will be instructed to move to a specified relative or absolute position or a pre programmed coordinate It will use the acceleration deceleration ramp and the positioning speed programmed into the unit This command is non blocking that is a reply will be sent immediately after command interpretation and initialization of the motion controller Further commands may follow without waiting for the motor reaching its end position The maximum velocity and acceleration are defined by axis parameters 4 and 5 The range of the MVP command is 32 bit signed 2 147 483 648 2 147 483 647 Positioning can be interrupted using MST ROL or ROR commands Attention Please note that the distance between the actual position and the new one should not be more than 2 147 483 647 microsteps Otherwise the motor will run in the wrong direction for taking a shorter way If the value is exactly 2 147 483 648 the motor maybe stops Three operation types are available Moving to an absolute position in the range from 2 147 483 648 2 147 483 647 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 previ
38. 1234 settings EEPROM to their factory defaults This command does not send back a reply 138 reserved 139 enter ASCII Enter ASCIT command line see don t care don t care don t care mode chapter 3 6 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 21 3 6 The ASCII Interface The ASCII interface can be used to communicate with the module and to send some commands as text strings e The ASCII command line interface is entered by sending the binary command 139 enter ASCII mode e Afterwards the commands are entered as in the TMCL IDE Please note that only those commands which can be used in direct mode also can be entered in ASCII mode e For leaving the ASCII mode and re enter the binary mode enter the command BIN 3 6 1 Format of the Command Line As the first character the address character has to be sent The address character is A when the module address is 1 B for modules with address 2 and so on After the address character there may be spaces but this is not necessary Then send the command with its parameters At the end of a command line a lt CR gt character has to be sent Here are some examples for valid command lines AMVP ABS 1 50000 A MVP ABS 1 50000 AROL 2 500 A MST 1 ABIN These command lines would address the module with address 1 To address e g module 3 use address character C instead of A The last command line shown ab
39. 2 147 483 647 RWE 14 15 General purpose variable use in TMCL applications 2 147 483 648 2 147 483 647 RWE 15 16 General purpose variable use in TMCL applications 2 147 483 648 2 147 483 647 RWE 16 17 general purpose variable use in TMCL applications 2 147 483 648 2 147 483 647 RWE 17 18 General purpose variable use in TMCL applications 2 147 483 648 2 147 483 647 RWE 18 19 General purpose variable use in TMCL applications 2 147 483 648 2 147 483 647 RWE 19 20 55 General purpose variables use in TMCL applications 2 147 483 648 2 147 483 647 RWE 20 55 56 255 General purpose variables use in TMCL applications 2 147 483 648 2 147 483 647 RW 56 255 5 4 Bank 3 Bank 3 contains interrupt parameters Some interrupts need configuration e g the timer interval of a timer interrupt This can be done using the SGP commands with parameter bank 3 SGP lt type gt 3 lt value gt The priority of an interrupt depends on its number Interrupts with a lower number have a higher priority The following table shows all interrupt parameters that can be set Meaning of the letters in column Access Access Related Description type command s R GGP Parameter readable W SGP AGP Parameter writable E SGP AGP Parameter automatically restored from EEPROM after reset or power on These parameters can be stored permanently in
40. 23 flange size 57mm or NEMA 24 flange size 60mm stepper motor controller driver electronics and integrated encoder The electronics itself is also available without the motor as TMCM 1060 module Applications e Compact single axis stepper motor solutions e Encoder feedback for high reliability operation Electrical data e Supply voltage common supply voltages 12VDC 24VDC 48VDC supported 9V 51V DC Please note pre series boards are limited to 40V max supply voltage e Motor current up to 2 8A RMS programmable Integrated motor for PD 1060 only e Two phase bipolar stepper motor with 2 8A RMS nom coil current e Holding torque with 57mm motor 0 55Nm 1 01Nm 1 26Nm or 1 89Nm e Holding torque with 60mm motor 1 1Nm 1 65Nm 2 1Nm or 3 1Nm Integrated encoder e Integrated sensOstep magnetic encoder max 256 increments per rotation for step loss detection under all operating conditions Integrated motion controller e High performance ARM7 microcontroller for overall system control and communication protocol handling Integrated bipolar stepper motor driver based on TMC262 e Up to 256 microsteps per full step e High efficient operation low power dissipation MOSFETs with low Rosiow e Dynamic current control e Integrated protection e High precision sensorless motor load measurement stallGuard2 e Automatic load dependent motor current adaptation for reduced power consumption and heat dissipation cool
41. 68 435 454 RWE positioning possible value Adjust the pulse divisor no pps speed 154 if the speed value is very low lt 50 or above the upper limit 5 Maximum The limit for acceleration and deceleration 1 33554431 RWE acceleration Changing this parameter requires re pps s calculation of the acceleration factor no 146 and the acceleration divisor no 137 which is done automatically 6 Absolute max The most important motor setting since too 0 255 RWE current CS high values might cause motor damage Joie Sen SE Current Scale The maximum value is 255 This value means ZEB 100 of the maximum current of the module ie x284 The current adjustment is within the range O 255 255 and can be adjusted in 32 steps 0 255 divided by eight e g step O 0 7 step 1 8 15 and so on 7 Standby current Current limit after the motor has stopped plus 0 255 RWE power down delay time see parameter 214 11 lt value ees Same range and meaning as for parameter 6 i Ee Ipms lt value gt x eee 255 8 Position reached 1 when target position actual position 0 1 R 0 otherwise 9 Home switch The logical state of the home switch 0 1 R status www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 Number Axis Parameter Description Range Unit Acc 10 Right limit The logical state of the right limit
42. E 2 General purpose variable 2 use in TMCL applications 2 147 483 648 2 147 483 647 RWE 3 General purpose variable 3 use in TMCL applications 2 147 483 648 2 147 483 647 RWE 4 General purpose variable 4 use in TMCL applications 2 147 483 648 2 147 483 647 RWE 5 General purpose variable 5 use in TMCL applications 2 147 483 648 2 147 483 647 RWE 6 General purpose variable 6 use in TMCL applications 2 147 483 648 2 147 483 647 RWE 7 General purpose variable 7 use in TMCL applications 2 147 483 648 2 147 483 647 RWE 8 General purpose variable 8 use in TMCL applications 2 147 483 648 2 147 483 647 RWE 9 General purpose variable 9 use in TMCL applications 2 147 483 648 2 147 483 647 RWE 10 General purpose variable use in TMCL applications 2 147 483 648 2 147 483 647 RWE 10 11 General purpose variable use in TMCL applications 2 147 483 648 2 147 483 647 RWE 11 12 General purpose variable use in TMCL applications 2 147 483 648 2 147 483 647 RWE 12 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 76 Number Global parameter Description Range Access 13 General purpose variable use in TMCL applications 2 147 483 648 2 147 483 647 RWE 13 14 General purpose variable use in TMCL applications 2 147 483 648
43. EEPROM using STGP command and also explicitly restored copied back from EEPROM into RAM using RSGP Number Global parameter Description Range Access 0 Timer 0 period ms Time between two interrupts ms 0 4 294 967 295 RW ms 1 Timer 1 period ms Time between two interrupts ms 0 4 294 967 295 RW ms 2 Timer 2 period ms Time between two interrupts ms 0 4 294 967 295 RW ms 39 Input 0 edge type O off 1 low high 2 high low 3 both 0 3 RW 40 Input 1 edge type O off 1 low high 2 high low 3 both 0 3 RW www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 77 6 Hints and Tips This chapter gives some hints and tips on using the functionality of TMCL for example how to use and parameterize the built in reference point search algorithm or the incremental sensOstep encoder Further you will find basic information about stallGuard2 and coolStep 6 1 Reference Search The built in reference search features switching point calibration and support of one or two reference switches The internal operation is based on a state machine that can be started stopped and monitored instruction RFS no 13 The settings of the automatic stop functions corresponding to the switches axis parameters 12 and 13 have no influence on the reference search Note e Until the reference switch is found for the first time the searching speed is identical to the
44. However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties which may result from its use Specifications are subject to change without notice www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 8 Revision History 8 1 Firmware Revision 86 Version Date Description 4 26 2010 APR 26 First version supporting all TMCL features 4 31 2011 APR 01 Update 4 33 2011 JUL 27 Update 4 38 2012 MAR 15 Update axis parameters 5 130 200 command MVP 8 2 Document Revision Version Date Author Description 1 00 2010 SEP 16 SD Initial version 1 01 2010 NOV 03 SD New pictures 1 02 2011 FEB 21 SD Value range of axis parameter 206 corrected 1 03 2011 MAR 14 SD Minor changes 1 04 2011 AUG 29 SD Unit of current parameters for TMCM 1060 module specified velocity calculation formula added minor changes Axis parameter 130 new Axis parameter 200 new 1 05 2012 APR 02 SD Value range of axis parameter 5 new Axis parameter 7 description updated Description of command MVP updated 1 06 2012 JUN 06 SD Chapter 6 1 reference search corrected 1 07 2012 JUN 11 SD Minor changes 9 References TMCM 1060 PD 1060 TMC262 TMCL IDE QSH5718 QSH6018 Please refer to www trinamic com www trinamic com TMCM 1060
45. MCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 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 lt operation gt lt value gt where lt op gt is ADD SUB MUL DIV MOD AND OR XOR NOT or LOAD Binary representation 42 INSTRUCTION NO TYPE MOT BANK VALUE 19 0 ADD add to accu don t care lt operand gt 1 SUB subtract from accu 2 MUL multiply accu by 3 DIV divide accu by 4 MOD modulo divide by 5 AND logical and accu with 6 OR logical or accu with 7 XOR logical exor accu with 8 NOT logical invert accu 9 LOAD load operand to accu Example Multiply accu by 5000 Mnemonic CALC MUL 5000 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 13 02 00 FF FF SEC 78 78 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 43 3 7 17 COMP compare The specified number
46. MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive Firmware Version V4 39 TMCL FIRMWARE MANUAL TMCM 1060 e PD 1060 1 Axis Stepper Controller Driver 2 8A 48V USB RS485 and CAN Step Dir Interface Integrated sensOstep Encoder coolStep stallGuard2 A TRINAMIC Motion Control GmbH Co KG Hamburg Germany www trinamic com MOTION CONTROL PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 Table of Contents T Feat selen AE Le cae ie Me Ae i a Leite Es 4 2 Putting the PD 1060 into Operation ENEE 6 2 1 Basic Se t U VE 6 211 Connecting the Mod le curia A 6 2 1 2 Start the TMCL IDE Software Development Environment EE 8 2 2 Using IMCL Direct Made i wena i Le eta Ue alee ial baal ate 9 2 2 1 Important Motor Settings ENEE 10 2 3 Testing with a Simple TMCL Program ENEE 11 3 TMCL and the TMCL IDE Introduction enema 12 3 1 Binary Commands Format vtec ci xine Ste dee Wawa ee veh eee eee SA ee ee 13 3 2 Reply Format 2 ct3 etre did 14 SAT kat er Eed 14 3 3 EIST TEE 14 3 4 TMCL Command Overview ENEE 15 34 1 Motion Commands A RA 15 34 2 Parameter CoMo aa 15 3143 HE Port Commands tit tias 15 3 4 4 Control COMMANA Sinared a e a eaa eA aaea a aeaaea ia a 16 3 4 5 Calculation Commande EEN 16 34 6 Interrupt Comman A EE 17 3 5 TMGL List of Commands wee eet eege A 19 3 6 The ASCID Interfaces ascites de es Gelade 21 3 6 1 Format of the Command Line EEN 21 36 2 Format EC
47. Step Interfaces e 2 inputs for stop switches 1 input for home switch 24V compatible with programmable pull up e 2 general purpose inputs 24V compatible and 2 general purpose outputs open collector e USB mini USB RS485 and CAN 2 0B up to 1Mbit s serial communication interfaces e Step direction interface optically isolated Safety features e Shutdown input driver will be disabled in hardware as long as this pin is left open or shorted to ground e Separate supply voltage inputs for driver and digital logic The driver supply voltage may be switched off externally while the supply for the digital logic and therefore the digital logic itself remains active e On board 3A fuse Software e Available with TMCL e Standalone operation or remote controlled operation e Program memory non volatile for up to 2048 TMCL commands e PC based application development software TMCL IDE available for free Please refer to separate Hardware Manual for further information www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 5 TRINAMICs UNIQUE FEATURES EASY TO USE WITH TMCL stallGuard2 coolStep stallGuard2 is a high precision sensorless load measurement using the back EMF on the coils It can be used for stall detection as well as other uses at loads below those which stall the motor The stallGuard2 measurement value changes linearly over a wide range of load velocity and curr
48. TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 16 3 4 4 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 Command l Mnemonic Meaning number JA 22 Jump always JC 21 Jump conditional COMP 20 Compare accumulator with constant value CLE 36 Clear error flags CSUB 23 Call subroutine RSUB 24 Return from subroutine WAIT 27 Wait for a specified event STOP 28 End of a TMCL program 3 4 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 Meaning number CALC 19 Calculate using the accumulator and a constant value CALCX 33 Calculate using the accumulator and the X register AAP 34 Copy accumulator to an axis parameter AGP 35 Copy accumulator to a global parameter 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 ex
49. The following TMCL commands are currently supported Command Number Parameter Description ROR 1 lt motor number gt lt velocity gt Rotate right with specified velocity ROL 2 lt motor number gt lt velocity gt Rotate left with specified velocity MST 3 lt motor number gt Stop motor movement MVP 4 ABS REL COORD lt motor number Move to position absolute or relative lt position offset gt SAP 5 lt parameter gt lt motor number lt value gt Set axis parameter motion control specific settings GAP 6 lt parameter gt lt motor number gt Get axis parameter read out motion control specific settings STAP 7 lt parameter gt lt motor number gt Store axis parameter permanently non volatile RSAP 8 lt parameter gt lt motor number gt Restore axis parameter SGP 9 lt parameter gt lt bank number gt value Set global parameter module specific settings e g communication settings or TMCL user variables GGP 10 lt parameter gt lt bank number gt Get global parameter read out module specific settings e g communication settings or TMCL user variables STGP 11 lt parameter gt lt bank number gt Store global parameter TMCL user variables only RSGP 12 lt parameter gt lt bank number gt Restore global parameter TMCL user variable only RFS 13 START STOP STATUS lt motor number g
50. ameter 0 target velocity Related commands ROL MST SAP GAP Mnemonic ROR 0 lt velocity gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 1 don t care d lt velocity gt 268 435 455 268 435 454 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 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 01 00 02 00 00 01 5e 62 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 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 24 Like on all other TMCL modules the motor will be accelerated or decelerated to the speed given with the command The speed is given in microsteps per second pps The range is 268 435 455 268 435 454 Internal function First velocity mode is selected Then the velocity value is transferred to axis parameter 0 target velocity Related commands ROR MST SAP GAP Mnemonic ROL 0 lt velocity gt Binary representation INSTRUCTION NO
51. and PD 1060 Hardware Manual TMC262 Datasheet TMCL IDE User Manual QSH5718 Manual QSH6018 Manual
52. d Before an interrupt handling routine gets called the context of the normal program will be saved automatically i e accumulator register X register TMCL flags There is no interrupt nesting i e all other interrupts are disabled while an interrupt handling routine is being executed On return from an interrupt handling routine the context of the normal program will automatically be restored and execution of the normal program will be continued 3 4 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 stallGuard 21 Deviation 27 Left stop switch 28 Right stop switch 39 Input change 0 40 Input change 1 255 Global interrupts 3 4 6 4 Further Configuration of Interrupts Some interrupts need further configuration e g the timer interval of a timer interrupt This can be done using SGP commands with parameter bank 3 SGP lt type gt 3 lt value Please refer to the SGP command paragraph 3 7 9 for further information about that www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 18 3 4 6 5 Using Interrupts in TMCL To use an interrupt the following things have to be done e Define an interrupt handling routine using the VECT command e If necessary configure the interrupt using an SGP lt type g
53. direct mode for easily configuring your module ATTENTION The most important motor setting is the absolute maximum motor current setting since too high values might cause motor damage IMPORTANT AXIS PARAMETERS FOR MOTOR SETTING Number Axis Parameter Description Range Unit 4 Maximum Maximum feasible positioning speed Has to be 0 268 435 454 positioning adapted to motor and application pps s speed 5 Maximum Limit for acceleration and deceleration Has to be 1 33554431 acceleration adapted to motor and application pps s 6 Absolute max The maximum value is 255 This value means 100 of 0 255 current the maximum current of the module The current Ipeax lt value gt CS Current adjustment is within the range 0 255 and can be Scale adjusted in 32 steps Iams lt value gt x oe D 7 79 87 160 167 240 247 8 15 88 95 168 175 248 255 16 23 96 103 176 183 24 31 104 111 184 191 32 39 112 119 192 199 40 47 120 127 200 207 48 55 128 135 208 215 56 63 136 143 216 223 64 71 144 151 224 231 72 19 152 159 232 239 The most important motor setting since too high values might cause motor damage 7 Standby current The current limit two seconds after the motor has 0 255 stopped Ipeak lt value gt Irms lt value E 255 140 Microstep full step O 8 resolution hal
54. dule 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 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 13 3 1 Binary Command Format Every command has a mnemonic and a binary representation When commands are sent from a host to a module the binary format has to be used Every command consists of a one byte command field a one byte type field a one byte motor bank field and a four byte value field So the binary representation of a command always has seven bytes When a command is to be sent via 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
55. e stored in EEPROM only An SGP command on such a parameter will always store it permanently and no extra STGP command is needed Take care when changing these parameters and use the appropriate functions of the TMCL IDE to do it in an interactive way Meaning of the letters in column Access Access Related Description type command s R GGP Parameter readable W SGP AGP Parameter writable E SGP AGP 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 Note The TMCM 1060 does not have the parameters 0 38 They are used for modules which address more than one motor Number Global parameter Description Range Access 64 EEPROM magic Setting this parameter to a different value as E4 will 0 255 RWE cause re initialization of the axis and global parameters to factory defaults after the next power up This is useful in case of miss configuration 65 RS485 baud rate 0 9600 baud default 0 11 RWE 1 14400 baud 2 19200 baud 3 28800 baud 4 38400 baud 5 57600 baud 6 76800 baud Not supported by Windows 7 115200 baud 8 230400 baud 9 250000 baud Not supported by Windows 10 500000 baud Not supported by Windows 11 1000000 baud Not supported by Windows 66 Serial address The module target address for RS 485 0 255 RWE
56. e 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 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 83 Number Axis parameter Description Sets the motor current which is used below the threshold 1183 smartEnergy slow run current speed Please adjust the threshold speed with axis parameter 182 Sets the distance between the lower and the upper threshold SG170 smartEnergy hysteresis for stallGuard2 reading Above the upper threshold the motor current becomes decreased Below this speed motor will not be stopped Above this speed SG181 stop on stall motor will stop in case stallGuard2 load value reaches zero V182 smartEnergy threshold speed Above this speed coolStep becomes enabled Standstill period before the current is changed down to standby T214 power down delay current The standard value is 200 value equates 2000msec For further information about
57. ecuted 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 GGP or GIO 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 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 17 3 4 6 Interrupt Commands Due to some customer requests interrupt processing has been introduced in the TMCL firmware for ARM based modules from revision 4 23 on The TMCL IDE supports the following commands from version 1 78 on Mnemonic Command Meaning number EI 25 Enable interrupt DI 26 Disable interrupt VECT 37 Set interrupt vector RETI 38 Return from interrupt 3 4 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 include file Interrupts inc for symbolic constants of the interrupt numbers 3 4 6 2 Interrupt Processing When an interrupt occurs and this interrupt is enabled and a valid interrupt vector has been defined for that interrupt the normal TMCL program flow will be interrupted and the interrupt handling routine will be calle
58. een hold current and run current ng automatic switching 2 Automatic switching between hold and run current after the first step pulse the module automatically switches over to run current and a configurable time after the last step pulse the module automatically switches back to hold current The ENABLE input on the step dir connector does not have any functionality 3 Always use run current never switch to hold current The ENABLE input on the step dir connector does not have any functionality 4 Automatic current switching like 2 but the ENABLE input is used to switch the driver stage completely off or on 5 Always use run current like 3 but the ENABLE pin is used to switch the driver stage completely off of on www trinamic com 72 PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 73 5 Global Parameters Global parameters are grouped into 4 banks e bank 0 global configuration of the module e bank 1 user C variables e bank 2 user TMCL variables e bank 3 interrupt configuration Please use SGP and GGP commands to write and read global parameters 5 1 Bank 0 Parameters with numbers from 64 on configure stuff like the serial address of the module 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 ar
59. ent settings At maximum motor load the value goes to zero or near to zero This is the most energy efficient point of operation for the motor Load stallGuard2 Nm Initial stallGuard2 SG value 100 Max load stallGuard2 SG value 0 Maximum load reached Motor close to stall Motor stalls Figure 1 1 stallGuard2 load measurement SG as a function of load coolStep is a load adaptive automatic current scaling based on the load measurement via stallGuard2 adapting the required current to the load Energy consumption can be reduced by as much as 75 coolStep allows substantial energy savings especially for motors which see varying loads or operate at a high duty cycle Because a stepper motor application needs to work with a torque reserve of 30 to 50 even a constant load application allows significant energy savings because coolStep automatically enables torque reserve when required Reducing power consumption keeps the system cooler increases motor life and allows reducing cost Se Efficiency with coolStep 0 8 E Efficiency with 50 torque reserve 0 7 0 6 0 5 Efficiency 0 4 0 3 0 2 0 1 0 T T 1 0 50 100 150 200 250 300 350 Velocity RPM Figure 1 2 Energy efficiency example with coolStep www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 2 Putting the PD 1060 into Operation Here you can find basic information for p
60. er 8 NOT logical invert X register 9 LOAD load accu to X register 10 SWAP swap accu with X register Example Multiply accu by X register Mnemonic CALCX MUL Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 21 02 00 00 00 00 00 24 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 55 3 7 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 Related commands AGP SAP GAP SGP GGP GIO GCO CALC CALCX Mnemonic AAP lt parameter number gt 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 34 lt parameter number gt 0 lt don t care gt Motor number is always 0 as only one motor is involved Reply in direct mode STATUS VALUE 100 OK don t care For a table with parameters and values which can be used together with this command please refer to chapter 4 Example Positioning motor by a potentiometer connected to the analogue input 0 Start GIO 0 1 II get value of analogue input line 0
61. er 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 d n Bit 4 Short to ground B 1 Short condition detected driver currently shut down Bit 5 Open load A 1 no chopper event has happened during the last period with constant coil polarity Bit 6 Open load B 1 no chopper event has happened during the last period with constant coil polarity Bit 7 Stand still 1 No step impulse occurred on the step input during the last 2 20 clock cycles Please refer to the TMC262 Datasheet for more information 209 Encoder position The value of an encoder register can be read encoder steps RW out or written 210 Encoder Prescaler for the encoder See paragraph 6 2 RWE prescaler 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 R encoder value encoder steps 254 Step Dir mode Turn OFF step dir mode O 5 RWE 1 Use of the ENABLE input on step dir connector td switch betw
62. er variable 42 Mnemonic STGP 42 2 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 0b 2a 02 00 00 00 00 38 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 12 RSGP restore global parameter With this command the contents of a TMCL user variable can be restored from the EEPROM For all configuration related axis parameters non volatile memory locations are provided By default most parameters are automatically restored after power up see axis parameter list in chapter 0 A single parameter that has been changed before can be reset by this instruction 35 Internal function The specified parameter is copied from the configuration EEPROM memory to its RAM location Relate commands SAP STAP GAP and AAP Mnemonic RSAP lt parameter number gt 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 12 lt parameter number gt lt bank number gt don t care Reply structure in direct mode STATUS VALUE 100 OK don t care For a table with parameters and bank numbers which can be used together with this command please refer to chapter 0 Example Restore the maximum current of motor Mnemonic RSGP 6 0
63. f step 4 microsteps 8 microsteps 16 microsteps 32 microsteps 64 microsteps 128 microsteps 256 microsteps AOAnrNA vn wW N RO www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 11 2 3 Testing with a Simple TMCL Program Type in the following program ROL 0 50000 WAIT TICKS MST o ROR 0 50000 WAIT TICKS MST o SAP 4 0 50000 SAP 5 0 50000 Loop MVP ABS o WAIT POS O MVP ABS o WAIT POS O JA Loop Rotate motor O with speed 50000 Rotate motor O with 50000 Set max Velocity Set max Acceleration Move to Position 100000 Wait until position reached Move to Position 100000 Wait until position reached Infinite Loop Assemble Gei D mj stop E NES www trinamic com Run Click the Assemble icon to convert the TMCL into machine code Then download the program to the TMCM 1060 module by clicking the Download icon Press icon Run The desired program will be executed Click the Stop button to stop the program PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 12 3 TMCL and the TMCL IDE Introduction As with most TRINAMIC modules the software running on the microprocessor of the TMCM 1060 consists of two parts a boot loader and the firmware itself Whereas the boot loader is installed during production and testing at TRINAMIC and remains untouched throughout the whole lifetime the fir
64. fset to the hysteresis end value 167 Chopper off time The off time setting controls the minimum O 2 15 RW chopper frequency An off time within the range of bus to 20us will fit Off time setting for constant topp chopper Na 12 32 torp Minimum is 64 clocks Setting this parameter to zero completely disables all driver transistors and the motor can free wheel 168 smartEnergy Sets the lower motor current limit for 0 1 RW current minimum coolStep operation by scaling the CS SEIMIN Current Scale see axis parameter 6 value minimum motor current 0 1 2 of CS 1 1 4 of CS 169 smartEnergy Sets the number of stallGuard2 readings 0 3 RW current down above the upper threshold necessary for each step 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 the 0 15 RW hysteresis 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 www trinamic com 69 PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 Number Axis Parameter Description Range Unit Acc 171 smartEnergy Sets
65. h errors or clear the error using the CLE command Internal function The TMCL program counter is held until the specified condition is met Related commands JC CLE Mnemonic WAIT lt condition gt 0 lt ticks gt where lt condition gt is TICKS POS REFSW LIMSW RFS Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 27 O TICKS timer ticks don t care lt no of ticks gt 1 POS target position reached 0 lt no of ticks for timeout gt 0 for no timeout 2 REFSW reference switch 0 lt no of ticks for timeout gt 0 for no timeout 3 LIMSW limit switch 0 lt no of ticks for timeout gt 0 for no timeout 4 RFS reference search 0 lt no of ticks for timeout gt completed 0 for no timeout one tick is 10 milliseconds in standard firmware S motor number is always O as only one motor is involved Example Wait for motor to reach its target position without timeout Mnemonic WAIT POS 0 0 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 1b 01 00 00 00 00 00 le www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 23 STOP stop TMCL program execution This function stops executing a TMCL program The host address
66. hannels deliver their 10 bit result in the range of 0 1023 In standalone mode the requested value is copied to the accumulator accu 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 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 39 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 3 Mnemonic GIO 3 1 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 of 03 01 00 00 00 00 14 Reply Byte Index 0 1 2 3 4 5 6 7 8 Function Host Target Status Instruction Operand Operand Operand Operand Checksum address address Byte3 Byte2 Bytel Byte0 Value hex 02 01 64 SOf 00 00 01 Sta 72 gt value 506 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 40 Serial
67. he host interface peripherals or application specific variables The different groups of these parameters are organized in banks to allow a larger total number for future products Currently only bank 0 and 1 are used for global parameters and bank 2 is used for user variables Refer to chapter 0 for a complete parameter list 32 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 Internal function the parameter format is converted ignoring leading zeros or ones for negative values The parameter is transferred to the correct position in the appropriate on board device Related commands GGP STGP RSGP AGP Mnemonic SGP lt parameter number gt lt bank number gt lt value gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 9 lt parameter lt bank number gt lt value gt number gt Reply in direct mode STATUS VALUE 100 OK don t care For a table with parameters and bank numbers which can be used together with this command please refer to chapter 0 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 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3
68. in the CAN standard and do not have to be supplied by the user The binary command format for RS485 and USB is as follows Bytes Meaning Module address Command number Type number Motor or Bank number Value MSB first PB Pe RP Pp e Checksum e The checksum is calculated by adding up all the other bytes using an 8 bit addition e When using CAN bus just leave out the first byte module address and the last byte checksum 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 e inG unsigned char i Checksum unsigned char Command 9 Set the Command array to the desired command Checksum Command 0 for i l tes i Checksum Command i Command 8 Checksum insert checksum as last byte of the command Now send it to the module e 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 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 14 3 2 Reply Format Every time a command has been sent to a module the module sends a
69. is compared to the value in the accumulator register The result of the comparison can for example be used by the conditional jump JC instruction This command is intended for use in standalone operation only The host address and the reply are only used to take the instruction to the TMCL program memory while the program loads down It does not make sense to use this command in direct mode Internal function The specified value is compared to the internal accumulator which holds the value of a preceding get or calculate instruction see GAP GGP GIO CALC CALCX The internal arithmetic status flags are set according to the comparison result Related commands JC jump conditional GAP GGP GIO CALC CALCX Mnemonic COMP lt value gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 20 don t care don t care lt comparison value gt Example Jump to the address given by the label when the position of motor is greater than or equal to 1000 GAP 1 2 0 get axis parameter type no 1 actual position motor 0 value O don t care COMP 1000 IIcompare 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 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3
70. lers that can be selected Also other values between those given in the table can be used Only the values 1 2 4 and 16 must not be used for lt p gt because they are needed to select the special encoder function below or rather are reserved for intern usage Consider the following formula for your calculation Prescaler D Example lt p gt 6400 6400 512 12 5 prescaler There is one special function that can also be configured using lt p gt To select it just add the following value to lt p gt Adder for SAP command for motor 0 lt p gt SAP 210 MO lt p gt 4 Clear encoder with next null channel event Add up both lt p gt values from these tables to get the required value for the SAP 210 command The resulting prescaler is Value 512 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 81 6 3 stallGuard2 The module is equipped with TMC262 motor driver chip The TMC262 features load measurement that can be used for stall detection stallGuard2 delivers a sensorless load measurement of the motor as well as a stall detection signal The measured value changes linear with the load on the motor in a wide range of load velocity and current settings At maximum motor load the 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
71. maximum positioning speed axis parameter 4 unless reduced by axis parameter 194 e After hitting the reference switch the motor slowly moves until the switch is released Finally the switch is re entered in the other direction setting the reference point to the center of the two switching points This low calibrating speed is a quarter of the maximum positioning speed by default axis parameter 195 Choose one of these values for axis parameter 193 Value Description 1 search left stop switch only 2 search right stop switch then search left stop switch 3 search right stop switch then search left stop switch from both sides search left stop switch from both sides 5 search home switch in negative direction reverse the direction when left stop switch reached 6 search home switch in positive direction reverse the direction when right stop switch reached 7 search home switch in positive direction ignore end switches 8 search home switch in negative direction ignore end switches Adding 128 to these values reverses the polarity of the home switch input The next two pages show all possible modes of reference search according to the specific commands on top of each drawing www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 SAP 193 0 1 negative limit switch Search left stop switch only SAP 193 0 2
72. mware can be updated by the user New versions can be downloaded free of charge from the TRINAMIC website http www trinamic com The TMCM 1060 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 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 1060 The TMCL interpreter on the module will then interpret this command do the initialization of the motion controller read inputs and write outputs or whatever is necessary according to the specified command As soon as this step has been done the module will send a reply back over RS485 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 mo
73. nd enables an interrupt It needs the interrupt number as parameter Interrupt number 255 globally enables interrupts Related command DI VECT RETI Mnemonic EI lt interrupt Binary representation number gt INSTRUCTION NO TYPE MOT BANK VALUE 25 lt interrupt number gt don t care don t care The following table shows all interrupt vectors that can be used Interrupt number Interrupt type 0 Timer 0 1 Timer 1 2 Timer 2 3 Target position reached 15 stallGuard2 21 Deviation 27 Left stop switch 28 Right stop switch 39 Input change 0 40 Input change 1 255 Global interrupts Examples Enable interrupts globally ET 255 Binary format of El Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 19 SFF 00 00 00 00 00 19 Enable interrupt when target position reached EI 3 Binary format of EI Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 19 03 00 00 00 00 00 1D www trinamic com
74. nstruction R counter 132 Tick timer A 32 bit counter that gets incremented by one every RW millisecond It can also be reset to any start value 133 Random number Choose a random number Read only O R 2147483 647 5 2 Bank 1 The global parameter bank 1 is normally not available It may be used for customer specific extensions of the firmware Together with user definable commands see section 7 3 these variables form the interface between extensions of the firmware written in C and TMCL applications 5 3 Bank 2 Bank 2 contains general purpose 32 bit variables for the use in TMCL applications They are located in RAM and can be stored to EEPROM After booting their values are automatically restored to the RAM Up to 56 user variables are available Meaning of the letters in column Access Access Related Description type command s R GGP Parameter readable W SGP AGP Parameter writable E SGP AGP 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 Global parameter Description Range Access 0 General purpose variable 0 use in TMCL applications 2 147 483 648 2 147 483 647 RWE 1 General purpose variable 1 use in TMCL applications 2 147 483 648 2 147 483 647 RW
75. nual Rev 1 07 2012 JUN 11 15 3 4 TMCL Command Overview In this section a short overview of the TMCL commands is given 3 4 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 E Meaning number ROL 2 Rotate left ROR 1 Rotate right MVP 4 Move to position MST 3 Motor stop RFS 13 Reference search SCO 30 Store coordinate cco 32 Capture coordinate GCO 31 Get coordinate 3 4 2 Parameter Commands These commands are used to set read and store axis parameters or global parameters Axis parameters can be set independently for the axis whereas global parameters control the behavior of the module itself These commands can also be used in direct mode and in standalone mode Mnemonic Command Meaning number SAP 5 Set axis parameter GAP 6 Get axis parameter STAP 7 Store axis parameter into EEPROM RSAP 8 Restore axis parameter from EEPROM SGP 9 Set global parameter GGP 10 Get global parameter STGP 11 Store global parameter into EEPROM RSGP 12 Restore global parameter from EEPROM 3 4 3 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 Meaning number SIO 14 Set output GIO 15 Get input www trinamic com PD 1060 TMCM 1060
76. nvolved 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 is active Example Start reference search of motor Mnemonic RFS START 0 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 0d 00 00 00 00 00 00 SOf With this PANdrive it is possible to use stall detection instead of a reference search Please see section 6 3 for details www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 37 3 7 14 SIO set output This command sets the status of the general digital output either to low 0 or to high 1 Internal function The passed value is transferred to the specified output line Related commands GIO WAIT Mnemonic SIO lt port number gt lt bank number gt lt value gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 14 lt port number gt lt bank number gt lt value gt Reply structure STATUS VALUE 100 OK don t care Example Set OUT_1 to high bank 2 output 7 general purpose output Mnemonic SIO 1 2 1 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instr
77. on t care motor number is always O as only one motor is involved Reply in direct mode STATUS VALUE 100 OK don t care For a table with parameters and values which can be used together with this command please refer to chapter 4 Example Get the actual position of motor Mnemonic GAP 0 1 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 06 01 00 00 00 00 00 0a Reply Byte Index 0 1 2 3 4 5 6 7 8 Function Host Target Status Instruction Operand Operand Operand Operand Checksum address address Byte3 Byte2 Bytel Byte0 Value hex 02 01 64 06 00 00 02 c7 36 status no error position 711 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 7 STAP store axis parameter An axis parameter previously set with a Set Axis Parameter command SAP will be stored permanent Most parameters are automatically restored after power up refer to axis parameter list in chapter 4 30 Internal function An axis parameter value stored in SRAM will be transferred to EEPROM and loaded from EEPORM after next power up Related commands SAP RSAP GAP AAP Mnemonic STAP lt parameter
78. operation for the motor ang Start value depends on motor and 700 ae operating conditions stallGuard value reaches zero Motor stalls above this point 500 and indicates danger of stall Load anale exeeed 90 and ER This point is set by stallGuard i ue sinks 400 threshold value SGT q i 300 200 100 Oi 107 20 30 401 50 60 70 80 90 100 gt motor load max torque Figure 6 1 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 6 4 coolStep Related Axis Parameters The figure below gives an overview of the coolStep related parameters Please have in mind that the figure shows only one example for a drive There are parameters which concern the configuration of the current Other parameters are for velocity regulation and for time adjustment It is necessary to identify and configure the thresholds for current 16 I7 and 1183 and velocity V182 Furthermore the stallGuard2 feature has to be adjusted and enabled SG170 and SG181 The reduction or increasing of the current in the coolStep area depending on the load has to be configured with parameters 1169 and 1171 In this chapter only basic axis parameters are mentioned which concern coolStep and stallGuard2 The complete li
79. ously stored coordinate refer to SCO for details 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 lt positionloffsetlcoordinate number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 4 0 ABS absolute 0 lt position gt 2 147 483 648 2 147 483 647 1 REL relative 0 lt offset gt 2 147 483 648 2 147 483 647 2 COORD 0 lt coordinate number gt coordinate 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 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 04 00 00 00 01 Sof 90 f6 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 Example Move motor from current position 1000 steps backward move relative 1000 Mnemonic MVP REL 0 1000 27 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum addres
80. ove will make the module return to binary mode 3 6 2 Format of a Reply After executing the command the module sends back a reply in ASCII format This reply consists of e the address character of the host host address that can be set in the module e the address character of the module e the status code as a decimal number e the return value of the command as a decimal number e a lt CR gt character So after sending AGAP o 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 3 6 3 Commands that can be used in ASCII Mode 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 There are also special commands that are only available in ASCII mode e BIN This command quits ASCII mode and returns to binary TMCL mode e RUN This command can be used to start a TMCL program in memory e STOP Stops a running TMCL application www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 22 3 6 4 Configuring the ASCII Interface The module can be configured so that it starts up either in binary mode or in ASCII mode Global parameter 67 is used for this purpose please see also chapter 5 1 Bit O determines the star
81. p 0 1 RWE default 1 Start TMCL application automatically after power up 80 Shutdown pin Select the functionality of the SHUTDOWN pin O 2 RWE functionality 0 no function 1 high active 2 low active 81 TMCL code Protect a TMCL program against disassembling or 0 1 2 3 RWE protection overwriting 0 no protection 1 protection against disassembling 2 protection against overwriting 3 protection against disassembling and overwriting If you switch off the protection against disassembling the program will be erased first Changing this value from 1 or 3 to 0 or 2 the TMCL program will be wiped off 82 CAN heartbeat Heartbeat for CAN interface If this time limit is up and ms RWE no further command is noticed the motor will be stopped 0 parameter is disabled 83 CAN secondary Second CAN ID for the module Switched off when set 0 7ff RWE address to zero 84 Coordinate storage 0 coordinates are stored in the RAM only but can be 0 or1 RWE copied explicitly between RAM and EEPROM 1 coordinates are always stored in the EEPROM only www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 75 Number Global parameter Description Range Access 128 TMCL application 0 stop 0 3 R status 1 run 2 step 3 reset 129 Download mode 0 normal mode 0 1 R 1 download mode 130 TMCL program The index of the currently executed TMCL i
82. ply in direct mode STATUS VALUE 100 OK don t care For a table with parameters and values which can be used together with this command please refer to chapter 4 Example Set the absolute maximum current of the motor during movements to approx 78 of max module current Mnemonic SAP 6 0 200 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 05 06 00 00 00 00 c8 d4 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 29 3 7 6 GAP get axis parameter Most parameters of the TMCM 1060 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 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 d
83. rameters are automatically restored after power up refer to axis parameter list in chapter 4 A single parameter that has been changed before can be reset by this instruction also 31 Internal function The specified parameter is copied from the configuration EEPROM memory to its RAM location Relate commands SAP STAP GAP and AAP Mnemonic RSAP lt parameter number gt 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 8 lt parameter number gt DS 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 For a table with parameters and values which can be used together with this command please refer to chapter 4 Example Restore the maximum current of motor Mnemonic RSAP 6 0 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 08 06 00 00 00 00 00 10 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 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 t
84. rposes such as conditioned jumps In direct mode the value is only output in the value field of the reply without affecting the accumulator Depending on the global parameter 84 the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup with the default setting the coordinates are stored in RAM only Please note that the coordinate number 0 is always stored in RAM only Internal function The desired value is read out of the internal coordinate array copied to the accumulator register and in direct mode returned in the value field of the reply Related commands SCO CCO MVP Mnemonic GCO lt coordinate number gt 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 31 lt coordinate number gt 0 don t care 0 20 Motor number is always 0 as only one motor is involved 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 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 1f 01 00 00 00 00 00 23 Reply Byte Index 0 1 2 3 4 5 6 7 8 Function Target Target Status Instruction Operand Operand Operand Operand Checksum address address Byte3 Byte2 Bytel Byte
85. s Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 04 01 00 Sff Sff Sfc 18 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 8 Function Target Instruction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 04 02 00 00 00 00 08 11 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 PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 28 3 7 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 Internal function the parameter format is converted ignoring leading zeros or ones for negative values The parameter is transferred to the correct position in the appropriate device Related commands GAP STAP RSAP AAP Mnemonic SAP lt parameter number 0 lt value gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 5 lt parameter 0 lt value gt number gt motor number is always O as only one motor is involved Re
86. ser defined user defined user defined Reply in direct mode Byte Index 0 1 2 3 4 5 6 7 8 Function Target Target Status Instruction Operand Operand Operand Operand Checksum address address Byte3 Byte2 Bytel Byte0 Value hex 02 01 user 64 71 user user user user lt checksum gt defined defined defined defined defined www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 37 Request target position reached event This command is the only exception to the TMCL protocol as it sends two replies One immediately after the command has been executed like all other commands also and one additional reply that will be sent when the motor has reached its target position This instruction can only be used in direct mode in stand alone 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 63 INSTRUCTION NO TYPE MOT BANK VALUE 138 don t care don t care d Motor number Reply in direct mode right after execution of this command Byte Index 0 1 2 3 4 5 6 7 8 Function Target Target Status Instruction Operand Operand Operand Operand Checksum address address Byte3 Byte2 Bytel Byte
87. st of axis parameters in chapter 4 contains further parameters which offer more configuration possibilities www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 coolStep Velocity Current 82 adjustment points and thresholds The current depends on the load of the motor SG170 SG181 V182 Zb I7 LJ Time T214 coolStep area area without coolStep 123 Current and parameter V123 Velocity and parameter T123 Time parameter SG123 stallGuard2 M parameter The lower threshold of the coolStep current can be adjusted up to 16 4 Refer to parameter 168 Figure 6 2 coolStep adjustment points and thresholds Number Axis parameter Description The maximum value is 255 This value means 100 of the maximum current of the module The current adjustment is within the range O 255 and can be adjusted in 32 steps 0 bsol t CS St I6 SE Sue gy divided by eight e g step O 0 7 step 1 8 15 and so The most important motor setting since too high values might cause motor damage 17 standby current The current limit two seconds after the motor has stopped Sets the lower motor current limit for coolStep operation by bs scaling the CS Current Scale see axis parameter 6 value smartEnergy current minimum 1168 SEIMIN Minimum motor current 0 1 2 of CS 1 1 4 of CS Sets the number of stallGuard2 readings above th
88. 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 default right limit switch disabled 13 Left limit switch Deactivates the stop function of the left 0 1 RWE disable switch if set default left limit switch disabled 128 Ramp mode Automatically set when using ROR ROL MST 0 1 RW and MVP 0 position mode Steps are generated when the parameters actual position and target position differ Trapezoidal speed ramps are provided 1 velocity mode The motor will run continuously and the speed will be changed with constant maximum acceleration if the parameter target speed is changed 130 Minimum speed Ramp generation for acceleration and 0 268 435 454 RWE deceleration begins and ends with this start pps and stop value Default 0 140 Microstep O full step 0 8 RWE resolution 1 halt step 2 4 microsteps 3 8 microsteps A 16 microsteps 5 32 microsteps 6 64 microsteps 7 128 microsteps 8 256 microsteps 160 Step Step interpolation is supported with a 16 0 1 RW interpolation microstep setting only In this setting each enable step impulse at the input causes the execution of 16 times 1 256 microsteps This way a smooth motor movement like in 256 microstep resolution is achieved 0 step interpolation off 1 step interpolation on 161 Double step
89. switch in negative direction reverse the direction when left stop switch reached 6 search home switch in positive direction reverse the direction when right stop switch reached 7 search home switch in positive direction ignore end switches 8 search home switch in negative direction ignore end switches Adding 128 to these values reverses the polarity of the home switch input 194 Ref search Speed for searching the switch roughly 0 268 435 454 RWE speed pps 195 Ref switch Speed for exact search of the switch 0 268 435 454 RWE speed pps 196 Switch distance Distance between left and right and switch in 0 2 147 483 647 R microsteps mode 2 and 3 only usteps 200 Boost current Current used for acceleration and deceleration 0 255 RWE phases Ipeak lt value GN If set to 0 the same current as set by axis ig parameter 6 will be used Irus lt value gt x ae 204 Freewheeling Time after which the power to the motor will 0 65535 RWE be cut when its velocity has reached zero 0 never msec 206 Actual load value Readout of the actual load value used for stall 0 1023 R detection stallGuard2 www trinamic com 71 PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 Number Axis Parameter Description Range Unit Acc 208 TMC262 driver Bit 0 stallGuard status 0 1 R error flags 1 threshold reached Bit 1 Overtemperature 1 driv
90. t 3 lt value gt command e Enable the interrupt using an El lt interrupt gt command e Globally enable interrupts using an EI 255 command e An interrupt handling routine must always end with a RETI command The following example shows the use of a timer interrupt VECT o Timerolrq define the interrupt vector SGP o 3 1000 configure the interrupt set its period to 1000ms EI o enable this interrupt EI 255 globally switch on interrupt processing Main program toggles output 3 using a WAIT command for the delay Loop SIO 3 2 1 WAIT TICKS 0 50 SIO 3 2 0 WAIT TICKS 0 50 JA Loop Here is the interrupt handling routine Timerolrq GIO o 2 check if OUTo is high JC NZ Outo0ff jump if not SIO 0 2 1 switch OUTo high RETI end of interrupt Outo0ff SIO 0 2 O switch OUTo low RETI end of interrupt In the above example the interrupt numbers are used directly To make the program better readable please use the provided include file Interrupts inc This file defines symbolic constants for all interrupt numbers which can be used in all interrupt commands The beginning of the above program then looks like the following 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 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 19 3 5 TMCL List of Commands
91. t Reference search SIO 14 lt port numbers lt bank number gt lt value gt Set digital output to specified value GIO 15 lt port number gt lt bank number gt Get value of analogue digital input CALC 19 lt operation gt lt value gt Process accumulator amp value COMP 20 lt value gt Compare accumulator lt gt value JC 21 lt condition gt lt jump address gt Jump conditional JA 22 lt jump address gt Jump absolute CSUB 23 lt subroutine address gt Call subroutine RSUB 24 Return from subroutine EI 25 lt interrupt number gt Enable interrupt DI 26 lt interrupt number gt Disable interrupt WAIT 27 lt condition gt lt motor number lt ticks gt Wait with further program execution STOP 28 Stop program execution SCO 30 lt coordinate number gt lt motor number gt Set coordinate lt position gt GCO 31 lt coordinate number gt lt motor number gt Get coordinate CCo 32 lt coordinate number gt lt motor number gt Capture coordinate CALCX 33 lt operation gt Process accumulator amp X register AAP 34 lt parameter gt lt motor number gt Accumulator to axis parameter AGP 35 lt parameter gt lt bank number gt Accumulator to global parameter VECT 37 lt interrupt number lt label gt Set interrupt vector RETI 38 Return from interrupt ACO 39 lt coordinate number gt lt motor number gt Accu to coordinate www trinamic com PD 1060 TMCM 106
92. the current increment step The 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 176 Slope control Determines the slope of the motor driver 0 3
93. thin a range of 9 to 51V Pre series boards are limited to 40V max power supply www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 Switch ON the power supply The LED for power should flash now This indicates that the on board 5V supply is available If this does not occur switch power OFF and check your connections as well as the power supply 2 1 2 Start the TMCL IDE Software Development Environment The TMCL IDE is available on www trinamic com Installing the TMCL IDE Make sure the COM port you intend to use is not blocked by another program Open TMCL IDE by clicking TMCL exe Choose Setup and Options and thereafter the Connection tab Choose COM port and type with the parameters shown in Figure 2 2 baud rate 9600 Click OK FE A Options Assembler ri Debugger Type R5232 R9485 USB COM port D RS232 R5485 Port COM3 X Baud 9600 D Address 1 K Search 4 TMCL Integrated Development Environment CAUsersiSonja Dwej File Edit TMCL Debug Setup Help DBA Z ff gt Options Test4 tme SN Configure Module Noch ein Test Si Search Module OK Cancel de paramet GA tars NC LV Figure 2 2 Setup dialogue and connection tab of the TMCL IDE Please refer to the TMCL IDE User Manual for more information see www TRINAMIC com Attention Please refer to the
94. tup mode if this bit is set the module starts up in ASCII mode else it will start up in binary mode default Bit 4 and Bit 5 determine how the characters that are entered are echoed back Normally both bits are set to zero In this case every character that is entered is echoed back when the module is addressed Character can also be erased using the backspace character press the backspace key in a terminal program When bit 4 is set and bit 5 is clear the characters that are entered are not echoed back immediately but the entire line will be echoed back after the 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 PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 23 3 7 Commands The module specific commands are explained in more detail on the following pages They are listed according to their command number 3 7 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 Like on all other TMCL modules the motor will be accelerated or decelerated to the speed given with the command The speed is given in microsteps per second pps The range is 268 435 455 268 435 454 Internal function First velocity mode is selected Then the velocity value is transferred to axis par
95. uction Type Motor Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 0e 01 02 00 00 00 01 13 Serial communication USB SID H M on NA a Motor Figure 3 1 Connectors of TMCM 1060 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 Available I O ports of TMCM 1060 D 8 Pin I O port Command Range 1 OUT 0 SIO 0 bank number 1 0 1 0 a 2 OUT_1 SIO 1 lt bank number gt 1 0 1 0 Addressing both output lines with one SIO command e Set the type parameter to 255 and the bank parameter to 2 e The value parameter must then be set to a value between 0 255 where every bit represents one output line 38 e Furthermore the value can also be set to 1 In this special case the contents of the lower 8 bits of the accumulator are copied to the output pins Example Set 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 L JA Loop www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 3 7 15 GIO get input output With this command the status of the two available general purpose inputs of the module can be read out The function reads a digital or analogue input port Digital lines will read 0 and 1 while the ADC c
96. ul for a user host application are All other functions can be achieved by using the appropriate functions of the TMCL IDE 65 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 Instruction Description Type Mot Bank Value 128 stop application a running TMCL standalone don t care don t care don t care application is stopped 129 run application TMCL execution is started or 0 run from don t care don t care continued current address 1 run from starting address specified address 130 step application only the next command of a don t care don t care don t care TMCL application is executed 131 reset application the program counter is set to don t care don t care don t care zero and the standalone application is stopped when running or stepped 132 start download target command execution is don t care don t care starting address of mode stopped and all following the application commands are transferred to the TMCL memory 133 quit download target command execution is don t care don t care don t care mode resumed 134 read TMCL the specified program memory don t care don t care lt memory address gt memory location is read 135 get application one of these values s don t care don t care don t care status returned 0 stop 1 run
97. umulator to global parameter ENEE 56 LL GLE clear errorHage keete iaa 57 ENE VECI Set interrupt VECTOR csscccs xs levcavesuscssusserseves esse a AAEE AON R RE 58 357 33 El tenable druida ias 59 3 57 34 DI disable InterVideo 60 3 7 35 RETI return from interrupt ENEE 61 3 7 36 Customer specific TMCL command extension UFO UF7 user function ccseseecesestesteseeeeeeees 62 3 7 37 Request target position reached event 63 3 738 BIN return to Binary Modena aaa aiii is asias iii 64 3 39 TMGL Control FUnCtiIONS szi Tue d 65 AxIS Para Meta tit eben Een Enge ida 67 By 4 GlOBalsPa tai Cte Eet 73 5 1 Bank Ocasion iia 73 5 2 Bank EE 75 5 3 Barten be Gian nant tl saat as Cee hoa Ate ial ita bets 75 5 4 Batik Siete Eet ect aha AA be ata nei bi 76 6 O Gli o EE 711 6 1 Reference Search dng 77 6 2 Changing the Prescaler Value of an Encoder EEN 80 6 3 EE A E EE E E E S O E EE 81 6 4 coolStep Related Axis Parameters sssssssssscscsssssssssssssssssscscscscscsssssssssssssesesescscscsesssessseeeseseseacscscseseseesess 81 6 5 Velocity Calculati o EE 83 6 6 Using the RS485 Intefa j ergeet 84 Z Life Support Policy sninen anaapa tii 85 Bi lt Revision HISTORY nensem dennan A die ee Se 86 8 1 HAS EA 86 8 2 DOCU MENE RS A eases 86 UE EE HERE A EE 86 www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 4 1 Features The PD 1060 is a full mechatronic device consisting of a NEMA
98. utting 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 If you ordered the module without motor please connect it with a fitting one You will find more information about the motor connector in the PD 1060 Hardware Manual The things you need PD 1060 Interface RS485 USB CAN step dir suitable to your PANdrive with cables Nominal supply voltage 24V DC 12 24 or 48V DC for your module TMCL IDE program and PC Precautions Do not connect or disconnect the PANdrive while powered Do not connect or disconnect the motor while powered Do not exceed the maximum power supply of 51V DC Start with power supply OFF 2 1 Basic Set Up 2 1 1 Connecting the Module Serial communication USB SID E al i eevee rer vegeii regen a OCH ove dee des Motor Figure 2 1 Overview connectors www trinamic com PD 1060 TMCM 1060 TMCL Firmware V4 39 Manual Rev 1 07 2012 JUN 11 1 Connect the interface a Connect the RS485 or the CAN interface A 2mm pitch 5 pin JST B5B PH K connector is used for serial communication Please connect as follows Pin Label Description 1 CAN_H CAN bus signal dominant high 2 CAN_L CAN bus signal dominant low 3 DND Module ground system and signal ground G A RS485 RS485 bus signal non in
99. verted e 5 RS485 RS485 bus signal inverted Table 2 1 Connector for serial communication b Connect the USB interface A 5 pin standard mini USB connector is available on board Please connect as follows Pin Label Description gt 1 VBUS 5V power 2 D Data 3 D Data Ce 4 ID Not connected 5 DND ground Table 2 2 Mini USB connector 2 Connect the power supply A 4 pin JST EH series B4B EH connector is used as power connector on board Please connect as follows Pin Label Description O 1 U river Module driver stage power supply input 2 zl Optional separate digital logic power supply input Shutdown input Connect this input to Up ye OF U ogic IN 3 SHUTDOWN order to activate driver stage Leaving this input open or connecting it to ground will disable the driver stage Ee A DND Module ground power supply and signal ground Table 2 3 Connector for power supply Attention In order to enable the motor driver stage connect SHUTDOWN pin 3 to power supply In case separate power supplies for driver and logic are not used pin 2 logic supply and pin 3 SHUTDOWN input of the power connector may be connected together in order to enable the driver stage Please note that there is no protection against reverse polarity or voltages above the upper maximum limit The power supply typically should be wi

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