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1. Command Number Parameter Description SAP 5 lt parameter gt lt motor number gt Set axis parameter motion control lt value gt 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 gt Reference search SIO 14 lt port number gt lt bank number gt Set digital output to specified value lt value gt 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
2. Mnemonic Command number Meaning El 25 Enable interrupt DI 26 Disable interrupt VECT 37 Set interrupt vector RETI 38 Return from interrupt 4 4 2 6 1 Interrupt Types There are many different interrupts in TMCL like timer interrupts stop switch interrupts position reached interrupts and input pin change interrupts Each of these interrupts has its own interrupt vector Each interrupt vector is identified by its interrupt number Please use the TMCL included file Interrupts inc for symbolic constants of the interrupt numbers 4 4 2 6 2 Interrupt Processing When an interrupt occurs and this interrupt is enabled and a valid interrupt vector has been defined for that interrupt the normal TMCL program flow will be interrupted and the interrupt handling routine will be called Before an interrupt handling routine gets called the context of the normal program will be saved automatically i e accumulator register X register TMCL flags There is no interrupt nesting i e all other interrupts are disabled while an interrupt handling routine is being executed www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 23 On return from an interrupt handling routine the context of the normal program will automatically be restored and the execution of the normal program will be continued 4 4 2 6 3 Interrupt Vectors The following table shows all interrupt vectors t
3. Bit Adder for lt p gt Command SAP 210 lt motor number gt lt p gt 2 4 If set the encoder will be zeroed with next index channel event 3 8 If set in combination with bit 2 Encoder will be zeroed with each index channel event Channel Z polarity for encoder clearing O low 1 i 1 high Add up both p values from these tables to get the required value for the SAP 210 command The resulting prescaler is value 512 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 79 6 3 Calculation Velocity and Acceleration vs Microstep and Fullstep Frequency The values of the axis parameters sent to the TMC429 do not have typical motor values like rotations per second as velocity But these values can be calculated from the TMC429 parameters as shown in this document TMC429 VELOCITY PARAMETERS TMC429 2 Range Rel MCST 1 velocity parameters elared MEST GO Panis parameters TMC429 and MCST3601 Velocity Axis parameter 2 target next speed 0 2047 Axis parameter 3 actual speed Axis parameter 4 maximum positioning speed Axis parameter 13 minimum speed Axis parameter 194 referencing search speed Axis parameter 195 referencing switch speed a max Axis parameter 5 0 2047 maximum acceleration usrs Axis parameter 140 offers the following settings 0 8 microstep resolution 0 full step microsteps per fullstep 1 half step m2 2 4 microsteps 3
4. INSTRUCTION NO TYPE MOT BANK VALUE 8 lt parameter lt motor number gt don t care number gt 0 2 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 5 Example Restore the maximum current of motor Mnemonic RSAP 6 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 08 06 00 00 00 00 00 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 4 5 9 SGP set global parameter Most of the module specific parameters not directly related to motion control can be specified and the TMCL user variables can be changed Global parameters are related to the host interface peripherals or other application specific variables The different groups of these parameters are organized in banks to allow a larger total number for future products Currently bank O and bank 1 are used for global parameters Bank 2 is used for user variables and bank 3 is used for interrupt configuration All module settings will automatically be stored non volatile internal EEPROM of the processor The TMCL user variables will not be stored in the EEPROM automatically but this can be done by usin
5. Pin I O port Command Range 5 OUTO OD 24V SIO O 2 n 1 0 6 OUT1 OD 24V SIO 1 2 n 1 0 7 OUT2 OD 24V SIO 2 2 n 1 0 8 OUT3 OD 24V SIO 3 2 n 1 0 9 OUTA OD 24V SIO 4 2 n 1 0 10 OUT5 OD 24V SIO 5 2 n 1 0 The SIO command can be used to switch on value 1 or off value 0 the 5V supply output for external circuits Pin 7 of the Motor Encoder connector This 5V output might be used to supply an external encoder As default setting this output is switched on delivering 5V from the internal DC DC converter Pin 1 O port Command Range 7 5VOUT SIO 6 2 n 1 0 100mA www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 41 4 5 15 GIO get input output With this command the status of the available general purpose inputs of the module can be read out The function reads a digital or analogue input port Digital lines will read O and 1 while the ADC channels deliver their 12 bit result in the range of 0 4095 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 port number
6. Mnemonic Command number Meaning SIO 14 Set output GIO 15 Get input 4 4 2 5 Calculation Commands These commands are intended to be used for calculations within TMCL applications Although they could also be used in direct mode it does not make much sense to do so Mnemonic Command number Meaning CALC 19 Calculate using the accumulator and a constant value CALCX 33 Calculate using the accumulator and the X register AAP 34 Copy accumulator to an axis parameter AGP 35 Copy accumulator to a global parameter ACO 39 Copy accu to coordinate For calculating purposes there is an accumulator or accu or A register and an X register When executed in a TMCL program in standalone mode all TMCL commands that read a value store the result in the accumulator The X register can be used as an additional memory when doing calculations It can be loaded from the accumulator When a command that reads a value is executed in direct mode the accumulator will not be affected This means that while a TMCL program is running on the module standalone mode a host can still send commands like GAP and GGP to the module e g to query the actual position of the motor without affecting the flow of the TMCL program running on the module 4 4 2 6 Interrupt Commands Due to some customer requests interrupt processing has been introduced in the TMCL firmware for ARM based modules
7. smartEnergy hysteresis start smartEnergy hysteresis 1 32 www trinamic com 69 MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 Number Axis Parameter Description Range Unit Acc 171 smartEnergy Sets 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 value 0 15 RW hysteresis start see smart Energy current up step 173 stallGuard2 Enables the stallGuard2 filter for more precision 0 1 RW filter enable 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 threshold 64 63 RW 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 O Indifferent value 1 63 less sensit
8. bank number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 15 port number bank number don t care Reply in direct mode STATUS VALUE 100 OK status of the port Example Get the analogue value of INO Mnemonic GIO 0 1 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 SOf 00 01 00 00 00 00 Reply Byte Index 0 1 2 3 4 5 6 7 Function Host Target Status Instruction Operand Operand Operand Operand address address Byte3 Byte2 Byte1 ByteO Value hex 02 01 64 Sof 00 00 01 2e Status no error value 46 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 42 S D 1 S D 1 Connector Connector BNC A INT 5V 24V ENC B IN2 5V 24V ENC N 7 ING SV 24V d 5 oun caw _ A e OD 204 He omom Ho oom qp Motor USB Connector Connector Figure 4 2 Programmable general purpose inputs and outputs on MCST3601 4 5 15 1 I O bank 0 digital inputs The voltage at the INO IN3 inputs can be read back as digital value Pin 1 O port Command Range 11 INO GIO 0 0 0 1 4 IN1 GIO 1 0 0 1 5 IN2 GIO 2 0 0 1 6 IN3 GIO 3 0 0 1 4 5 15 2
9. www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 60 4 5 33 El enable interrupt The El command enables an interrupt It needs the interrupt number as parameter Interrupt number 255 globally enables interrupts Related command DI VECT RETI Mnemonic El lt interrupt number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 25 lt interrupt number gt don t care don t care The following table shows all interrupt vectors that can be used Interrupt Interrupt type Interrupt Interrupt type number number 0 Timer O 29 Left stop switch 1 1 Timer 1 30 Right stop switch 1 2 Timer 2 31 Left stop switch 2 3 Target position reached 0 32 Right stop switch 2 4 Target position reached 1 39 Input change 0 5 Target position reached 2 40 Input change 1 15 stallGuard axis O 41 Input change 2 21 Deviation axis O 42 Input change 3 27 Left stop switch 0 255 Global interrupts 28 Right stop switch O 29 Left stop switch 1 Examples Enable interrupts globally EI 255 Binary format of El Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 19 SFF 00 00 00 00 00 Enable interrupt when target position reached EI 3 Binary format of
10. RWE 2 Timer 2 period ms Time between two interrupts ms 32 bit unsigned ms RWE 27 Left stop switch O O off 1 low high 2 high low 0 3 RWE edge type 3 both 28 Right stop switch O O off 1 low high 2 high low 0 3 RWE edge type 3 both 29 Left stop switch 1 O off 1 low high 2 high low 0 3 RWE edge type 3 both 30 Right stop switch 1 O off 1 low high 2 high low 0 3 RWE edge type 3 both 31 Left stop switch 2 O off 1 low high 2 high low 0 3 RWE edge type 3 both 32 Right stop switch 2 O off 1 low high 2 high low 0 3 RWE edge type 3 both 39 Input O edge type Doft 1 low high 2 high low 0 3 RWE 3 both 40 Input 1 edge type Doft 1 low high 2 high low 0 3 RWE 3 both 41 Input 2 edge type Doft 1 low high 2 high low 0 3 RWE 3 both 42 Input 3 edge type Doft 1 low high 2 high low 0 3 RWE 3 both www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 86 8 TMCL Programming Techniques and Structure 8 1 Initialization The first task ina TMCL program like in other programs also is to initialize all parameters where different values than the default values are necessary For this purpose SAP and SGP commands are used 8 2 Main Loop Embedded systems normally use a main loop that runs infinitely This is also the case in a TMCL application that is running standalone Normally the auto start mode of the
11. 2 MUL multiply accu by 3 DIV divide accu by 4 MOD modulo divide by 5 AND logical and accu with 6 OR logical or accu with 7 XOR logical exor accu with 8 NOT logical invert accu 9 LOAD load operand to accu Example Multiply accu by 5000 Mnemonic CALC MUL 5000 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 13 02 00 SFF SFF SEC 78 Reply Byte Index 0 1 2 3 4 5 6 7 Function Host Target Status Instruction Operand Operand Operand Operand address address Byte3 Byte2 Byte1 ByteO Value hex 02 01 64 13 Sff Sff Sec 78 Status no error value 5000 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 4 5 17 COMP compare The specified number is compared to the value in the accumulator register The result of the comparison can for example be used by the conditional jump JC instruction This command is intended for use in standalone operation only The host address and the reply are used only to take the instruction to the TMCL program memory while the program downloads Internal function the specified value is compared to the internal accumulator which holds the value of a preceding get or calculate ins
12. offset coordinate number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 0 ABS absolute position 4 1 REL relative motor number offset 2 COORD 0 2 lt coordinate number gt coordinate 0 20 Reply in direct mode STATUS VALUE 100 OK don t care Example Move motor 0 to absolute position 90000 Mnemonic MVP ABS 0 9000 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 04 00 00 00 01 5f 90 MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 29 Example Move motor 0 from current position 1000 steps backward move relative 1000 Mnemonic MVP REL 0 1000 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 04 01 00 Sff Sff Sfc 18 Example Move motor 0 to previously stored coordinate 8 Mnemonic MVP COORD 0 8 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 04 02 00 00 00 00 08 When
13. should be de incremented carefully in steps of one 160 step Step interpolation is supported with a 16 0 1 RW interpolation microstep setting only In this setting each enable step impulse at the input causes the execution of 16 times 1 256 microsteps This way a smooth motor movement like in 256 microstep resolution is achieved 0 step interpolation off 1 step interpolation on 161 double step Every edge of the cycle releases a 0 1 RW enable step microstep It does not make sense to www trinamic com activate this parameter for internal use Double step enable can be used with Step Dir interface 0 double step off 1 double step on 68 MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 Number Axis Parameter Description Range Unit Acc 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 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 on decrement 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 decrem
14. 0 2047 RW Above this speed motor will stop in case 19MHz pp stallGuard2 load value reaches zero 65536 2 182 smartEnergy Above this speed coolStep becomes enabled 0 2047 RW threshold speed 16MHZ TED e 65536 sec 183 smartEnergy Sets the motor current which is used below 0 255 RW slow run current the threshold speed The unit of the current is adequate to the Same conversion as chosen motor current with or without for axis parameter 6 jumper 193 ref search mode 1 search left stop switch only 1 8 RWE 2 search rightstop switch then search left stop switch 3 search right stop switch then search left stop switch from both sides 4 search left stop switch from both sides 5 search home switch in negative direction reverse the direction when left stop switch reached 6 search home switch in positive direction reverse the direction when right stop switch reached 7 search home switch in positive direction ignore end switches 8 search home switch in negative direction ignore end switches Adding 128 to these values reverses the polarity of the home switch input 194 referencing For the reference search this value directly 0 2047 RWE search speed specifies the search speed 195 referencing Similar to parameter no 194 the speed for 0 2047 RWE switch speed the switching point calibration can be selected 196 distance end This parameter provides the distance 0 2147483647 R switches betwe
15. 0 90 2014 MAY 27 87 Just have a look at the file TMCLParam tmc provided with the TMCL IDE It contains symbolic constants that define all important parameter numbers Using constants for other values makes it easier to change them when they are used more than once in a program You can change the definition of the constant and do not have to change all occurrences of it in your program 8 4 Using Variables The User Variables can be used if variables are needed in your program They can store temporary values The commands SGP GGP and AGP are used to work with user variables SGP is used to set a variable to a constant value e g during initialization phase GGP is used to read the contents of a user variable and to copy it to the accumulator register for further usage AGP can be used to copy the contents of the accumulator register to a user variable e g to store the result of a calculation Example MyVariable 42 Use a symbolic name for the user variable This makes the program better readable and understandable SGP MyVariable 2 1234 Initialize the variable with the value 1234 GGP MyVariable 2 Copy the contents of the variable to the accumulator register CALC MUL 2 Multiply accumulator register with two AAP MyVariable 2 Store contents of the accumulator register to the variable Furthermore these variables can provide a powerful way of communication between a TMCL prog
16. 1 33 2014 APR 29 OK First version for new hardware version V1 1 10 2 Document Revision Version Date Author Description 0 90 2014 MAY 27 GE Initial version based on TMCM 1110 stepRocker TMCL firmware manual 0 91 2014 JUL 09 DWI Suppression of CAN information www trinamic com 90 MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 11 References MCST3601 MCST3601 Hardware Manual TMC262 TMC262 Datasheet TMC429 TMC429 Datasheet TMCL IDE TMCL IDE User Manual Please refer to www trinamic com www trinamic com 225 FAULHABER FAULHABER PRECISTEP SA Rue des Gentianes 53 2300 La Chaux de Fonds Switzerland Tel 41 32 910 6050 7000 55002 English 1st edition 10 2014 e FAULHABER PRECISTEP SA info precistep com Subject to change without notice www faulhaber com
17. 46 4 5 19 JA jump always Jump to a fixed address in the TMCL program memory This command is intended for standalone operation only The host address and the reply are only used to take the instruction to the TMCL program memory while the program downloads Internal function the TMCL program counter is set to the passed value Related commands JC WAIT CSUB Mnemonic JA Label Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 22 don t care don t care jump address Example An infinite loop in TMCL Loop MVP ABS 0 10000 WAIT POS 0 O MVP ABS 0 O WAIT POS 0 O JA Loop Jump to the label Loop Binary format of JA Loop assuming that the label Loop is at address 20 Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 16 00 00 00 00 00 14 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 47 4 5 20 CSUB call subroutine This function calls a subroutine in the TMCL program memory It is intended for standalone operation only The host address and the reply are only used to take the instruction to the TMCL program memory while the program downloads Internal function the actual TMCL program counter value is saved to an internal stack afterwards overwr
18. 75 6 1 1 Reference Search Modes Axis Parameter 193 SAP 193 0 1 _ negative limit switch Search left stop switch only SAP 193 0 2 negative limit switch positive limit switch Search right stop switch then search left stop switch SAP 193 0 3 negative limit switch positive limit switch Search right stop switch then search left stop switch from both sides SAP 793 0 4 negative limit switch Search left stop switch from both sides Figure 6 1 Reference search modes 1 4 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 SAP 193 0 5 negative limit switch positive limit switch home switch Search home switch in negative direction reverse the direction when left stop switch reached SAP 793 0 6 FE SE negative limit switch positive limit switch home switch Search home switch in positive direction reverse the direction when right stop switch reached SAP 793 0 7 Fox d si d home witen Ju Search home switch in positive direction ignore end switches SAP 193 0 8 duc ccc M NE home switch Search home switch in negative direction ignore end switches Figure 6 2 Reference search modes 5 8 www trinamic com 76 MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 6 2 Encoder The MCST3601 pr
19. Ref 0 90 2014 MAY 27 64 4 5 38 TMCL Control Functions There are several TMCL control functions but for the user are only 136 and 137 interesting Other control functions can be used with axis parameters Instruction number Type Command Description 136 O string Firmware version Get the module type and firmware revision as a 1 binary string or in binary format Motor Bank and Value are ignored 137 don t care Resettofactory Reset all settings stored in the EEPROM to their defaults factory defaults This command does not send back a reply Value must be 1234 Further information about command 136 Type set to O reply as a string Byte index Contents 1 Host Address 2 9 Version string 8 characters e g 3601V133 There is no checksum in this reply format Type set to 1 version number in binary format Please use the normal reply format The version number is output in the value field of the reply in the following way Byte index in value field Contents 1 Version number low byte 2 Version number high byte 3 Type number low byte currently not used 4 Type number high byte currently not used www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 65 5 Custom specific functions In contrast to current standard TMCL functionality the stepper motor connected to axis 0 of the MCST3601 modu
20. chapter 5 Example Positioning motor by a potentiometer connected to the analogue input 40 Start GIO 0 1 get value of analogue input line O0 CALC MUL 4 multiply by 4 AAP 0 0 transfer result to target position of motor 0 JA Start jump back to start Binary format of the AAP 0 0 command Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 22 00 00 00 00 00 00 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 57 4 5 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 Related commands AAP SGP GGP SAP GAP GIO Mnemonic AGP parameter number bank number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 35 parameter number bank number don t care Reply in direct mode STATUS VALUE 100 OK don t care For a table with parameters and bank numbers which can be use
21. differ more than set here the motor will be stopped This function is switched off when encoder steps the maximum deviation is set to zero www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 78 6 2 1 Changing the Prescaler Value of an Encoder The table below shows a prescaler subset which can be selected Other values between those in the table can be used The bits 2 4 must not be used for the prescaler because they are needed to select special encoder functions TO SELECT A PRESCALER THE FOLLOWING VALUES CAN BE USED FOR lt P gt Value for Resulting SAP command for motor 0 Resulting EDS olei A SE SAP 210 MO lt p gt for a 400 line 1600 quadrate count encoder 64 0 125 SAP 210 0 64 200 128 0 25 SAP 210 0 128 400 256 0 5 SAP 210 0 256 800 512 1 SAP 210 0 512 1600 1024 2 SAP 210 0 1024 3200 2048 4 SAP 210 0 2048 6400 4096 8 SAP 210 0 4096 12800 8192 16 SAP 210 0 8192 25600 16384 32 SAP 210 0 16384 51200 32768 64 SAP 210 0 32768 102400 Formula for resulting steps per rotation StepsPerRotation LinesOfEncoder 4 Prescaler Consider the following formula for your Prescaler p calculation 512 Example p 6400 6400 512 12 5 prescaler There are some special functions that can also be configured using these values To select these functions just add the following values to lt p gt
22. 225 FAULHABER Firmware TMCL MCST 3601 Instruction Manual ES W E CREATE MOTION Uy 25 FAULHABER j Imprint Version 1st edition 01 10 2014 Copyright by FAULHABER PRECISTEP SA Rue des Gentianes 53 2300 La Chaux de Fonds Switzerland All rights reserved including those to the translation No part of this description may be duplicated reproduced stored in an information system or processed or transferred in any other form without prior express written permission of FAULHABER PRECISTEP SA This technical manual has been prepared with care FAULHABER PRECISTEP SA cannot accept any liability for any errors in this technical manual or for the consequences of such errors Equally no liability can be accepted for direct or consequential damages resulting from improper use of the equipment The relevant regulations regarding safety engineering and interference suppression as well as the requirements specified in this technical manual are to be noted and followed when using the software Subject to change without notice The respective current version of this technical manual is available on FAULHABER s internet site www faulhaber com 25 FAULHABER Firmware Version V1 33 TMCL FIRMWARE MANUAL MCST3601 1 Axis Stepper Controller Driver 3 axes controller Master Slave operation Up to1A 36V Incremental encoder input GPIOs 68e E Ki Ki ti e r LJ e 3 9 SCHSR
23. 25mm pitch connector 682 9 e s 8 e 2 e L a 2 Ki OVSROKN ASH Pin Label Direction Description 1 Gresch Output Motor driver output coil A 2 ere Output Motor driver output coil A 3 ee Output Motor driver output coil B 6 Bn Output Motor driver output coil B Figure 3 3 Motor connection www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 11 3 1 1 3 Power Supply Connect the power supply with the power supply terminals see Figure 3 1 but start with power supply OFF Take care of the polarity wrong polarity can destroy the board Do not exceed the maximum power supply of 36V DC Power Interface connector Jl GO e Ce ee oe oe i 2 2 e L s 2 s www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 12 3 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 a TMCL Integrated Development Environment C Users Sonja Dwersteg De File Edit TMCL Debug Setup Help Dn PRH E Sp Options E E Ki Configure Module Noch ein Test Gi Search Module include parame oy Install OS Test4 tme GAP 6 stal
24. 4 3 1 Testing with a Simple TMCL Program Open the file test2 tmc of the TMCL IDE The test program is written for three motors Change the motor numbers into O if only one motor is connected Now the test program looks as follows IIA simple example for using TMCL and TMCL IDE ROL 0 500 WAIT TICKS 0 500 MST 0 S ROR 0 250 WAIT TICKS 0 MST 0 Rotate motor 0 with speed 500 Rotate motor 0 with 250 Set max Set max Move to Position 10000 Wait until position reached II Velocity Acceleration Move to Position 10000 Wait until position reached Infinite Loop Click on Icon Assemble to convert the TMCL into machine code Then download the program to the MCST3601 module via the icon Download Press icon Run The desired program will be executed Click Stop button to stop the program Bou ae 4 4 TMCL Command Overview In this section a short overview of the TMCL commands is given 4 4 1 TMCL Commands Command Number Parameter Description ROR 1 lt motor number gt lt velocity gt Rotate right with specified velocity ROL 2 motor number velocity Rotate left with specified velocity MST 3 motor number Stop motor movement MVP 4 ABS REL COORD motor number Move to position absolute or relative position offset www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 20
25. 4 MOD modulo divide accu by x register 5 AND logical and accu with X register 6 OR logical or accu with X register 7 XOR logical exor accu with X register 8 NOT logical invert X register 9 LOAD load accu to X register 10 SWAP swap accu with X register Example Multiply accu by X register Mnemonic CALCX MUL Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 21 02 00 00 00 00 00 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 56 4 5 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 lt motor number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 34 lt parameter number gt lt motor number gt lt don t care gt 0 2 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
26. 8 microsteps 4 16 microsteps 5 32 microsteps 6 64 microsteps 7 128 microsteps 8 256 microsteps ramp div Axis parameter 153 divider for the acceleration The O 13 ramp divisor higher the value is the less is the maximum acceleration Default O pulse div Axis parameter 153 divider for the velocity 0 13 pulse divisor Increasing the value by one divides the acceleration into halves decreasing the value by one doubles the acceleration Default O faux Ze 16MHz clock frequency www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 80 6 3 1 Microstep Frequency The microstep frequency of the stepper motor is calculated with fcr kia velocity 2 pulse div sf Hz sf microstep frequency 2048 32 6 3 2 Fullstep Frequency To calculate the fullstep frequency from the microstep frequency the microstep frequency must be divided by the number of microsteps per fullstep usf Hz IST Jsf Hz fsf fullstep frequency The change in the pulse rate per time unit a pulse frequency change per second is given by 2 CLK max dq Pulse _div ramp _div 29 This results in acceleration in fullsteps of a af Aen af acceleration in fullsteps Example Signal Value fax 16 MHz velocity 1000 a max 1000 pulse div 1 ramp div 1 psrs 6 16MHz 1000 psf 4 12207031Hz 2 2048 32 12207031 fSf
27. El Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 19 03 00 00 00 00 00 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 61 4 5 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 El 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 Interrupt type Interrupt Interrupt type number number 0 Timer 0 29 Left stop switch 1 1 Timer 1 30 Right stop switch 1 2 Timer 2 31 Left stop switch 2 3 Target position reached 0 32 Right stop switch 2 4 Target position reached 1 39 Input change 0 5 Target position reached 2 40 Input change 1 15 stallGuard axis O 41 Input change 2 21 Deviation axis O 42 Input change 3 27 Left stop switch 0 255 Global interrupts 28 Right stop switch O 29 Left stop switch 1 Examples Disable interrupts globally DI 255 Binary format of DI Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operan
28. I O bank 1 analog inputs The voltage at the INO input can be read back as analog value via bank 1 Pin I O port Command Range Unit 11 INO GIO 0 1 Read back value in the range of 0 4095 for an input voltage in the range of approx 0 10 3V DC 2 Voltage GIO 8 1 Read back supply voltage in x100mV e g a value of 240 means 24 0V DC supply voltage 4 5 15 3 I O bank 2 the states of digital outputs The states of the open drain outputs OUTO OUT5 that have been set by SIO commands can be read back using bank 2 Pin I O port Command Range 5 OUTO GIO 0 2 1 0 6 OUT1 GIO 1 2 1 0 7 OUT2 GIO 2 2 1 0 8 OUT3 GIO 3 2 1 0 9 OUTA GIO 4 2 1 0 10 OUTS GIO 5 2 1 0 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 43 4 5 16 CALC calculate A value in the accumulator variable previously read by a function such as GAP get axis parameter can be modified with this instruction Nine different arithmetic functions can be chosen and one constant operand value must be specified The result is written back to the accumulator for further processing like comparisons or data transfer Related commands CALCX COMP JC AAP AGP GAP GGP GIO Mnemonic CALC lt operation gt lt operand gt Binary representation INSTRUCTION NO TYPE lt operation gt MOT BANK VALUE 19 O ADD add to accu don t care operand 1 SUB subtract from accu
29. command with address 2 to call the third function You can see the addresses of the TMCL labels that are needed for the run commands by using the Generate symbol file function of the TMCL IDE Please refer to the TMCL IDE User Manual for further information about the TMCL IDE www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 9 Life Support Policy TRINAMIC Motion Control GmbH amp Co KG does not authorize or warrant any of its products for use in life support systems without the specific written consent of TRINAMIC Motion Control GmbH amp Co KG Life support systems are equipment intended to support or sustain life and whose failure to perform when properly used in accordance with instructions provided can be reasonably expected to result in personal injury or death TRINAMIC Motion Control GmbH amp Co KG 2014 man quaj 9 Information given in this data sheet is believed to be accurate and reliable However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties which may result from its use enb ueu9 9e Specifications are subject to change without notice www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 10 Revision History 10 1 Firmware Revision Author Version Date OK Olav Description Kahlbaum
30. is 10 milliseconds Example Wait for motor 0 to reach its target position without timeout Mnemonic WAIT POS 0 0 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 50 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 Byte1 ByteO Value hex 01 1b 01 00 00 00 00 00 1d 4 5 23 STOP stop TMCL program execution This function stops executing a TMCL program The host address and the reply are only used to transfer the instruction to the TMCL program memory End standalone TMCL programs with the STOP command It is not to be used in direct mode Internal function TMCL instruction fetching is stopped Related commands none Mnemonic STOP Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 28 don t care don t care don t care Example Mnemonic STOP Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 1c 00 00 00 00 00 00 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 51 4 5 24 SCO set coordinate Up to 20 position values coordinates can be stored for every axi
31. is a single axis controller driver module for 2 phase bipolar stepper motors It supports supply voltages up to 36V DC and motor currents up to 1A RMS different motor current settings selectable in software and via two jumpers The TMCL firmware allows for both standalone operation and direct mode The module can be configured as master controller driver controlling up to two external drivers in addition to the on board one or as slave driver only with step direction enable inputs MAIN CHARACTERISTICS Motion controller Motion profile calculation in real time On the fly alteration of motor parameters e g position velocity acceleration High performance microcontroller for overall system control and serial communication protocol handling Bipolar stepper motor driver Up to 256 microsteps per full step High efficient operation low power dissipation Dynamic current control Integrated protection Interfaces USB device interface on board mini USB connector 6x open drain outputs 24V compatible REF_L REF_R HOME switch inputs 24V compatible with programmable pull ups 1x S D input for the on board driver on board motion controller can be deactivated 2x Step direction output for two separate external drivers in addition to the on board 1x encoder input for incremental A B I encoder 3x general purpose digital inputs 24V compatible 1xanalog input 0 10V Please note not all functio
32. module should be turned on After power up the module then starts the TMCL program which first does all necessary initializations and then enters the main loop which does all necessary tasks end never ends only when the module is powered off or reset There are exceptions e g when TMCL routines are called from a host in direct mode So most but not all standalone TMCL programs look like this Initialization SAP 4 0 500 define max positioning speed SAP 5 0 100 define max acceleration MainLoop do something in this example just running between two positions MVP ABS 0 5000 WAIT POS 0 O0 MVP ABS 0 0 WAIT POS 0 O0 JA MainLoop end of the main loop gt run infinitely 8 3 Using Symbolic Constants To make your program better readable and understandable symbolic constants should be taken for all important numerical values that are used in the program The TMCL IDE provides an include file with symbolic names for all important axis parameters and global parameters Example Define some constants include TMCLParam tmc MaxSpeed 500 MaxAcc 100 PositionO 0 Positionl 5000 Initialization SAP APMaxPositioningSpeed Motor0 MaxSpeed SAP APMaxAcceleration Motor0 MaxAcc MainLoop MVP ABS MotorO0O Positionl WAIT POS MotorO O0 MVP ABS Motor0 PositionO WAIT POS MotorO 0 JA MainLoop www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref
33. stack The command will be ignored if the stack is empty Related command CSUB Mnemonic RSUB Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 24 don t care don t care don t care Example please see the CSUB example section 4 5 20 Binary format of RSUB Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 18 00 00 00 00 00 00 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 49 4 5 22 WAIT wait for an event to occur This instruction interrupts the execution of the TMCL program until the specified condition is met This command is intended for standalone operation only The host address and the reply are only used to take the instruction to the TMCL program memory while the program loads down This command cannot be used in direct mode There are five different wait conditions that can be used TICKS Wait until the number of timer ticks specified by the ticks parameter has been reached POS Wait until the target position of the motor specified by the motor parameter has been reached An optional timeout value O0 for no timeout must be specified by the ticks parameter REFSW Wait until the reference switch of the motor specified by the motor parameter has b
34. 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 1 65535 RWE delay changed down to standby current The 10msec standard value is 200 value equates 2000msec 254 Step dir mode O Normal mode Step dir mode off 0 1 RWE 1 Step dir mode with automatic current reduction in case of standstill If current reduction in standstill is not desired choose the same value for the axis parameters 6 and 7 Unit of acceleration 16MHz microsteps www trinamic com 536870912 2Puls divisor ramp divisor sec 72 MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 73 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 reference switch is connected in series with the left limit switch The differentiation between the left limit switch and the home switch is made through software Switches with open contacts normally closed are used The analogue input AIN_O of the module can be used as home switch Hints for reference search The sett
35. 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 For a table with parameters and values which can be used together with this command please refer to chapter 5 Example Store the maximum speed of motor Mnemonic STAP 4 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 07 04 00 00 00 00 00 Note The STAP command will not have any effect when the configuration EEPROM is locked refer to 7 1 In direct mode the error code 5 configuration EEPROM locked see also section 0 will be returned in this case www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 4 5 8 RSAP restore axis parameter For all configuration related axis parameters non volatile memory locations are provided By default most parameters are automatically restored after power up A single parameter that has been changed before can be reset by this instruction also Internal function the specified parameter is copied from the configuration EEPROM memory to its RAM location Relate commands SAP STAP GAP and AAP Mnemonic RSAP lt parameter number gt lt motor number gt Binary representation
36. trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 59 4 5 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 El DI RETI Mnemonic VECT lt interrupt number gt lt label gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 37 lt interrupt number gt don t care lt label gt The following table shows all interrupt vectors that can be used Interrupt number Interrupt type 0 Timer O 1 Timer 1 2 Timer 2 3 Target position reached 0 4 Target position reached 1 5 Target position reached 2 15 stallGuard axis O 21 Deviation axis O 27 Left stop switch 0 28 Right stop switch O 29 Left stop switch 1 30 Right stop switch 1 31 Left stop switch 2 32 Right stop switch 2 39 Input change 0 40 Input change 1 41 Input change 2 42 Input change 3 255 Global interrupts Example Define interrupt vector at target position 500 VECT 3 500 Binary format of VECT Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 25 03 00 00 00 01 SEA
37. 2 19200 baud 3 28800 baud 4 38400 baud 5 57600 baud 6 76800 baud EENEG Windows 7 115200 baud 8 230400 baud 9 250000 baud EES By Windows 10 500000 baud ME LL Windows 11 1000000 baud EE d Windows 66 serial address The module target address for RS485 0 255 RWE 68 serial heartbeat Serial heartbeat for USB interface If this time limit is up ms RWE and no further command is noticed the motor will be stopped 0 parameter is disabled 69 Reserved 70 Reserved 71 Reserved 73 configuration EEPROM Write 1234 to lock the EEPROM 4321 to unlock it 0 1 RWE lock flag Read 1 EEPROM locked O EEPROM unlocked 76 serial host address Host address used in the reply telegrams sent back via 0 255 RWE USB 77 auto start mode 0 Do not start TMCL application after power up 0 1 RWE default 1 Start TMCL application automatically after power up 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 Reserved 83 Reserved 84 coordinate storage 0 coordinates are stored in the RAM only but can be O or 1 RWE copied explicitly between RAM and EE
38. 5 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 STO 3 2 0 WAIT TICKS 0 50 JA Loop www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 24 Here is the interrupt handling routine TimerOIrg GIO 0 2 check if OUTO is high JC NZ OutOOff jump if not SIO 0 2 1 switch OUTO high RETI end of interrupt Out0Off SIO 0 Ze E switch OUTO low RETI end of interrupt In the example above the interrupt numbers are used directly To make the program better readable use the provided include file Interrupts inc This file defines symbolic constants for all interrupt numbers which can be used in all interrupt commands The beginning of the program above then looks like the following include Interrupts inc VECT TI TIMERO TimerOIrq SGP TI TIMERO 3 1000 EI TI TIMERO EI TI GLOBAL Please also take a look at the other example programs www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 25 4 5 Commands The module specific commands are explained in more detail on the following pages They are listed according to their command number 4 5 1 ROR rotate right The motor will be instructed to rotate with a specified velocity in right direction increasing the position counter Internal function first velocity mode is s
39. 5 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 39 INSTRUCTION NO TYPE MOT BANK VALUE 14 lt port number gt lt bank number gt lt value gt 2 0 1 Reply structure STATUS VALUE 100 OK don t care Example Set OUT1 to high bank 2 output 1 gt the output 1 will be pulled low actively Mnemonic SIO 1 2 1 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 0e 01 02 00 00 00 01 S D 1 S D 2 7 35VOUT 100mA Figure 4 1 Programmable general purpose outputs on MCST3601 Motor Connector Connector Connector t ailes UH WIER B USB Connector Jo onom CEUCLE 8 amo 5 onom _ Bl omom _ www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 40 Bank 2 is used for setting the status of the general purpose digital output OD open drain output either to low low 0 output pin floating or to high high 1 output pin pulled low
40. 56 user variables are available Meaning of the letters in column Access Access type Related command Description R GGP Parameter readable W SGP AGP Parameter writable E SGP AGP Parameter stored permanently in EEPROM Number Global parameter Description Range Access 0 55 general purpose variable 0 55 for use in TMCL applications 231 42 RWE 56 255 general purpose variables 56 255 for use in TMCL applications 231 23 RW www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 85 7 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 type Related command Description R GGP Parameter readable W SGP AGP Parameter writable E SGP AGP Parameter stored permanently in EEPROM Number Global parameter Description Range Access 0 Timer 0 period ms Time between two interrupts ms 32 bit unsigned ms RWE 1 Timer 1 period ms Time between two interrupts ms 32 bit unsigned ms
41. CO 30 Store coordinate CCO 32 Capture coordinate GCO 31 Get coordinate 4 4 2 2 Parameter Commands These commands are used to set read and store axis parameters or global parameters Axis parameters can be set independently for the axis whereas global parameters control the behavior of the module itself These commands can also be used in direct mode and in standalone mode Mnemonic Command number Meaning SAP 5 Set axis parameter GAP 6 Get axis parameter STAP 7 Store axis parameter into EEPROM RSAP 8 Restore axis parameter from EEPROM SGP 9 Set global parameter GGP 10 Get global parameter STGP 11 Store global parameter into EEPROM RSGP 12 Restore global parameter from EEPROM 4 4 2 3 Control Commands These commands are used to control the program flow loops conditions jumps etc It does not make sense to use them in direct mode They are intended for standalone mode only Mnemonic Command number Meaning JA 22 Jump always JC 21 Jump conditional COMP 20 Compare accumulator with constant value CSUB 23 Call subroutine RSUB 24 Return from subroutine WAIT 27 Wait for a specified event STOP 28 End of a TMCL program www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 22 4 4 2 4 1 0 Port Commands These commands control the external I O ports and can be used in direct mode and in standalone mode
42. Jump conditional JA 22 lt jump address gt Jump absolute CSUB 23 lt subroutine address gt Call subroutine RSUB 24 Return from subroutine El 25 lt interrupt number gt Enable interrupt DI 26 interrupt number Disable interrupt WAIT 27 condition motor number ticks Wait with further program execution STOP 28 Stop program execution SCO 30 coordinate number motor Set coordinate number position GCO 31 coordinate number motor number 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 gt lt label gt Set interrupt vector RETI 38 Return from interrupt ACO 39 lt coordinate number gt lt motor number gt Accu to coordinate www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 21 4 4 2 Commands Listed According to Subject Area 4 4 2 1 Motion Commands These commands control the motion of the motor They are the most important commands and can be used in direct mode or in standalone mode Mnemonic Command number Meaning ROL 2 Rotate left ROR 1 Rotate right MVP 4 Move to position MST 3 Motor stop RFS 13 Reference search S
43. KEATS AOA Ee AANE A E eden eter Lea eavineads 73 6 1 1 Reference Search Modes Axis Parameter 19231 75 6 2 ENCODER EE 77 6 2 1 Changing the Prescaler Value of an Encoder nennen nennen 78 6 3 Calculation Velocity and Acceleration vs Microstep and Fullstep Frequency 79 6 3 1 Microstep Frequency cccccccsssssssnsnsnsnsnscsnsseaeaeaeaeaeaeaeaeaeaeaeaeeeesecececeeeceseseseeeeeeseeeeeess 80 6 3 2 Fullstep Frequentcy EE 80 FARE EIN SET E ree cope RT UE MED EUER CT TRE EU 82 zs MEE 82 7 2 SBA EN 84 453 Banks eso etre eret Hag e rhe Pese be a pe regen geeks tra E p Pepe ads 84 Vd vs Bane3 t e e Ee 85 8 TMCL Programming Techniques and Structure AEN 86 8S MNitialiZatiOn nscale creer et err e Wa Ai e nete y PER RR ce dpa EORR Mage 86 8 2 Main LOOpe 535 uos ese SEE 86 8 3 Using Symbolic Constants ccccccccccccesssssecececessesseeeeesceeseeeaeeeeeessseeaseeeeesseeseaeaeeeeseuseaaaeeas 86 84 Using Variables i5 fees e er PO WB E 87 8 5 Using Subroutines ssesssssssessssseseeeenenene nennen enne tni aAa S iaaa aa a s sensn setis a asses iiaa ia Danita 87 8 6 Mixing Direct Mode and Standalone Mode 88 Wb BESCHT lte Old 89 TOSIRevislon Historyo 4 cece EE E 90 10 1 Fittniware Revislon rre dre laste ERENNERT 90 10 2 DOCUMENT REVISION E 90 le heet Ee 91 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 6 1 Features The MCST3601
44. LHz g 1907 34Hz 2 GEN 16Mhz 1000 MHz a 14329 119 21 2 D MHz 119 21 MHz af EEN 1 863 2 s www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 6 3 2 1 Calculation of Number of Rotations A stepper motor has e g 72 fullsteps per rotation SSF 1907 34 RPS E 26 49 fullsteps per rotation 72 fsf 60 1907 34 60 RPM 1589 46 fullsteps per rotation 72 www trinamic com 81 MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 82 7 Global Parameters Global parameters are grouped into 4 banks bank O global configuration of the module bank 1 user C variables bank 2 user TMCL variables bank3 interrupt configuration Please use SGP and GGP commands to write and read global parameters 7 1 Bank O Parameters O 38 The first parameters O 38 are only mentioned here for completeness They are used for the internal handling of the TMCL IDE and serve for loading microstep and driver tables Normally these parameters remain untouched f you want to use them for loading your specific values with your PC software please contact TRINAMIC and ask how to do this Otherwise you might cause damage on the motor driver Number Parameter datagram low word read only datagram high word read only cover datagram position cover datagram length cover datagram contents reference switch sta
45. MCL program evecution seen enne 50 4 5 24 SCO set coordinate airesin re E a ia arias piss 51 4 5 25 GCO get coordinate araea a ea SEE a E EA E 52 4 5 26 CCO capture coordinate ccceccccccssscceessececeesececseseecsesseeececsaeeeceesaeeceesseeeceesaeeeseesaeeeeees 53 4 5 27 ACOlaccutocoordinatel enne ene E ENEA S NS 54 4 5 28 CALCX calculate using the X register cccccccccssccecssececeesnececeeaeeeecaeeeescsaeeeceeseeeeesseeeeees 55 4 5 29 AAP accumulator to axis p rameter isses eene nnn ener sehn nsn 56 4 5 30 AGP accumulator to global poarameter enne enne nnn 57 4 5 31 CLE clear error Tags 58 4 5 32 VECT set interrupt vector cceccccecsseceeessececeesecececsaecesesaeeecsesseeeceesaesesesseeeceesaeeeeeeaeeesees 59 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 45 33 El enable interrupt att te ter ot gvueusaavuedscaeyeat sth ANERE SE 60 4 5 34 DI disable iriterr pt ie rrt era terea E Re EY EVER FEX HERE SEES EXER ENTRE e 61 4 5 35 RETI return from interrupt orep iera EOE E enne ener ener entitas entia sisti anni in 62 4 5 36 Customer Specific TMCL Command Extension UFO UF7 User Function 62 4 5 37 Request Target Position Reached Event 63 45 38 TMEL Control FUNCTIONS coner ete td een runt erant eter e TE SEENEN aee EE 64 Se a CUStOMISPECITICMUNCTIONS EE EE 65 EE EH TEE EE EE UIROS 66 GT Referente Search tee eite teat ENE
46. OKASY UNIQUE FEATURES Compatible with the whole PRECIstep stepper motor range Compact and fully programmable ASIC design A POWERED BY TRI NAM IC MOTION CONTROL MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 Table of Contents DS 5Eeatures eve eee EE 6 2 ENEE WEE H 3 Putting the Moduleiinto Operationz 7e 8 Sul Basie SetU EE 9 SAL Connecting the Mod er e Dee terii ebe 9 3 1 2 Start the TMCL IDE Software Development Environment 12 3 1 3 Using TMCE Direct Mode terree eren ert eee esi eet e NE edu 13 3 1 4 Important Motor Settings nsari a aE E E A E a a 14 Aa STM Gland Dag le al E A N NRI 17 4il Binary Command Format neret Baten eet Wed hs tee 17 4 2 Reply Format steiert dee Se veier Get deh ve ite ees todas 18 4 2 1 Stats EE 18 4 3 Standalone Applications etd teet van slide et e etd e tut b eue 19 4 3 1 Testing with a Simple TMCL Program nennen enne nnns 19 AA TMCL Command Overvlew esses enne enhn seen a a e en Aa ennnis 19 4 4 T TMEL Een ul EE 19 4 4 2 Commands Listed According to Subject Area 21 4 5 eer El TTT 25 4 5 1 RORArOtate lebt Seege S HR t e a er ei a e A v a en 25 4 5 2 ROL rotate left Age age vetet te Ho EH dE AW EE Ta EN 26 4 5 3 C MST mOtOEPStOD EG 27 4 5 4 MVP move CO POSITION i rer re n b ENEE EE ONE a vate 28 45 5 SAP setax parameter Eege mae de eee te a a ere oa otn irae outa i dau 30 450 GAP get axis pa
47. PROM 1 coordinates are always stored in the EEPROM only www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 84 Number Global parameter Description Range Access 85 do not restore user 0 user variables are restored default 0 1 RWE variables 1 user variables are not restored 86 step pulse length Length of step pulse for Step Dir interface 1 x us 0 15 RWE Default setting O 11s This setting is valid for all three motor axes 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 instruction 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 0 R 214748 3647 7 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 6 3 these variables form the interface between extensions of the firmware written in C and TMCL applications 7 3 Bank2 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
48. ROM Note that the coordinate number 0 is always stored in RAM only Internal function the selected 24 bit position values are written to the 20 by 3 bytes wide coordinate array Related commands SCO GCO MVP Mnemonic CCO coordinate number motor number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 32 coordinate number motor number don t care 0 20 0 2 Reply in direct mode STATUS VALUE 100 OK don t care Example Store current position of the axis O to coordinate 3 Mnemonic CCO 3 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 20 03 00 00 00 00 00 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 54 4 5 27 ACO accu to coordinate With the ACO command the actual value of the accumulator is copied to a selected coordinate of the motor Depending on the global parameter 84 the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup with the default setting the coordinates are stored in RAM only Please note also that the coordinate number 0 is always stored in RAM only For Information about storing coordinates refer to the SCO command Internal function the actual value of the accumula
49. Ref 0 90 2014 MAY 27 9 3 1 Basic Set up The following paragraph will guide you through the steps of connecting the unit and making first movements with the motor 3 1 1 Connecting the Module For first steps you will need a power supply and a connection between PC and the USB interface of the MCST3601 for communication 3 1 1 1 Communication 3 1 1 1 1 USB Before using the USB interface the device driver has to be installed Label Connector type Mating connector type Mini USB Molex 500075 1517 Mini USB Type B Any standard mini USB plug connector vertical receptacle 3 1 1 2 Motor The MCST3601 controls and drives one 2 phase stepper motor directly a second and third one via additional external driver Connect one coil of the motor to the terminal marked A and A and the other coil to the connector marked B and B Before connecting a motor please make sure which cable belongs to which coil Wrong connections may lead to damage of the driver chips or the motor The MCST3601 offers two connection options for connecting the motor Please use only one option at the same time Motor connection option 1 using the screw terminals 8 Mior Phase amp 0 Motor Fnase A i Wotor Phase Br LCE ECK e s d E 2 2 s L e 2 KI www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 Motor connection option 2 using the on board Molex PicoBlade 4pin 1
50. Y 27 28 4 5 4 MVP move to position 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 H5 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 2 1 microsteps Otherwise the motor will run in the opposite direction in order to take the shorter distance Two operation types are available Moving to an absolute position in the range from 2 147 483 648 2 147 483 647 2 237 1 Starting a relative movement by means of an offset to the actual position In this case the new resulting position value must not exceed the above mentioned limits too Internal function A new position value is transferred to the axis parameter 0 target position Related commands SAP GAP SCO CCO GCO MST Mnemonic MVP ABS REL COORD gt motor number position
51. alization 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 USB to the bus master Only then should the master transfer the next command Normally the module will just switch to transmission and occupy the bus for a reply otherwise it will stay in receive mode It will not send any data over the interface without receiving a command first This way any collision on the bus will be avoided when there are more than two nodes connected to a single bus The Trinamic Motion Control Language TMCL provides a set of structured motion control commands Every motion control command can be given by a host computer or can be stored in an EEPROM on the TMCM module to form programs that run standalone on the module For this purpose there are not only motion control commands but also commands to control the program structure like conditional jumps compare and calculating Every command has a binary representation and a mnemonic The binary format is used to send commands from the host to a module in direct mode whereas the mnemonic format is used for easy usage of the commands when developing standalone TMCL applications using the TMCL IDE IDE means Integrated Development Environment There is also a set of configuration variables for the axis and for global parameters which allow individual configuration of nea
52. asic information for putting your module into operation This includes a simple example for a TMCL program and a short description of operating the module in direct mode The MCST3601 is able to control up to three motors In this chapter it is explained how to start with one motor motor number 0 only If you want to use the module for controlling more motors refer to the Hardware Manual please There you will find information about extensions THINGS YOU NEED MCST3601 with appropriate stepper motor Power supply with nominal supply voltage of 24V DC 9 36V DC for your module PC with USB interface TMCL IDE program can be downloaded free of charge from www trinamic com Please refer to the TMCL IDE User Manual too Appropriate cables at least for power supply communication and motor PRECAUTIONS Do not mix up connections or short circuit pins Avoid bounding I O wires with motor power wires Do not exceed the maximum power supply of 36V DC Do not connect or disconnect the motor while powered on START WITH POWER SUPPLY OFF S D 1 S D 2 Connector Connector Motor Encoder j J connector E j Si P A Power Interface T AFITORIN 7 HIGH 4 NC AT Su 6 ENCNT ING SCT s ao 9 Motor Phase Ar ri Motor Phase Br Motor Phase B Motor USB Connector Connector Figure 3 2 MCST3601 connectors www trinamic com MCST3601 TMCL Firmware V1 33 Manual
53. ault most parameters are automatically restored after power up A single parameter that has been changed before can be reset by this instruction Internal function The specified parameter is copied from the configuration EEPROM memory to its RAM location Relate commands SGP STGP GGP and AGP Mnemonic RSGP lt parameter number gt lt bank number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 12 lt parameter number bank number 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 O Example Restore the user variable 42 Mnemonic RSGP 42 2 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 SOc 2a 02 00 00 00 00 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 38 4 5 13 RFS reference search The MCST3601 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 f
54. d Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 1A SFF 00 00 00 00 00 Disable interrupt when target position reached DI 3 Binary format of DI Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 1A 03 00 00 00 00 00 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 62 4 5 35 RETI return from interrupt This command terminates the interrupt handling routine and the normal program execution continues At the end of an interrupt handling routine the RETI command must be executed Internal function the saved registers A register X register flags are copied back Normal program execution continues Related commands EI DI VECT Mnemonic RETI Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 38 don t care don t care don t care Example Terminate interrupt handling and continue with normal program execution RETI Binary format of RETI Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 26 00 00 00 00 01 00 4 5 36 Customer Specific TMCL C
55. d a host can be done using the TMCL user variables The host can then change the value of a user variable using a direct mode SGP command which is regularly polled by the TMCL program e g in its main loop and so the TMCL program can react on such changes Vice versa a TMCL program can change a user variable that is polled by the host using a direct mode GGP command A TMCL program can be started by the host using the run command in direct mode This way also a set of TMCL routines can be defined that are called by a host In this case it is recommended to place JA commands at the beginning of the TMCL program that jump to the specific routines This assures that the entry addresses of the routines will not change even when the TMCL routines are changed so when changing the TMCL routines the host program does not have to be changed Example Jump commands to the TMCL routines Funcl JA FunclStart Func2 JA Func2Start Func3 JA Func3Start FunciStart MVP ABS 0 1000 WAIT POS 0 OQ MVP ABS 0 O WAIT POS 0 OQ STOP Func2Start ROL 0 500 WAIT TICKS 0 100 MST O0 STOP Func3Start ROR 0 1000 WAIT TICKS 0 700 MST 0 STOP This example provides three very simple TMCL routines They can be called from a host by issuing a run command with address 0 to call the first function or a run command with address 1 to call the second function or a run
56. d together with this command please refer to chapter O Example Copy accumulator to TMCL user variable 3 Mnemonic AGP 3 2 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 23 03 02 00 00 00 00 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 58 4 5 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 e ALL clear all error flags e ETO clear the timeout flag e EAL clear the external alarm flag e EDV clear the deviation flag e EPO clear the position error flag Related commands JC Mnemonic CLE lt flags gt Binary representation INSTRUCTION NO TYPE lt flags gt MOT BANK VALUE 36 0 ALL all flags don t care don t care 1 ETO timeout flag 2 EAL alarm flag 3 EDV deviation flag 4 EPO position flag 5 ESD shutdown flag Example Reset the timeout flag Mnemonic CLE ETO Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO www
57. dinate 1 Mnemonic GCO 1 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 Sif 01 00 00 00 00 00 Reply Byte Index 0 1 2 3 4 5 6 7 Function Target Target Status Instruction Operand Operand Operand Operand address address Byte3 Byte2 Byte1 ByteO Value hex 02 01 64 0a 00 00 00 00 gt Value 0 Two special functions of this command have been introduced that make it possible to copy all coordinates or one selected coordinate from the EEPROM to the RAM These functions can be accessed using the following special forms of the GCO command GCO 0 255 0 GCO coordinate number 255 0 www trinamic com copies all coordinates except coordinate number 0 from the EEPROM to the RAM copies the coordinate selected by coordinate number from the EEPROM to the RAM The coordinate number must be a value between 1 and 20 MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 53 4 5 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 EEP
58. e host address and the reply are only used to take the instruction to the TMCL program memory while the program downloads Internal function the TMCL program counter is set to the passed value if the arithmetic status flags are in the appropriate state s Related commands JA COMP WAIT CLE Mnemonic JC condition label where condition ZE NZ EQ NE GT GE LT LE ETO EAL EDV EPO Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 21 O ZE zero don t care jump address 1 NZ not zero 2 EQ equal 3 NE not equal 4 GT greater 5 GE greater equal 6 LT lower 7 LE lower equal 8 ETO time out error 9 EAL external alarm 10 EDV deviation error 11 EPO position error Example Jump to address given by the label when the position of motor is greater than or equal to 1000 GAP 1 0 O get axis parameter type no 1 actual position motor 0 value 0 don t care COMP 1000 compare actual value to 1000 JC GE Label jump type 5 greater equal Label ROL 0 1000 Binary format of JC GE Label when Label is at address 10 Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 15 05 00 00 00 00 0a www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27
59. een triggered An optional timeout value 0 for no timeout must be specified by the ticks parameter LIMSW Wait until a limit switch of the motor specified by the motor parameter has been triggered An optional timeout value 0 for no timeout must be specified by the ticks parameter RFS Wait until the reference search of the motor specified by the motor field has been reached An optional timeout value O for no timeout must be specified by the ticks parameter The timeout flag ETO will be set after a timeout limit has been reached You can then use a JC ETO command to check for such errors or clear the error using the CLE command Internal function the TMCL program counter is held until the specified condition is met Related commands JC CLE Mnemonic WAIT condition motor number ticks Binary representation INSTRUCTION NO _ TYPE condition MOT BANK VALUE O TICKS timer ticks don t care no of ticks gt no of ticks for 27 0 for no timeout motor number 1 POS target position reached 0 2 timeout gt 0 for no timeout lt no of ticks for lt motor number gt 2 REFSW reference switch 0 2 timeout Dnm ae no of ticks for 3 LIMSW limit switch timeout 0 2 0 for no timeout no of ticks for 4 RFS reference search motor number i timeout gt completed 0 2 O for no timeout one tick
60. elected Then the velocity value is transferred to axis parameter 2 target velocity The module is based on the TMC429 stepper motor controller and the TMC262 power driver This makes possible choosing a velocity between 0 and 2047 Related commands ROL MST SAP GAP Mnemonic ROR lt motor number gt lt velocity gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 1 doniteste motor number velocity 0 2 0 2047 Reply in direct mode STATUS VALUE 100 OK don t care Example Rotate right motor O velocity 350 Mnemonic ROR 0 350 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 01 00 00 00 00 01 5e www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 4 5 2 ROL rotate left With this command the motor will be instructed to rotate with a specified velocity opposite direction compared to ROR decreasing the position counter Internal function first velocity mode is selected Then the velocity value is transferred to axis parameter 2 target velocity The module is based on the TMC429 stepper motor controller and the TMC262 power driver This makes possible choosing a velocity between 0 and 2047 Related commands ROR MST SAP GAP M
61. en the end switches after executing the RFS command mode 2 or 3 204 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 O 1023 R detection stallGuard2 www trinamic com 71 MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 Number Axis Parameter Description Range Unit Acc 208 TMC262 driver Bit 0 stallGuard2 status 0 255 R error flags 1 threshold reached Bit 1 Overtemperature 1 driver is sht down due to overtemperature Bit 2 Pre warning overtemperature 1 treshold is exceeded Bit 3 Short to ground A 1 short condition deteted driver currently shut down Bit4 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 1 RWE prescaler 212 maximum When
62. ents 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 this 0 8 RW hysteresis start Value is an offset to the hysteresis end value 167 chopper off time The off time setting controls the minimum 0 2 15 RW chopper frequency An off time within the range of bus to 20us will fit Off time setting for constant tom chopper Naz 12 32 torc 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 coolStep 0 1 RW current operation by scaling the CS Current Scale see axis minimum parameter 6 value SEIMIN minimum motor current 0 1 2 of CS 1 1 4 of CS 169 smartEnergy Sets the number of stallGuard2 readings above 0 3 RW current down the upper threshold necessary for each current step 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 stallGuard2 threshold
63. er 6 and this parameter Same conversion as for axis parameter 6 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 16 Number Axis Parameter Description Range Unit 140 microstep O full step 0 8 resolution 1 half step 2 4microsteps 3 8 microsteps 4 16 microsteps 5 32 microsteps 6 64 microsteps 7 128 microsteps 8 256 microsteps 179 Vsense sense resistor voltage based current scaling 0 1 0 Full scale sense resistor voltage is max 1A RMS 1 5A peak with jumper closed or max 0 26A RMS 0 37A peak with jumper open 1 Full scale sense resistor voltage is max 0 57A RMS 0 8A peak with jumper closed or max 0 14A RMS 0 24A peak with jumper open 1 d 2 Unit of acceleration www trinamic com 16MHz microsteps 536870912 2 uls divisor ramp divisor sec MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 17 4 TMCL and TMCL IDE The MCST3601 supports TMCL direct mode binary commands and standalone TMCL program execution You can store up to 2048 TMCL instructions on it In direct mode and most cases the TMCL communication over USB follows a strict master slave relationship That is a host computer e g PC PLC acting as the interface bus master will send a command to the MCST3601 The TMCL interpreter on the module will then interpret this command do the initi
64. etting usteps 2 target next The desired speed in velocity mode see ramp 2047 RW speed mode no 138 In position mode this parameter is set by hardware to the E PD pt maximum speed during acceleration and to coss zero during deceleration and rest 3 actual speed The current rotation speed 2047 RW 16MHz am usteps 65536 sec 4 maximum Should not exceed the physically highest 0 2047 RWE positioning possible value Adjust the pulse divisor axis d 16MHz steps speed parameter 154 if the speed value is very low m App lt 50 or above the upper limit See TMC 429 datasheet for calculation of physical units or use the TMCL IDE calculation tool MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 Number Axis Parameter Description Range Unit Acc 5 maximum The limit for acceleration and deceleration 0 2047 RWE acceleration Changing this parameter requires re calculation of the acceleration factor and the acceleration divisor Therefore adjust the ramp divisor axis parameter 153 carefully in steps of one See TMC 429 datasheet for calculation of physical units or use the TMCL IDE calculation tool 6 absolute max 0 255 RWE current Se CS Current A ae ee Scale 179 lpear lt value gt x The maximum value is 255 This value means 100 of the maximum current of the module The ys lt value gt x E current adjustment
65. g 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 Reply in direct mode STATUS VALUE lt parameter number gt lt bank number gt 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 O Example Set the serial address of the target device to 3 Mnemonic SGP 66 0 3 value Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 09 42 00 00 00 00 03 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 4 5 10 GGP get global parameter All global parameters can be read with this function Global parameters are related to the host interface peripherals or application specific variables The different groups of these parameters are organized in banks to allow a larger total number for future products Currently bank O and bank 1 are used for g
66. gt 255 0 copies the coordinate selected by lt coordinate number gt to the EEPROM The coordinate number must be a value between 1 and 20 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 4 5 25 GCO get coordinate This command makes possible to read out a previously stored coordinate In standalone mode the requested value is copied to the accumulator register for further processing purposes such as conditioned jumps In direct mode the value is only output in the value field of the reply without affecting the accumulator Depending on the global parameter 84 the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup with the default setting the coordinates are stored in RAM only Please note that the coordinate number 0 is always stored in RAM only Internal function the desired value is read out of the internal coordinate array copied to the accumulator register and in direct mode returned in the value field of the reply Related commands SCO CCO MVP Mnemonic GCO coordinate number motor number Binary representation 52 INSTRUCTION NO TYPE MOT BANK VALUE 31 coordinate number motor number don t care 0 20 0 2 Reply in direct mode STATUS VALUE 100 OK don t care Example Get motor value of coor
67. hat can be used Interrupt number Interrupt type 0 Timer O 1 Timer 1 2 Timer 2 3 Target position reached 0 4 Target position reached 1 5 Target position reached 2 15 stallGuard axis O 21 Deviation axis O 27 Left stop switch 0 28 Right stop switch O 29 Left stop switch 1 30 Right stop switch 1 31 Left stop switch 2 32 Right stop switch 2 39 Input change 0 40 Input change 1 41 Input change 2 42 Input change 3 255 Global interrupts 4 4 2 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 type 3 value Please refer to the SGP command paragraph 4 5 9 for further information about that 4 4 2 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 f necessary configure the interrupt using an SGP type 3 value command e Enable the interrupt using an El interrupt command e Globally enable interrupts using an El 255 command e Aninterrupt handling routine must always end with a RETI command The following example shows the use of a timer interrupt VECT 0 TimerOIrq define the interrupt vector SGP O 3 1000 configure the interrupt set its period to 1000ms EI 0 enable this interrupt EI 25
68. hysical units or use the TMCL IDE calculation tool 6 absolute max 0 255 current CS Current With jumpers set and Vsense 0 see parameter Scale 179 Lok lt value gt x taa The maximum value is 255 This value means 100 of 233 the maximum current of the module The current Fnsi paues 1A adjustment is within the range 0 255 and can be 233 adjusted in 32 steps With jumpers set and 0 7 79 87 160 167 240 247 SE See Bardimeter 8 15 88 95 168 175 248 255 0 8A 16 23 96 103 176 183 Teak lt value gt X zeg 24 31 104 111 184 191 0 574 32 39 112 119 192 199 Irus lt value gt x 40 47 120 127 200 207 48 55 128 135 208 215 Withoutjamp ersand 56 63 136 143 216 223 Veepsc eU see parameter 64 71 144 151 224 231 179 72 79 152 159 232 239 dL Mr E UE the 255 most important adjustment which has to be made 0 26A according to the selected motor since too high values Irus lt value gt x 755 might cause motor damage Without jumpers and Vsense 1 see parameter 179 I lt value gt x Se Beak 255 0 147A Igus lt value gt x 255 7 standby current The current limit two seconds after the motor has O0 255 stopped The conversion between settings and motor current is the same as for axis parameter 6 Please note that the value of Vsense axis parameter 179 and jumper settings are the same for axis paramet
69. ial SAP command Mnemonic SAP 6 0 47 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 05 06 00 00 00 00 2f Other current units are possible because the motor current can be chosen by jumper Please refer to chapter 5 for further information about the current unit and to the Hardware Manual for information about using jumpers www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 4 5 6 GAP get axis parameter Most parameters of the MCST3601 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 lt motor number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE lt parameter lt motor number gt 6 don t care number 0 2 Reply
70. 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 5 Example Get the maximum current of motor Mnemonic GAP 6 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 06 06 00 00 00 00 00 Reply Byte Index 0 1 2 3 4 5 6 7 Function Host Target Status Instruction Operand Operand Operand Operand address address Byte3 Byte2 Byte1 ByteO Value hex 02 01 64 06 00 00 02 80 c Status no error value 128 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 32 4 5 7 STAP store axis parameter An axis parameter previously set with a Set Axis Parameter command SAP will be stored permanent Most parameters are automatically restored after power up Internal function an axis parameter value stored in SRAM will be transferred to EEPROM and loaded from EEPORM after next power up Related commands SAP RSAP GAP AAP Mnemonic STAP lt parameter number gt lt motor number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 7 lt parameter lt motor number gt don t care number gt 0 2
71. ings of the automatic stop functions corresponding to the switches axis parameters 12 and 13 have no influence on the reference search Until the reference switch is found for the first time the searching speed is identical to the maximum positioning speed axis parameter 4 unless reduced by axis parameter 194 After hitting the reference switch the motor slowly moves until the switch is released Finally the switch is re entered in the other direction setting the reference point to the center of the two switching points This low calibrating speed is a quarter of the maximum positioning speed by default axis parameter 195 Set one of the values for axis parameter 193 for selecting the reference search mode PARAMETERS NEEDED FOR REFERENCE SEARCH Number Axis Parameter Description 9 ref switch The logical state of the reference left switch status See the TMC 429 data sheet for the different switch modes The default has two switch modes the left switch as the reference switch the right switch as a limit stop switch 10 right limit switch The logical state of the right limit switch status 11 left limit switch The logical state of the left limit switch in three switch mode status 12 right limit switch If set deactivates the stop function of the right switch disable 13 left limit switch Deactivates the stop function of the left switch resp reference switch if set disable 141 ref sw
72. is within the range 0 255 255 and can be adjusted in 32 steps With jumpers set and 0 7 79 87 160 167 240 247 Vsense 1 see parameter 8 15 Jos oe 168 175 248 255 d 2 2281 96 103 176 183 Jee lt value gt x 255 24 31 104 111 184 191 use Sen SE 112 119 f 192 199 Igus lt value gt x SC AO 47 120 127 200 207 E GE Without jumpers and Vsense 0 see parameter 64 71 144 151 224 231 179 72 79 152 159 232 239 Ln eis Ses The unit of the current is adequate to the chosen 235 motor current with or without jumper NEN 0 26A The most important motor setting since too high 255 values might cause motor damage Without jumpers and Vsense 1 see parameter 179 L lt value gt x 0204 peak 255 Igus lt value gt x un 255 7 standby current The current limit two seconds after the motor 0 255 RWE has stopped The unit of the current is adequate to the Same conversion as chosen motor current with or without for axis parameter 6 jumper 8 target pos Indicates that the actual position equals the 0 1 R reached target position 9 ref switch The logical state of the reference left 0 1 R status switch See the TMC 429 data sheet for the different switch modes The default has two switch modes the left switch as the reference switch the right switch as a limit stop switch 10 right limit switch The logical state of the right limit swi
73. itch For three switch mode a position range where an additional switch tolerance connected to the REFL input won t cause motor stop 149 soft stop flag If cleared the motor will stop immediately disregarding motor limits when the reference or limit switch is hit 193 ref search mode 1 search left stop switch only 2 search right stop switch then search left stop switch 3 search right stop switch then search left stop switch from both sides 4 search left stop switch from both sides 5 search home switch in negative direction reverse the direction when left stop switch reached 6 search home switch in positive direction reverse the direction when right stop switch reached 7 search home switch in positive direction ignore end switches 8 search home switch in negative direction ignore end switches Adding 128 to these values reverses the polarity of the home switch input 194 referencing For the reference search this value directly specifies the search speed search speed www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 74 195 referencing Similar to parameter no 194 the speed for the switching point calibration can switch speed be selected 196 distance end This parameter provides the distance between the end switches after switches executing the RFS command mode 2 or 3 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27
74. itten with the passed value The number of entries in the internal stack is limited to 8 This also limits nesting of subroutine calls to 8 The command will be ignored if there is no more stack space left Related commands RSUB JA Mnemonic CSUB Label Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 23 don t care don t care subroutine address Example Call a subroutine Loop MVP ABS 0 10000 CSUB SubW Save program counter and jump to label SubW MVP ABS 0 O JA Loop SubW WAIT POS 0 0 WAIT TICKS 0 50 RSUB Continue with the command following the CSUB command Binary format of the CSUB SubW command assuming that the label SubW is at address 100 Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 17 00 00 00 00 00 64 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 48 4 5 21 RSUB return from subroutine Return from a subroutine to the command after the CSUB command This command is intended for use in standalone mode only The host address and the reply are only used to take the instruction to the TMCL program memory while the program loads down This command cannot be used in direct mode Internal function the TMCL program counter is set to the last value of the
75. ivity 1 64 higher sensitivity 175 slope control Determines the slope of the motor driver outputs 0 3 RW high side 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 outputs 0 3 RW low side 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 6ps 2 1 2us 3 0 8us Use default value 179 Vsense sense resistor voltage based current scaling 0 1 RW 0 Full scale sense resistor voltage is max 1A RMS 1 5A peak with jumper closed or max 0 26A RMS 0 37A peak with jumper open 1 Full scale sense resistor voltage is max 0 57A RMS 0 8A peak with jumper closed or max 0 14A RMS 0 24A peak with jumper open www trinamic com 70 MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 Number Axis Parameter Description Range Unit Acc 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 0 31 1 32 2 32 32 32 181 stop on stall Below this speed motor will not be stopped
76. lGuard l COMP 47 stallGuard2 amp coolStep E Parameter Calculation ROL 0 AER BLDC Configurataion Tool e Motor For USB choose COM port and Type with the parameters shown below Click OK n A Options i Debugger Assembler Type R5232 R9485 USB COM port v R5232 R5485 Port COM131 MCST3601 Y Address 1 Si Please refer to the TMCL IDE User Manual for more information about connecting the other interfaces www TRINAMIC com www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 13 3 1 3 Using TMCL Direct Mode Start TMCL Direct Mode ch Ls Mode If the communication is established the MCST3601 is automatically detected using the latest TMCL IDE If the module is not detected please check cables interface power supply COM port and baud rate Issue a command by choosing Instruction Type if necessary Motor and Value and click Execute to send it to the module ATTENTION As the MCST3601 is able to control up to three motors the motor numbers for the three motors are O 1 and 2 If only one motor is connected the motor number is always 0 r A TMCL Direct Mode TMCM 1114 TMCL Instruction Selector Instruction Motor Bank Value 1 ROR rotate right v 0 don t care D Motor 0 500 Copy Copy to editor Y Manual Instruction Input Addres
77. le will automatically be moved to the next fullstep position after power up www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 6 Axis Parameters The following sections describe all axis parameters that can be used with the SAP GAP AAP STAP and RSAP commands 66 ATTENTION The following axis parameters are only available for axis 0 because the module has only one driver IC 6 7 140 160 184 204 254 Meaning of the letters in column Access www trinamic com Access Related Description type command s R GAP Parameter readable W SAP AAP Parameter writable E STAP RSAP Parameter automatically restored from EEPROM after reset or power on These parameters can be stored permanently in EEPROM using STAP command and also explicitly restored copied back from EEPROM into RAM using RSAP Basic parameters should be adjusted to motor application for proper module operation Parameters for the more experienced user please do not change unless you are absolutely sure Number Axis Parameter Description Range Unit Acc 0 target next The desired position in position mode see 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 s
78. lobal parameters Bank 2 is used for user variables and bank 3 is used for interrupt configuration Internal function the parameter is read out of the correct position in the appropriate device The parameter format is converted adding leading zeros or ones for negative values Related commands SGP STGP RSGP AGP Mnemonic GGP parameter number bank number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 10 parameter number bank number don t care Reply in direct mode STATUS VALUE For a table with parameters and bank numbers which can be used together with this command please refer to chapter O Example 100 OK don t care Get the serial address of the target device Mnemonic GGP 66 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 0a 42 00 00 00 00 00 Reply Byte Index 0 1 2 3 4 5 6 7 Function Host Target Status Instruction Operand Operand Operand Operand address address Byte3 Byte2 Byte1 ByteO Value hex 02 01 64 0a 00 00 00 01 c Status no error value 1 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 36 4 5 11 STGP store global parameter This com
79. mand 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 O Example Store the user variable 42 Mnemonic STGP 42 2 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 SOb 2a 02 00 00 00 00 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 37 4 5 12 RSGP restore global parameter With this command the contents of a TMCL user variable can be restored from the EEPROM For all configuration related axis parameters non volatile memory locations are provided By def
80. 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 MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 30 4 5 5 SAP set axis parameter Most of the motion control parameters of the module can be specified with the SAP command 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 gt lt motor number gt lt value gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE lt parameter lt motor number gt 5 lt value gt number gt 0 2 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 5 Example Set the absolute maximum current of motor to 200mA 1A Because of the current unit Irys lt value gt x BEE the 200mA setting has the value 51 value range for current setting 0 255 The value for current setting has to be calculated before using this spec
81. nd it to the module 4 2 Reply Format Every time a command has been sent to a module the module sends a reply The reply format for USB is as follows Bytes Meaning 1 Reply address 1 Module address 1 Status e g 100 means no error 1 Command number Value MSB first 1 Checksum The checksum is also calculated by adding up all the other bytes using an 8 bit addition Donot send the next command before you have received the reply 4 2 1 Status Codes The reply contains a status code The status code can have one of the following values Code Meaning 100 Successfully executed no error 101 Command loaded into TMCL program EEPROM 1 Wrong checksum 2 Invalid command 3 Wrong type 4 Invalid value 5 Configuration EEPROM locked 6 Command not available www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 19 4 3 Standalone Applications The module is equipped with an EEPROM for storing TMCL applications You can use the 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
82. nemonic ROL lt motor number gt lt velocity gt Binary representation MOT BANK VALUE lt motor number gt lt velocity gt 0 2 0 2047 INSTRUCTION NO TYPE 2 don t care Reply in direct mode STATUS VALUE 100 OK don t care Example Rotate left motor O velocity 1200 Mnemonic ROL O 1200 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 02 00 00 00 00 04 bO www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 4 5 3 MST motor stop The motor will be instructed to stop Internal function the axis parameter target velocity is set to zero Related commands ROL ROR SAP GAP Mnemonic MST lt motor number gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 3 don t care SEH E don t care Reply in direct mode STATUS VALUE 100 OK don t care Example Stop motor O Mnemonic MST 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 03 00 00 00 00 00 00 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MA
83. ns are available at the same time as connector pins are shared Software TMCL standalone operation or remote controlled operation program memory non volatile for up to 2048 TMCL commands and PC based application development software TMCL IDE available for free Electrical and mechanical data Supply voltage 24 V DC nominal 9 36 V DC Motor current up to 1 A RMS 1 5 A peak programmable Board size 68mm 47 5mm www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 7 2 Overview The software running on the microprocessor of the MCST3601 consists of two parts a boot loader and the firmware itself Whereas the boot loader is installed during production and testing at TRINAMIC and remains untouched throughout the whole lifetime the firmware can be updated by the user The firmware is related to the standard TMCL firmware with regard to protocol and commands Corresponding this module is based on the TMC429 stepper motor controller and the TMC260 power driver and supports the standard TMCL with a special range of values The TMC260 is an energy efficient high current high precision microstepping driver IC for bipolar stepper motors All commands and parameters available with this unit are explained on the following pages www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 8 3 Putting the Module into Operation In this chapter you will find b
84. ommand Extension UFO UF7 User Function The user definable functions UFO UF7 are predefined functions without topic for user specific purposes A user function UF command uses three parameters Please contact TRINAMIC for a customer specific programming Internal function Call user specific functions implemented in C by TRINAMIC Related commands none Mnemonic UFO UF7 parameter number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 64 71 user defined user defined user defined Reply in direct mode Byte Index 0 1 2 3 4 5 6 7 Function Target Target Status Instruction Operand Operand Operand Operand address address Byte3 Byte2 Byte1 ByteO Value hex 02 01 user 64 71 user user user user defined defined defined defined defined www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 63 4 5 37 Request Target Position Reached Event This command is the only exception to the TMCL protocol as it sends two replies One immediately after the command has been executed like all other commands also and one additional reply that will be sent when the motor has reached its target position This instruction can only be used in direct mode in standalone mode it is covered by the WAIT command and hence does not have a mnemonic Internal function send an additional reply when the motor ha
85. or the end of a reference search Please see the appropriate parameters in the axis parameter table to configure the reference search algorithm to meet your needs chapter 5 The reference search can be started stopped and the actual status of the reference search can be checked Internal function the reference search is implemented as a state machine so interaction is possible during execution Related commands WAIT Mnemonic RFS START STOP STATUS motor number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE O START start ref search motor number 1 STOP abort ref search see below 0 2 2 STATUS get status Reply in direct mode When using type 0 START or 1 STOP STATUS VALUE 100 OK don t care When using type 2 STATUS STATUS VALUE 100 OK 0 ref search active other values no ref search active Example Start reference search of motor 0 Mnemonic RFS START 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 0d 00 00 00 00 00 00 With this module it is possible to use stall detection instead of a reference search Please refer to section 6 1 for details www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 4
86. ovides an interface for single ended incremental encoders with TTL 5V outputs For the operation with encoder please consider the following 77 The encoder counter can be read by software and can be used to monitor the exact position of the motor This also makes closed loop operation possible The Encoder channel ENC is for zeroing the encoder counter It can be selected as high or as low active and it is automatically checked in parallel to the Encoder channel A and B inputs for referencing exactly To read out or to change the position value of the encoder axis parameter 209 is used To read out the position of your encoder 0 use GAP 209 0 The position values can also be changed using command SAP 209 0 n with n 2 147 483 648 2 147 483 647 To change the encoder settings axis parameter 210 is used For changing the prescaler of encoder O use SAP 210 0 lt p gt Automatic motor stop on deviation error is also usable This can be set using axis parameter 212 maximum deviation This function is turned off when the maximum deviation is set to O PARAMETERS NEEDED FOR USING THE ENCODER Number Axis Parameter Description 209 encoder position The value of an encoder register can be read out or encoder steps written 210 Encoder prescaler Prescaler for the encoder See paragraph 6 2 1 maximum When the actual position parameter 1 and the encoder 0 65535 encoder deviation position parameter 209
87. r meter e tet rr a n HR RETE a rA OR FERE HY see ETE 31 45 7 STAP Store axis parameter a rhe enr PR eere EY ue VERA Re Pu v e EARN 32 4 5 8 RSAP restore axis parameter et t eR eT E TATE e HR UNE 33 459 SGP set global parameter ie orte ete ee ea oven Madge aad bate Ta v OE Ta EE 34 4 5 10 GGP get global parameter cccccccccsscccessececeessececsesececesaeeecsesseeeceesseeesesaeeeesesaeseseeseeeeea 35 4 5 11 STGP store global parameter seen ener ia ean iaa 36 4 5 12 RSGP restore global parameter nennen enne en rn nns nh annie 37 4 5 13 RES reference search uoo err et e tae tee RE Oe Fe ad tees de shone 38 AS VA SIO Eed TEE 39 4 5 15 GIO get inputdoutmput enne nnne nennen entr retten entren enne nn 41 ASO GALC ealculate c urere re een te e LEE t t e p ert ete eee en 43 4 5 17 COMP compare esses a a A seria ss sina dass a a ss seda sess sagas sensa 44 4 5 18 JC jump conditional assesses ssseeees seen nnne nennnnn nnn sn nnn asser rn nensis n siena 45 4 5 19 JA jump always nennen nnnm E E nnne ss a R ser nns ensi dass sana 46 4 5 20 CSUB call subroutine ccc cecceccecssececeesseeeceesseceeessececeesaeeeceesseeesesseeeceeaseeeceesaeeesesaeeeceses 47 4 5 21 RSUB return from subroutinel ener ener enn nn rennen nr sitara nsi 48 4 5 22 WAIT wait for an event to occur o ccccccecssscecessececeesseceeeesseeeceesececeesseeeeeesaeeeceesaeeeeeseeeees 49 4 5 23 STOP stop T
88. ram running on a module and a host The host can change a variable by issuing a direct mode SGP command remember that while a TMCL program is running direct mode commands can still be executed without interfering with the running program If the TMCL program polls this variable regularly it can react on such changes of its contents The host can also poll a variable using GGP in direct mode and see if it has been changed by the TMCL program 8 5 Using Subroutines The CSUB and RSUB commands provide a mechanism for using subroutines The CSUB command branches to the given label When an RSUB command is executed the control goes back to the command that follows the CSUB command that called the subroutine This mechanism can also be nested From a subroutine called by a CSUB command other subroutines can be called In the current version of TMCL eight levels of nested subroutine calls are allowed www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 88 8 6 Mixing Direct Mode and Standalone Mode Direct mode and standalone mode can also be mixed When a TMCL program is being executed in standalone mode direct mode commands are also processed and they do not disturb the flow of the program running in standalone mode So it is also possible to query e g the actual position of the motor in direct mode while a TMCL program is running Communication between a program running in standalone mode an
89. rly every function of a module This manual gives a detailed description of all TMCL commands and their usage 4 1 Binary Command Format When commands are sent from a host to a module the binary format has to be used Every command consists of a one byte command field a one byte type field a one byte motor bank field and a four byte value field So the binary representation of a command always has seven bytes When a command is to be sent via USB interface it has to be enclosed by an address byte at the beginning and a checksum byte at the end In this case it consists of nine bytes The binary command format for USB is as follows Bytes Meaning Module address Command number Type number Motor or Bank number Value MSB first DIin5 2S mB m mP Checksum The checksum is calculated by adding up all the other bytes using an 8 bit addition www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 18 Checksum calculation As mentioned above the checksum is calculated by adding up all bytes including the module address byte using 8 bit addition Here are two examples to show how to do this in C unsigned char i Checksum unsigned char Command 9 Set the Command array to the desired command Checksum Command 0 for i l i lt 8 i Checksum Command i Command 8 Checksum insert checksum as last byte of the command Now se
90. s Instruction Type Motor Bank Value Datagram 1 amp 0 e D e D e D 01 0000 00 00 00 00 00 01 Execute Answer Host Target Status Inst Value Datagram 2 1 100 1 500 02 016401 00 00 01 F4 5D l Close Examples RORrotate right motor 0 value 500 gt Click Execute The first motor is rotating now MST motor stop motor 0 gt Click Execute The first motor stops now 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 www trinamic com MCST3601 TMCL Firmware V 23 Manual Ref 0 90 2014 MAY 27 14 3 1 4 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 Use the SAP Set Axis Parameter command for adjusting these values The SAP command is described in paragraph 4 5 5 You can use the TMCM IDE direct mode to easily configure your module ATTENTION The most important motor setting is the absolute maximum motor current setting since too high values might cause motor damage In addition to the settings in the software please al
91. s 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 lt motor number gt lt position gt Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 30 lt coordinate number gt lt motor number gt lt position gt 0 20 0 2 Set 42 Reply in direct mode STATUS VALUE 100 OK don t care Example Set coordinate 1 of motor to 1000 Mnemonic SCO 1 0 1000 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 1e 01 00 00 00 03 Se8 Two special functions of this command have been introduced that make it possible to copy all coordinates or one selected coordinate to the EEPROM These functions can be accessed using the following special forms of the SCO command SCO 0 255 0 copies all coordinates except coordinate number 0 from RAM to the EEPROM SCO lt coordinate number
92. s reached its target position Mnemonic Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 138 0 1 don t care motor bit mask With command 138 the value field is a bit vector It shows for which motors one would like to have a position reached message The value field contains a bit mask where every bit stands for one motor MOTOR BIT MASK Bit Selected motor 0 1 2 VALUES FOR TYPE Value Description 0 Position reached messages only for the next MVP command 1 Position reached event message for every MVP command Reply in direct mode right after execution of this command Byte Index 0 1 2 3 4 5 6 7 Function Target Target Status Instruction Operand Operand Operand Operand address address Byte3 Byte2 Byte1 ByteO Value hex 02 01 100 138 00 00 00 Motor bit mask The additional reply will be sent when at least the first motor has reached its target position The MCST3601 can control up to three motors Additional reply in direct mode after a motor has reached its target position Byte Index 0 1 2 3 4 5 6 7 Function Target Target Status Instruction Operand Operand Operand Operand address address Byte3 Byte2 Byte1 ByteO Value hex 02 01 128 138 00 00 00 Motor bit mask www trinamic com MCST3601 TMCL Firmware V1 33 Manual
93. so select the correct settings of the two on board jumpers for motor current range selection Motor current range selection via two on board jumpers LEN REOR EE D e Ki 2e H 2 Z amp ES el 2 c Jumpers Jumper Description Max motor current 1A RMS 1 5A peak with VSENSE 0 programmable Max motor current 0 57A RMS 0 8A peak with VSENSE 1 programmable Max motor current 0 26A RMS 0 37A peak with VSENSE 0 programmable Max motor current 0 14A RMS 0 20A peak with VSENSE 1 programmable Closed Open www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 IMPORTANT AXIS PARAMETERS FOR MOTOR SETTING 15 Number Axis Parameter Description Range Unit 4 maximum Should not exceed the physically highest possible 0 2047 positioning value Adjust the pulse divisor axis parameter 154 if speed the speed value is very low lt 50 or above the upper UU jpn steps limit See TMC 429 datasheet for calculation of physical ae S units or use the TMCL IDE calculation tool 5 maximum The limit for acceleration and deceleration Changing 0 2047 acceleration this parameter requires re calculation of the acceleration factor and the acceleration divisor Therefore adjust the ramp divisor axis parameter 153 carefully in steps of one See TMC 429 datasheet for calculation of p
94. tch 0 1 R status www trinamic com 67 MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 Number Axis Parameter Description Range Unit Acc 11 left limit switch The logical state of the left limit switch in 0 1 R status three switch mode 130 minimum speed Should always be set 1 to ensure exact 0 2047 RWE reaching of the target position Do not DEZ rv E 65536 sec change 135 actual The current acceleration read only 0 2047 R acceleration 138 ramp mode Automatically set when using ROR ROL MST 0 1 2 RWE and MVP 0 position mode Steps are generated when the parameters actual position and target position differ Trapezoidal speed ramps are provided 2 velocity mode The motor will run continuously and the speed will be changed with constant maximum acceleration if the parameter target speed is changed For special purposes the soft mode value 1 with exponential decrease of speed can be selected 140 microstep O fullstep 0 8 RWE resolution 1 halfstep 2 4microsteps 3 8 microsteps 4 16 microsteps 5 32 microsteps 6 64microsteps 7 128 microsteps 8 256 microsteps 153 ramp divisor The exponent of the scaling factor for the O 13 RWE ramp generator should be de incremented carefully in steps of one 154 pulse divisor The exponent of the scaling factor for the 0 13 RWE pulse step generator
95. tes read only TMC429 SMGP register NID OI BRlWl NR oO 122 driver chain configuration long words O 15 23 38 microstep table long word O 15 Parameters 64 132 Parameters with numbers from 64 on configure stuff like the serial address of the module RS485 baud rate Change these parameters to meet your needs The best and easiest way to do this is to use the appropriate functions of the TMCL IDE The parameters with numbers between 64 and 128 are stored in EEPROM only An SGP command on such a parameter will always store it permanently and no extra STGP command is needed Take care when changing these parameters and use the appropriate functions of the TMCL IDE to do it in an interactive way Meaning of the letters in column Access Access type Related command Description R GGP Parameter readable W SGP AGP Parameter writable E SGP AGP Parameter stored permanently in EEPROM www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 83 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 Serial interface baud 0 9600 baud Default 0 11 RWE rate 1 14400 baud
96. tor is stored in the internal position array Related commands GCO CCO MVP COORD SCO Mnemonic ACO coordinate number motor number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 39 coordinate number motor number don t care 0 20 0 2 Reply in direct mode STATUS VALUE 100 OK don t care Example Copy the actual value of the accumulator to coordinate 1 of motor 0 Mnemonic ACO 1 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 27 01 00 00 00 00 00 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 55 4 5 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 Binary representation INSTRUCTION NO TYPE lt operation gt MOT BANK VALUE 33 O 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
97. truction 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 comparison value Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 20 don t care don t care comparison value Example Jump to the address given by the label when the position of motor is greater than or equal to 1000 GAP 1 2 0 COMP 1000 JC GE Label get axis motor jump type parameter value type no 0 don t care compare actual value to 1000 5 greater equal somewhere else in the program Binary format of the COMP 1000 command actual position the label must be defined Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 14 00 00 00 00 03 Se8 www trinamic com MCST3601 TMCL Firmware V1 33 Manual Ref 0 90 2014 MAY 27 45 4 5 18 JC jump conditional The JC instruction enables a conditional jump to a fixed address in the TMCL program memory if the specified condition is met The conditions refer to the result of a preceding comparison Please refer to COMP instruction for examples This function is for standalone operation only Th

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