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TMC603-EVAL Manual

1. Max j1066 Min 0 Scaling Y axis dynamic Max 13363 Min 0 Scaling X axis Systicks 9 Samples Resolution 1 41 Clear charts Scaling X axis Systicks Samples Resolution 1 t Figure 5 6 PWM mode tab of TMCL BLDC www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 18 5 16 TMCL tab The input area of the TMCL tab has the same structure as the appropriate window for TMCL direct mode of the TMCL IDE Command number type motor bank and a chosen value can be set By clicking the Send button the request will be sent to the evaluation board Immediately the reply of the TMC603 EVAL will be displayed in the Reply field An overview of all TMCLTM commands is given in the following paragraphs Please refer to the complete lists of axis parameters and global parameters in chapter 6 too x L A TMCM BLDC REN X Eile Connection Settings Torque mode velocity mode Positioning mode PWM mode TMCL Overcurrent Undervoltage Direct TMCL control Overvoltage Request Overtemperature Command Type Motor Bank Value Motor halted 1 e 0 ka 0 3000 ical Hall HallFX error Reply PWM mode Velocity mode Position mode Torque mode Position end I t exceeded Scaling Y axis actual rpm iu target rpm mme Max 0 Min 0 Scaling Y axis Scaling X axis dynamic Systicks manual Q Samples Max 3494 z
2. 4294967295 R 28 Tet exceed Counts how often an It sum was higher than 0 4294967295 RWE counter the Pzt limit 29 Clear Izt Clear the flag that indicates that the Izt sum ignored W exceeded flag has exceeded the Pt limit 30 Minute counter Counts the module operational time in 0 4294967295 RWE minutes min 245 Overvoltage 1 Enable overvoltage protection 0 1 RWE protection ENCODER INITIALIZATION SETTINGS Number Axis Parameter Description Range Unit Access 254 Hall sensor 1 Hall sensor invert Invert the hall scheme 0 1 RWE invert e g used by some Maxon motors 250 Encoder steps Encoder steps per rotation 0 4294967295 RWE 209 Actual encoder Actual encoder position counter value 214748 3648 R position 2147483647 251 Encoder direction Set the encoder direction in a way that ROR 0 1 RWE Increases position counter 165 Actual encoder This value represents the internal 2147483648 RWE commutation commutation offset 2147483647 offset 0 max encoder steps per rotation 177 Start current Motor current for controlled commutation 0 4294967295 RWE This parameter is used in commutation mode 1 4 5 and in initialization of sine mA www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 Number Axis Parameter Description Range Unit Access 249 Init sine mode 0 Initialization in cont
3. 3 RWE switch enable the motor will be stopped if it is moving in negative direction and the left stop switch input becomes active Bit 1 Right stop switch When this bit is set enable the motor will be stopped if it is moving in positive direction and the right stop switch input becomes active Please see parameter 166 for selecting the stop switch input polarity 165 Actual encoder This value represents the internal 2147483648 RWE commutation commutation offset 2147483647 offset 0 max encoder steps per rotation 166 Stop switch BitO Left stop switch Bit set Left stop 0 3 RWE polarity polarity switch input is high active Bit clear Left stop switch input is low active Bit 1 Right stop switch Bit set Right stop polarity switch input is high active Bit clear Right stop switch input is low active 167 Block PWM 0 PWM chopper on high side HI on low side 128 127 RWE scheme 1 PWM chopper on low side HI on high 2 PWM chopper on low side and high side 168 P parameter for P parameter of current PID regulator first 2147483648 RWE current PID I parameter set used at lower speed 2147483647 169 I parameter for I parameter of current PID regulator first 2147483648 RWE current PID I parameter set used at lower speed 2147483647 170 D parameter for D parameter of current PID regulator first 2147483648 RWE current PID I parameter set used at lower speed 2147483647 171 I Cl
4. 155 Target current Get desired target current or set target current 2147483648 RW to activate current regulation mode turn 2147483647 mA motor in right direction turn motor in left direction 134 Current Delay of current limitation algorithm PID 0 4294967295 RWE regulation loop current regulator 50us delay 176 Threshold speed Threshold speed for current regulation to 2147483648 RWE for current PID switch between first and second current PID 2147483647 parameter set rpm 168 P parameter for P parameter of current PID regulator first 2147483648 RWE current PID I parameter set used at lower speed 2147483647 169 I parameter for I parameter of current PID regulator first 2147483648 RWE current PID I parameter set used at lower speed 2147483647 170 D parameter for D parameter of current PID regulator first 2147483648 RWE current PID I parameter set used at lower speed 2147483647 171 I Clipping I Clipping parameter of current PID regulator 2147483648 RWE parameter for first parameter set used at lower speed 2147483647 current PID I 172 P parameter for P parameter of current PID regulator second 2147483648 RWE current PID II parameter set used at higher speed 2147483647 173 I parameter for I parameter of current PID regulator second 2147483648 RWE current PID II parameter set used at higher speed 2147483647 174 D para
5. 4 1 2 4 Encoder connector Pin Label Direction Description 1 5V Output Power supply output for hall sensor nom 5V DC 2 GND GND Power supply and signal ground 3 ENC A Input Encoder signal A 4 ENC B Input Encoder signal B 5 ENC_N Input Encoder signal N Table 4 5 Encoder connector 4 1 2 5 USB connector Pin Label Description Board is self powered just use to detect availability of attached host system 1 5V e g PC 2 USB Differential USB bus 3 USB Differential USB bus 4 GND System and module ground Table 4 6 USB connector 4 1 2 6 RS232 connector Pin Label Description 2 RXD Received data line 3 TXD Transmitted data line 5 GND RS232 signal and system ground Table 4 7 RS232 connector www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 4 1 2 7 UART connector Pin Label Description 1 RXD Received data line 2 TXD Transmitted data line 3 GND Signal and system ground Table 4 8 UART connector 41 3 Switches and potentiometer Figure 4 3 Switches and potentiometer Label Description Reset The reset switch is connected to the NRST pin of the uC Press it to reset the module Potentiometer The potentiometer is connected to pin PC5 of the pC ADC IN15 PC5 It can be used customer specific by GAP 22 Switch1 Switch1 is connected to pin PB1
6. Acces s 243 Init sine block This parameter helps to tune hall sensor 32768 32767 RWE offset CCW based initialization in a way that the motor has the same velocity for left and right turn It compensates for tolerance and hysteresis of the hall sensors It is added to the Commutation offset upon CCW turn initialization 244 Init sine delay Duration for sine initialization sequence This 32768 32767 RWE parameter should be set in a way that the ms motor has stopped mechanical oscillations after the specified time 245 Overvoltage 1 Enable overvoltage protection 0 1 RWE protection 247 Sine Compensates the propagation delay of the 0 255 RWE Compensation MPU Factor 249 Init sine mode 0 Initialization in controlled sine 128 127 RWE commutation determines the encoder offset 1 Initialization in block commutation using hall sensors 2 Initialization in controlled sine commutation use the previous set encoder offset 250 Encoder steps Encoder steps per rotation 0 4294967295 RWE 251 Encoder direction Set the encoder direction in a way that ROR 0 1 RWE increases position counter 253 Number of Number of motor poles 2 254 RWE motor poles 254 Hall sensor 1 Hall sensor invert Invert the hall scheme 0 1 RWE invert e g used by some Maxon motors www trinamic com 43 TMC603 EVAL Manual Rev 1 06 2012 AUG 29 61 Axis parameter sorted by functionality The following se
7. Order code Description Size of unit mm TMC603 EVAL Evaluation board for TMC603 three phase motor pre driver 160 x 100 x 13 5 Table 3 1 Order codes www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 5 4 Hardware 4 1 Mechanical and electrical interfacing 41 1 Size of TMC603 EVAL and mounting holes The board dimensions are 160mm x 100mm Maximum component height height above PCB level without mating connectors is 13 5mm There are six mounting holes hole diameter 3 2mm suitable for M3 screws 160 156 6 3 4 3 4 6x M3 screws for mounting Figure 4 1 TMC603 EVAL dimensions www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 441 2 Connectors RS232 USB UART JTAG Figure 4 2 Connectors of TMC603 EVAL CONNECTORS OF TMC603 EVAL Hall Motor Label Connector type Mating connector type RIA 330 02 2 pol 5mm pitch shrouded RIA 349 2 screw type terminal block header pluggable centerline 5 mm 0 197 Power inches wire entry parallel to plug direction RIA 330 03 3 pol 5mm pitch shrouded RIA 349 3 screw type terminal block header pluggable centerline 5 mm 0 197 Motor inches wire entry parallel to plug direction RIA 182 05 5 pol 3 5mm pitch header RIA 169 05 screw type terminal block Rader pluggable centerline 3 5 mm 0 138 inches wire entry parallel to plug direction Hall sen
8. Since the motor typically is assumed not to signal target reached when the target was just passed in a short moment at a high velocity additionally a maximum target reached velocity MVP target reached velocity can be defined by axis parameter 7 A value of zero is the most universal since it implies that the motor stands still at the target But when a fast rising of the Position end flag is desired a higher value for MVP target reached velocity parameter will save a lot of time The best value should be tried out in the actual application The correlation of axis parameter 10 7 the target position and the position end flag are summarized in Figure 8 5 MVP target reached distance slow down distance velocity actual motor velocity max pos speed Motor off in this area Motor regulated by Velocity PID Acceleration min pos speed TJ M 4 74 Motor regulated by combination of I Velocity and Position MVP target reached velocity position target position set via MVP Target reached flag only set when velocity and position are in this area Figure 8 5 Positioning algorithm Depending on the motor and mechanics respectively a bit of oscillation is normal in the best case it can be reduced to be at least 1 encoder step because otherwise the regulation cannot keep the position www trinamic com TMC603 EVAL Manual Rev 1 06
9. 06 2012 AUG 29 5 2 1 1 Axis parameters and motion Axis Parameters Values TMCL Type 4 max positioning speed 5 PWM duty cyde limit 6 max current 8 min speed for vel PID 9 dear target distance 10 MVP target reached distance 11 acceleration parameter 12 min speed for pos PID 130 position P parameter I 131 position I parameter I 132 position D parameter I 133 PID regulation loop delay 134 current regulation loop delay 135 position I dipping 136 PWM hysteresis 137 PID I dear on max PWM Value 4000 3599 4000 7 max MVP target reached velocity 500 0 5 5 2000 0 200 50 10 1 10000 Motion ROL 0 Emo 8 Figure 5 10 Values tab of the TMCL IDE On the left side of the BLDC tool are two tabs which can be chosen Values TMCL The values tab offers a table with two columns numbers of the TMCL axis parameters and appropriate descriptions on the left and given values on the right The value of each axis parameter can be changed directly If the overwritten value field is left the new value becomes valid The TMCL command behind this action is set axis parameter SAP Immediately changes will be recognized and shown on the TMCL tab where all SAP commands are displayed as TMCL mnemonics text strings The content of the TMCL tab can be marked and copied by clicking the copy button Certainly it is possible
10. 2012 AUG 29 58 87 Parameter sets for PID regulation Every PID regulation provides two parameter sets which are used as follows Below a specified velocity threshold the PID regulator uses a combination of parameter set 1 and parameter set 2 Above the velocity threshold the PID regulator uses only parameter set 2 If the velocity threshold is set to zero parameter set 2 is used all the time The switch over between both parameter sets is soft PID setting transistion Parameter Set 1 Parameter Set 2 I A i A velocity Negative speed 0 Positive speed threshold for threshold for selection of PID set selection of PID set Figure 8 5 Transition between PID parameter sets The velocity thresholds for current velocity and position PID regulation can be set as follows axis parameter 176 velocity threshold for current PID regulator axis parameter 8 velocity threshold for velocity PID regulator axis parameter 12 velocity threshold for position PID regulator Attention For all tests set the motor current limitation to a realistic value so that your power supply does not become overloaded during acceleration phases If your power supply goes to current limitation the unit may reset or undetermined regulation results may occur www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 59 9 Temperature calculation Axis parameter 152 delivers the actual ADC value of the motor driver This ADC
11. PWM mode current regulation mode velocity regulation mode position regulation mode Figure 8 1 Cascaded PID regulation actual current actual velocity actual position 82 PWM regulation The PWM regulation mode is the most direct control mode for the TMCM 1632 TMCM KR 841 Thereby a target PWM given by axis parameter 154 is adjusted directly without limiting the motor current The target PWM is only limited by axis parameter 5 max target PWM The sign of the target PWM controls the motor rotation direction 83 Current PID regulation Based on the PWM regulation the current regulation mode uses a PID regulator to adjust a desired motor current This target current can be set by axis parameter 155 The maximal current is limited by axis parameter 6 The PID regulation uses five basic parameters The P T D and I Clipping value as well as the timing control value The timing control value current regulation loop delay axis parameter 134 determines how often the current regulation is invoked It is given in multiple of 50us tprppELAY XpipRLp SOPS tpIDDELAY resulting delay between two PID calculations XpIDRLD current regulation loop delay parameter For most applications it is recommended to leave this parameter unchanged at its default of 504s Higher values may be necessary for very slow and less dynamic drives The structure of the current PID regulator is shown in Figure 8 2 It has
12. Resolution 1 Min 7234 Clear charts Figure 5 7 TMCL tab www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 19 51 7 File menu of TMCL BLDC The file menu of the TMCL BLDC offers the possibility to import and to export settings This is useful for transferring settings from one module to another Settings can be exported Export settings to ini and afterwards imported to another module with the command Import settings from ini Further it is useful to export evaluated adjustments of the TMCL BLDC program to a TMCL script used later in the TMCL IDE Therefore choose Export settings to TMCL Certainly actual values can be stored and restored 4 TMCM BLDC Export settings to ini 5 Import settings from ini mode ula ve Export settings to TMCL Store actual values Restore actual values Enco z S Exit tep Max current mA 4000 Enca Figure 5 8 File menu of TMCL BLDC TRINAMIC offers different scripts www trinamic com for testing block hall hallFX encoder switches and the rotary switch Block Hall torque velocity rotary switch tmc HallFXTest tmc Sinus Encoder Limit Switch Test tmc www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 20 5 2 TMCL IDE The TMCL IDE is an integrated development environment mainly for developing standalone TMCL applications but it also includes a function for using the TMCL commands in direct mode
13. The TMCL IDE is a PC application running under Windows 95 98 NT 2000 XP Vista Windows 7 For the TMC603 EVAL in particular the dialogue for configuring BLDC modules is important Most other functions can be used too Please refer to the TMCL IDE User Manual www trinamic com for detailed information about this Please be sure to always use the latest version of the TMCL IDE as its functionality is being extended and improved constantly 5 2 1 BLDC tool of the TMCL IDE The BLDC tool of the TMCL IDE consists mainly of two parts the left for adjusting axis parameters and testing them directly in praxis and the right for reporting generated values r A BLDC Configuration Tool Axis Parameters Value Display Values MCL Type Value 4 max positioning speed 4000 a 5 PWM duty cyde limit 3599 6 max current 4000 7 max MVP target reached velocity 500 8 min speed for vel PID 0 9 dear target distance 5 10 MVP target reached distance 5 11 acceleration parameter 2000 1384 12 min speed for pos PID 0 130 position P parameter I 200 131 position I parameter I 50 132 position D parameter I 10 133 PID regulation loop delay 1 134 current regulation loop delay 1 135 position I dipping 10000 SaaS 136 PWM hysteresis 0 F Equal scales 137 PID I dear on max PWM LS Figure 5 9 Configuration tool of the TMCL IDE www trinamic com TMC603 EVAL Manual Rev 1
14. and set 2 as well as the threshold value for the switch over between set 1 and set 2 can be set The values can be calibrated on the fly while the drive is still active The results will be shown immediately on the diagrams r wo iS 2 ism m File Connection Settings Torquemode Velocity mode Positioning mode PWMmode mma Status error flags Overcurrent Undervoltage Velocity PID control Overvoltage Velocity ramp control Seti Set2 Overtemperature Max velocity rpm 4000 Velocity control gt m Nm E Motor halted V Enable velocity ramp Velocity rpm 2000 5 E eo Hall HallFX error 4 4 PWM mod Accel rpm s 2000 Sou Stop j le D 0 E M I 9 Velocity mode Idipping 100 100 45 Position mode Threshold 50 T Torque mode Position end It exceeded Velocity Scaling Y axis Scaling X axis dynamic Systicks manual Samples Max 2001 Resolution 1 t Min 2001 Position Scaling Y axis Scaling X axis 3 dynamic Systicks v position 3 manual Samples 3 Max 4152 Resolution 1 Min 0 3 aj Clear charts Current PWM Scaling Y axis Scaling X axis dynamic Systicks manual Samples Max 860 Resolution 1 j Min 0 1 la Clear charts Figure 5 4 Velocity mode tab of TMCL BLDC www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 15 5 14 Positionin
15. exceeded a critical temperature of 100 C prewarning This red LED lights up upon the power stage has exceeded a critical temperature of 120 C The motor becomes switched off until temperature falls below 110 C Current limit OVER CURRENT This red LED lights up upon the motor current has exceeded the current limit LED without defined LED1 This yellow LED is applicable and can be used customer function specific Table 4 11 LEDs 41 6 Measuring points MEASURING POINTS OF THE TMC603 EVAL Measuring point Label Description Charge pump supply VCP Charge pump supply voltage Provides high side driver supply voltage Low side driver supply VLS Low side driver supply voltage for driving low side gates voltage Power supply 5V DC 5V Power supply nom 5V DC Power supply 3 3V DC 3 3V Power supply nom 3 3V DC Ground GND Power supply and signal ground There are two ground pins for the oscilloscope Error output ERROR Error output open drain The TMC603 has three different sources for signaling an error Undervoltage of the low side supply Undervoltage of the charge pump Short to GND detection Upon any of these events the error output is pulled low Current output CUR1 2 3 Output of current measurement amplifier for phase 1 to 3 The output signal is centered to 1 65V Filter output F1 2 3 Output of internal switched capacitor filter for phase 1 to 3 This signal is availab
16. lost after power off Please use command STAP store axis parameter in order to store any setting permanently Related commands GAP STAP and RSAP Mnemonic SAP parameter number 0 value Binary representation COMMAND TYPE MOT BANK VALUE 5 lt parameter 0 lt value gt number gt Reply in direct mode STATUS COMMAND VALUE 100 OK 5 don t care A list of all parameters which can be used for the SAP command is shown in section 6 Example Set the absolute maximum current to 200mA Mnemonic SAP 6 0 200 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byted Value hex 01 05 00 00 00 00 00 c8 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 29 546 GAP get axis parameter Most parameters of the TMC603 EVAL can be adjusted individually With the GAP command they can be read out Related commands SAP STAP and RSAP Mnemonic GAP parameter number 0 Binary representation COMMAND TYPE MOT BANK VALUE 6 parameter number 0 don t care Reply in direct mode STATUS COMMAND VALUE 100 OK 6 don t care A list of all parameters which can be used for the GAP command is shown in section 6 Example Get the actual position of motor Mnemonic GA
17. parameter set used at lower speed 2147483647 141 I parameter for I parameter of velocity PID regulator first 2147483648 RWE velocity PID I parameter set used at lower speed 2147483647 142 D parameter for D parameter of velocity PID regulator first 2147483648 RWE velocity PID I parameter set used at lower speed 2147483647 143 I Clipping LClipping parameter of velocity PID first 2147483648 RWE parameter for parameter set used at lower speed 2147483647 velocity PID T 234 P parameter for P parameter of velocity PID regulator second 2147483648 RWE velocity PID II parameter set 2147483647 235 I parameter for I parameter of velocity PID regulator second 2147483648 RWE velocity PID II parameter set 2147483647 236 D parameter for D parameter of velocity PID regulator second 2147483648 RWE velocity PID II parameter set 2147483647 237 I Clipping I Clipping parameter of velocity PID regulator 2147483648 RWE parameter for second parameter set used at higher speed 2147483647 velocity PID ID 228 Velocity PID Actual error of PID velocity regulator 214748 3648 R error 2147483647 229 Velocity PID Sum of errors of PID velocity regulator 214748 3648 R error sum 2147483647 VELOCITY RAMP PARAMETER Number Axis Parameter Description Range Unit Access 4 Max ramp The maximum velocity used for velocity ramp 2147483648 RWE velocity in velocity mode and p
18. power up 81 TMCL code Protect a TMCL program against disassembling or 0O 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 85 do not restore user 0 user variables are restored default 0 1 RWE variables 1 user variables are not restored 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 o 2047 R counter 132 tick timer A 32 bit counter that gets incremented by one every 0 RW millisecond It can also be reset to any start value 4294967295 255 suppress reply 0 reply default 0 1 RW 1 no reply 72 Bank1 The global parameter bank 1 is normally not available It may be used for customer specific extensions of the firmware Together with user definable commands see section 7 3 these variables form the interface between extensions of the firmware written in C and TMCL applications 73 Bank 2 Bank 2 contains general purpose 32 bit variables for the use in TMCL applications They are located in RAM and can be stored to EEPROM After bootin
19. to paste copied sections into the editor of the TMCL IDE in order to create one s own application Below the two tabs of the axis parameter area is an input area for motion control Using its functionality is important for testing the adjusted axis parameters directly in praxis In the middle of this area are two value input fields the above is for setting the speed for the commands rotate left ROL or rotate right ROR The value input field on the bottom is used for positioning The TMCL command behind this action is termed move to absolute position MVP ABS You will find further information about the TMCL commands in chapter 0 21 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 5 2 1 2 Value display While the TMCL BLDC tool is active the value display offers a smart visualization of all chosen adjustments Changes of axis parameters and other commands will be shown immediately in graphics and table Value Display 3650 None Target Position Actual Position Actual Current Actual PWM 3650 Actual Position Y Equal scales Ramp gen Veloci Actual vdodi Veloci rem 1617 Actual PWM Actual Current Y V Equal scales Actual velocity 3213 Ramp gen vel 3495 Actual position 891 Target position 2015 Actual current 354 Actual PWM 1101 Figure 5 11 Value www trinamic com display of the TMCL IDE 22 A
20. to tune hall sensor 32768 32767 RWE offset CW based initialization in a way that the motor has the same velocity for left and right turn It compensates for tolerance and hysteresis of the hall sensors It is added to the Commutation offset upon CW turn initialization 243 Init sine block This parameter helps to tune hall sensor 32768 32767 RWE offset CCW based initialization in a way that the motor has the same velocity for left and right turn It compensates for tolerance and hysteresis of the hall sensors It is added to the Commutation offset upon CCW turn initialization PWM MODE Number Axis Parameter Description Range Unit Access 5 PWM limit Set get PWM limit 0 100 0 3599 RWE 153 Actual PWM duty Get actual PWM duty cycle 0 3599 R cycle 154 Target PWM Get desired target PWM or set target PWM to 3599 3599 RW activate PWM regulation mode turn motor in right direction turn motor in left direction TORQUE REGULATION MODE www trinamic com 45 TMC603 EVAL Manual Rev 1 06 2012 AUG 29 Number Axis Parameter Description Range Unit Access 6 Max current Set get the max allowed motor current 0 4294967295 RWE This value can be temporarily exceeded marginal due to mA the operation of the current regulator 150 Actual motor Get actual motor current 2147483648 R current 2147483647 mA
21. velocity PID regulator second 2147483648 RWE velocity PID II parameter set 2147483647 237 I Clipping I Clipping parameter of velocity PID regulator 2147483648 RWE parameter for second parameter set used at higher speed 2147483647 velocity PID ID 238 Mass inertia Mass inertia constant Compensates the rotor 2147483648 RWE constant inertia of the motor 2147483647 239 BEMF constant BEMF constant of the motor Used for current 2147483648 RWE position and velocity regulation Feed 2147483647 forward control for current position and rpm 10V velocity regulation is disabled if BEMF constant is set to zero 240 Motor coil Resistance of motor coil Used for current 2147483648 RWE resistance position and velocity regulation 2147483647 mQ 241 Init sine speed Velocity for sine initialization A positive sign 32768 32767 RWE initializes in right direction a negative sign in rpm left motor direction 242 Init sine block This parameter helps to tune hall sensor 32768 32767 RWE offset CW based initialization in a way that the motor has the same velocity for left and right turn It compensates for tolerance and hysteresis of the hall sensors It is added to the Commutation offset upon CW turn initialization www trinamic com 42 TMC603 EVAL Manual Rev 1 06 2012 AUG 29 Number Axis Parameter Description Range Unit
22. velocity PID regulator is shown in Figure 8 3 Pearam 256 Clip VI Vmax Figure 8 3 Velocity PID regulation lranGET Dparam 256 Parameter Description ee Actual motor velocity GAP 3 VeAMPGEN Target velocity of ramp generator SAP 2 GAP 13 Vmax Max target velocity SAP 4 elast Error value of the last PID calculation GAP 228 Eku Error sum for integral calculation GAP 229 Prou Velocity P parameter SAP 140 SAP 234 Iss Velocity I parameter SAP 141 SAP 235 Douai Velocity D parameter SAP 142 SAP 236 kij Velocity I Clipping parameter SAP 143 SAP 237 1 Max target current SAP 6 Tos Target current for current PID regulator GAP 155 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 56 To parameterize the PID regulator set the velocity I parameter and velocity D parameter to zero and start the motor by using a medium target velocity e g 3000 rpm Then modify the velocity P parameter only Start from a low value and go to a higher value until the actual motor speed reaches 80 or 90 of the desired motor speed The rest of the speed difference can be reduced by using a high I clipping value e g 500000 and a slow increase of the velocity I parameter with the velocity D parameter still set to zero For the first tests both PID parameter sets can be set equal 85 Velocity ramp generator For a controlled start up of the motor s ve
23. 603 EVAL value should be 0 or 1 Bit 17 I2t exceeded flag This flag is set if the Pt sum exceeded the et limit of the motor reset by SAP 29 or after the time specified by the I2t thermal winding time constant Flag 0 to 15 are automatically reset Only flag 16 and 17 must be cleared manually 157 Module supply Get actual supply current of the module 0 4294967295 R current mA www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 SWITCHES AND ANALOG INPUTS Number Axis Parameter Description Range Unit Access 20 Switch 2 active O inactive 1 active 0 1 R 21 Switch 1 active 0 inactive 1 active 0 1 R 22 Potentiometer The value of the analog input 0 4095 R 164 Activate stop Bit 0 Left stop switch When this bit is set 0 3 RWE switch enable the motor will be stopped if it is moving in negative direction and the left stop switch input becomes active Bit 1 Right stop switch When this bit is set enable the motor will be stopped if it is moving in positive direction and the right stop switch input becomes active Please see parameter 166 for selecting the stop switch input polarity 166 Stop switch BitO Left stop switch Bit set Left stop 0 3 RWE polarity polarity switch input is high active Bit clear Left stop switch input is low active Bit 1 Right stop switch Bit set Right stop polarity switch input is high active Bit clear Righ
24. Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 08 06 00 00 00 00 00 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 32 5 4 9 SGP set global parameter Global parameters are related to the host interface peripherals or application specific variables The different groups of these parameters are organized in banks to allow a larger total number for future products Currently only bank 0 and 1 are used for global parameters and only bank 2 is intended to use for user variables Lists of global parameters are available in section O Related commands GGP STGP RSGP Mnemonic SGP parameter number bank number value Binary representation COMMAND TYPE MOT BANK VALUE 9 parameter number bank number value Reply in direct mode STATUS VALUE 100 OK don t care Example set variable 0 at bank 2 to 100 Mnemonic SGP 0 2 100 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byted Value hex 01 09 00 02 00 00 00 64 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 33 5 4 10 GGP get global parameter All global parameter
25. E event 163 Encoder clear set 1 set position counter to zero only once 0 1 RWEP NULL 0 always at an N channel event respectively switch event 12 Threshold speed Threshold speed for position regulation to 2147483648 RWE for position PID switch between first and second position PID 2147483647 parameter set rpm 130 P parameter for P parameter of position PID regulator first 2147483648 RWE position PID I parameter set 2147483647 131 I parameter for I parameter of position PID regulator first 2147483648 RWE position PID I parameter set 2147483647 132 D parameter for D parameter of position PID regulator first 2147483648 RWE position PID I parameter set 2147483647 135 I Clipping I Clipping parameter of position PID regulator 2147483648 RWE parameter for first parameter set A too high value causes 2147483647 position PID I _ overshooting at positioning mode 230 P parameter for P parameter of position PID regulator second 2147483648 RWE position PID II parameter set 2147483647 231 I parameter for I parameter of position PID regulator second 2147483648 RWE position PID II parameter set 2147483647 232 D parameter for D parameter of position PID regulator 2147483648 RWE position PID II second parameter set 2147483647 233 I Clipping I Clipping parameter of position PID regulator 2147483648 RWE parameter for second parameter set A
26. EVALUATION FOR ICs EVALUATION BOARD Firmware Version V1 47 EVAL BOARD MANUAL i i TMC603 EVAL Evaluation board for TMC603 three phase motor driver 18 8A RMS 12 48V DC RS232 UART USB mini USB back EMF commutation hallFX encoder interface A TRINAMIC Motion Control GmbH amp Co KG Hamburg Germany WWW trinamic com MOTION CONTROL TMC603 EVAL Manual Rev 1 06 2012 AUG 29 Table of contents Bic rFeat tess aata i e stantes tbe AAT hes Nee noA Le ELM URL ELA LA LU ELA DAL aude 4 3 Order CodeS casas Py 4 4 TaN AWW EIC REL ENIM 5 4 1 Mechanical and electrical interfacing scecsssecssseseceseesesesesesesseseseseseeseseseeaesessseseeeeaeseeeeaeseeesaeseeeeeeeeeaeaeees 5 4 1 1 Size of TMC603 EVAL and mounting holes sse teet tentent nnns 5 4 1 2 COMME COPS yah oot rece anb eR ab b uai aut Gat ated Lot Lt EM 6 4 1 3 Switches and potentiometer cccccccssssssssssscsescscsssssssssssssscscscscsssssssessssssssssssesescscsessessessesesesesescscscseseseesess 8 4 45 J mpelsusdmeneeien e eee tte deo i doe iu e E Cu M Se 8 LNPRMEMUZDD I M 10 4 6 Measuring pOIhts xu acean feinen nce tenet int av cet a tue Edu vov aieeaa 10 NIRE ul ec 11 53 TMEICBEDC evaluation tool obo LEERLO SIE td boot Loo ALIS 11 5L Settings taD zt eno QU e to RU ea e T dt 12 5 4 Torque mode tab iussis iiie nn ce A A 13 5 1 3 Velocity mode tab uunesssiaos c des aE adaa eara RE dop aa e
27. FETs in TO 220 package are used to measure the actual motor current set the jumper to pin 1 and 2 In that case the filter outputs of TMC603 are Filter ewt shunt connected to the measuring points Fx refer XI chapter 10 In addition set the axis parameter mm aog 225 to zero refer chapter 6 to select the current aaja measurement by using the internal Ry of optional MOSFETs When the external sense resistors are used to measure the actual motor current set the jumpers to pin 2 and 3 default In that case the external sense resistors are connected to the analog inputs RSx of TMC603 refer TMC603 datasheet In addition set the axis parameter 225 to one refer chapter 6 to select the current measurement by using the external sense resistor Filter Eut Shunt n OES m o 2 5 EIC RS232 select RS232 SEL RS232 usable on D sub connector UART TTL usable on D sub connector Both jumpers plugged Both jumper unplugged Table 4 10 Jumpers www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 10 4 1 5 LEDs LEDs or THE TMC603 EVAL Status Label Description Error signal ERROR This red LED lights up upon an error is occurred by undervoltage of VIS or VCP as well as by short to ground of the power MOS half bridge Power on POWER This green LED lights up upon the power supply is working Temperature warning OVER TEMP This red LED flashes upon the power state has
28. P 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 Byted Value hex 01 06 01 00 00 00 00 00 Reply Byte Index 0 1 2 3 4 5 6 7 Function Host Target Status Instruction Operand Operand Operand Operand address address Byte3 Byte2 Bytel Byte0 Value hex 00 00 64 06 00 00 02 c7 c status no error position 711 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 30 547 STAP store axis parameter The STAP command stores an axis parameter previously set with a Set Axis Parameter command SAP permanently Most parameters are automatically restored after power up refer to axis parameter list in chapter 6 Internal function An axis parameter value stored in SRAM will be transferred to EEPROM and loaded from EEPORM after next power up Related commands SAP RSAP and GAP Mnemonic STAP parameter number 0 Binary representation COMMAND TYPE MOT BANK VALUE 7 lt parameter number gt 0 don t care The value operand of this function has no effect Instead the currently used value e g selected by SAP is saved Reply in direct mode STATUS COMMAND VALUE 100 OK 7 don t care A list of all parameters which can be used for the STAP comman
29. Position mode active flag Bit 11 Torque mode active flag Bit 12 unused Bit 13 unused Bit 14 Position end flag This flag is set if the motor has been stopped at the target position Bit 15 unused Bit 16 unused for TMC603 EVAL value should be 0 or 1 Bit 17 Izt exceeded flag This flag is set if the Pt sum exceeded the Izt limit of the motor reset by SAP 29 after the time specified by the I2t thermal winding time constant Flag 0 to 15 are automatically reset Only flag 16 and 17 must be cleared manually 159 Commutation 0 Block commutation with hall sensors 0 1 3 RWE mode 1 Sensorless block commutation hallFX 3 Sine commutation with encoder 160 Re Initialization 0 sine commutation is still re initializing 0 1 RW of Sine 1 sine commutation is re initialized Attention Depending on initialization mode stop motor before issuing this command 161 Encoder set NULL 1 set position counter to zero at next N 0 1 RWE channel event 162 Switch set NULL 1 set position counter to zero at next switch 0 1 RWE event 163 Encoder clear set 1 set position counter to zero only once 0 1 RWE NULL 0 always at an N channel event respectively switch event www trinamic com 40 TMC603 EVAL Manual Rev 1 06 2012 AUG 29 Number Axis Parameter Description Range Unit Acces s 164 Activate stop Bit 0 Left stop switch When this bit is set 0
30. VAL in all modes of operation Use this software tool for finding initial settings For a better understanding of the PID regulation and its backgrounds we recommend the study of chapter 8 Connection Settings Torque mode Velocity mode Positioning mode PWM mode TMCL Status error flags USB Connection coms Eva603 2 Hall HallFX erro Figure 5 1 Connection tab of TMCL BLDC The first step is to connect the module The structure of tabs of the TMCL BLDC shows clearly how to proceed with the program On the right side of the window the status and the error flags are shown Below the input area are diagrams for velocity position and current PWM These diagrams and the status error information can be used for controlling new settings visually in order to identify best results as well as deficient settings It is possible to scale each X axis and Y axis to get a comfortable report These parts of the program are for diagnostic tasks and remain independent from the chosen tab but the input area on top can be chosen by selecting a specific tab Please note that the status error information and the curves have to be activated by starting the trace controller on the settings tab The settings tab is needed for general settings of the evaluation board The next four tabs are designed for testing the four modes of operation torque mode velocity mode positioning mode PWM mode On the tabs for torque mode velocity mode
31. aaa EE crag acea di ied n M tesa ri 14 5 14 Positioning mode tab cec ederet ce ded a dote e e co eda E bee 15 515 PWM mode tabitcns xot eese ees E tio EE cog b te Ae Li AS LOS 17 DLG MCLIM IDa A O E IET tar tie sustain ast A ate 18 5 1 7 File menu of TMCL BLDC roria A EAE AEAEE 19 SM Ss E 20 5 2 BLDC tool of the TMCLE IDE nene e eoe ie ea eras ves eoa tee eene ene N 20 5 3 TMGETM command overviews neia elt ea aaa labile eben totg nde hl ete La 23 534 Motion commands eoe eee e etel pet Pur ba endet durer Dapibus ute bles 23 5 3 2 Parameter commands rehired e eidet drda aei oaae eda te ttn aaaea da aiten tatanane aaide ndai 23 5 4 Command Serenassa ra aa ae RR raae le aie aaan Saa ditte uc iicet cie 24 5AL ROR rotate right iiir cede e eine n erba deb EE e de Eee 24 re ROL rotte MEI 25 5 4 3 MST motor stop eee leuc e leere tede ideae edet te aee ted debe tede 26 5 4 4 MVP move to position rettet te tete LE LEE LENE 27 545 SAP s et axis parameter a steer ee DR aee Rhe ases tu boe bre EARE FRE a aera M 28 5 46 GAP get axis parameter ies b RE en at n eu se aeta t iere cepta tutae 29 SAT STAP store axis parameter SEE ED DEA ENG eR Dee Dix den ER Dx ron xe Dd 30 5 4 8 RSAP restore axis parameter sccscsscsessssscsessssssseesesecsessescsessesscsessesscseesesussessesessessesesseesesessesaesesseeseeseass 31 5 4 9 SGP set global parameter c sccsccsecsecssssesssssessesses
32. al cur mA 0 P 20 4 350 t Hall HallFX error n I 10 gt 50 Target cur mA 700 PWM mode Stop D 0 mj 0 am Velocity mode Idipping 100 ttj 100 Position mode Threshold 0 T Torque mode Position end It exceeded Velocity Scaling Y axis Scaling X axis dynamic Systicks manual Q9 Samples Max 2338 Resolution 1 gt Min 2257 Car charts Position Scaling Y axis Scaling X axis dynamic Systicks sition manual Samples Max 5906 Resolution 1 T Min 1435 Current PWM Scaling Y axis Scaling X axis dynamic Systicks D manual Q Samples Max 974 E Resolution 1 T Min 0 4 uml a Clear charts Figure 5 3 Torque mode tab of TMCL BLDC www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 14 5 113 Velocity mode tab The input area of the velocity tab has three parts the velocity ramp control the velocity control and the velocity PID control In the middle of the input area is the velocity control which is used to start the drive positive and negative direction in velocity mode with a chosen speed rpm or stop it The velocity ramp control is needed for setting the maximum velocity rpm and the acceleration rpm s Further the velocity ramp can be enabled by ticking the appropriate field Disabling the velocity ramp leads to a hard stop On the right side is the velocity PID control Here the P I D and I clipping parameter values for set 1
33. alue The timing control value PID regulation loop delay axis parameter 133 determines how often the PID regulator is invoked Tt is given in multiple of 1ms www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 57 tpippELAY XpipnLp IMS tpIDDELAY the resulting delay between two PID calculations XpIDRLD PID regulation loop delay parameter For most applications it is recommended to leave this parameter unchanged at its default of 1ms Higher values may be necessary for very slow and less dynamic drives Based on the velocity PID regulator the position PID regulator can be parameterized as P regulator in the simplest case Therefore disable the velocity ramp generator and set position P T and D parameters to zero Now set a target position and increase the position P parameter until the motor reaches the target position approximately After finding a good position P parameter the velocity ramp generator can be switched on again Based on the max positioning velocity axis parameter 4 as well as the acceleration axis parameter 11 value the ramp generator automatically calculates the slow down point i e the point at which velocity is to be reduced in order to stop at the desired target position Reaching the target position is signaled by setting the position end flag In order to minimize the time until this flag becomes set a positioning tolerance MVP target reached distance can be chosen by axis parameter 10
34. and positioning mode is a block for the PID control of the operation mode Here are fields for filling in values of PID parameter set 1 and set 2 Set 1 is intended for lower velocities set 2 for higher velocities Below them is a value field for filling in the threshold between both PID sets The TMC603 EVAL manages the switch over between set 1 and set 2 smoothly avoiding disruptive factors The last tab is used for controlling the evaluation board with TMCL direct mode You can enter all TMCL commands as usually The TMCL commands are explained in detail in chapter 0 TMCL BLDC tabs Settings Torque mode Velocity mode Positioning mode PWM mode TMCL www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 12 5 1 1 Settings tab After connecting the module with the connect button you can choose the settings tab and fill in basic values motor settings encoder settings and commutation mode All settings correspond to specific axis parameters which are described in detail in chapter 6 The trace controller has to be started for displaying the curves on the diagrams below Clicking the start button of the trace controller enables the status error flags too wen TONNEN as icm Settings Torque mode welodtymode Positioning mode PwMmode TMCL Status error flags Overcurrent Undervoltage Commutation Mode Overvoltage Motor settings Encoder settings Motor poles 8 E Steps per ro
35. cations are subject to change without notice www trinamic com 60 TMC603 EVAL Manual Rev 1 06 2012 AUG 29 12 Revision history 12 1 Firmware revision 61 Version Date Author Description 1 46 2011 AUG 25 ED Complete renewed version 1 47 2011 NOV 24 ED PID regulation updated Pt monitoring updated Table 12 1 Firmware revision 12 2 Document revision Date Version MW Michael Weiss Author Description SD Sonja Dwersteg 0 93 2009 AUG 11 MW Preliminary version 1 00 2011 SEP 30 SD Initial version 1 01 2011 OCT 06 SD Minor changes 1 02 2011 OCT 12 ED Minor changes 1 03 2011 OCT 17 SD Minor changes 1 04 2011 OCT 25 SD Minor changes Axis parameters 5 150 153 159 and 154 corrected Axis parameter 246 deleted AE et Et ap Chapter 10 updated Pt monitoring Chapter 8 updated PID regulation 1 06 2012 AUG 29 SD Axis parameters 164 and 166 added Table 12 2 Document revision 13 References TMC603 TMC603 Datasheet please refer to our homepage http www trinamic com www trinamic com
36. ceed the above mentioned limits too Internal function A new position value is transferred to the axis parameter 0 target position Related commands SAP GAP and MST Mnemonic MVP lt ABS REL gt 0 position offset number Binary representation COMMAND TYPE MOT BANK VALUE 4 0 ABS absolute 0 position 1 REL relative 0 offset Reply in direct mode STATUS COMMAND VALUE 100 OK 4 don t care Example MVP ABS Move motor to absolute position 9000 Mnemonic MVP ABS 0 9000 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 ByteO Value hex 01 04 00 00 00 00 23 28 Example MVP REL Move motor from current position 1000 steps backward move relative 1000 Mnemonic MVP REL 0 1000 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byted Value hex 00 04 01 00 Sff Sff Sfc 18 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 545 SAP set axis parameter With this command most of the motion control parameters of the module can be specified The settings will be stored in SRAM and therefore are volatile That is information will be
37. cters e g 603V1 46 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 TMC603 EVAL Manual Rev 1 06 2012 AUG 29 38 6 Axis parameter overview SAP GAP STAP RSAP The following section describes all axis parameters that can be used with the SAP GAP STAP and RSAP commands Meaning of the letters in column Access R readable GAP W writable SAP E stored and automatically restored from EEPROM after reset or power on P protected Number Axis Parameter Description Range Unit Acces s 0 Target position The target position of a currently executed 2147483648 RW ramp 2147483647 1 Actual position Set get the position counter without moving 2147483648 RW the motor 2147483647 2 Target speed Set get the desired target velocity 2147483648 RW 2147483647 rpm 3 Actual speed The actual velocity of the motor 214748 3648 R 2147483647 rpm 4 Max ramp The maximum velocity used for velocity ramp 2147483648 RWE velocity in v
38. ction describes all axis parameters that can be used with the SAP GAP STAP and RSAP commands Meaning of the letters in column Access R readable GAP W writable SAP E stored and automatically restored from EEPROM after reset or power on MOTOR MODULE SETTINGS Number Axis Parameter Description Range Unit Access 253 Number of Number of motor poles 2 254 RWE motor poles 5 PWM limit Set get PWM limit 0 100 0 3599 RWE 239 BEMF constant BEMF constant of the motor Used for current 2147483648 RWE position and velocity regulation Feed 2147483647 forward control for current position and rpm 10V velocity regulation is disabled if BEMF constant is set to zero 240 Motor coil Resistance of motor coil Used for current 2147483648 RWE resistance position and velocity regulation 2147483647 mQ 238 Mass inertia Mass inertia constant Compensates the rotor 2147483648 RWE constant inertia of the motor 2147483647 136 PWM Hysteresis Compensates dead time of PWM and motor 0 4294967295 RWE friction 25 Thermal winding Thermal winding time constant for the used 0 4294967295 RWE time constant motor Used for I2t monitoring ms 26 Tet limit An actual I2t sum that exceeds this limit leads 0 4294967295 RWE to increasing the T t exceed counter 27 Tet sum Actual sum of the T t monitor 0
39. d is shown in section 11 9 Example Store the maximum speed Mnemonic STAP 4 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 07 04 00 00 00 00 00 Note The STAP command will not have any effect when the configuration EEPROM is locked The error code 5 configuration EEPROM locked will be returned in this case www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 31 548 RSAP restore axis parameter For all configuration related axis parameters non volatile memory locations are provided By default most parameters are automatically restored after power up refer to axis parameter list in chapter 6 A single parameter that has been changed before can be reset by this instruction also Internal function The specified parameter is copied from the configuration EEPROM memory to its RAM location Related commands SAP STAP and GAP Mnemonic RSAP parameter number 0 Binary representation COMMAND TYPE MOT BANK VALUE 8 parameter number 0 don t care Reply in direct mode STATUS COMMAND VALUE 100 OK 8 don t care A list of all parameters which can be used for the RSAP command is shown in section 6 Example Restore the maximum current Mnemonic RSAP 6 0 Binary
40. d reo ette e e tenete Hees bn pleb tete fot a eo nece 53 8 4 Velocity PID regulation c cesecsecsssesessssesesesseseseesesessesesecsesecseseseeseaesesueseseeaeaeseeasaesesaeseseeaeseeeeasseseseaeeeeenseeeaees 55 8 5 Velocity ramp generator ssania eaa e eend ei ae tette tete Ta ae aaea entes ttn tente se bedre snas 56 8 6 Position PID regulation Re Rm RR RE Dn EI at e aia diee MS 56 8 7 Parameter sets for PID regulationi eiie rette teda eder Ende edd ns dL ec sealed teu 58 9 Temperat re calculation eee es eid tete Blessed dece e etis deo 59 10A PREMON tOn genahe bo td ne d entend visa ha ball stet bitten lebih tes bettas be le 59 11 JFife support policy ure tte poate hha videt re Dern a a doe 60 12 Revision RiSt i eo a et HO et t Ha ise ie d Hiding araberne 61 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 12 1 Firmware revision RRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRMMMMMMMEMMMMMMMMERMERREKRRRGEEENNMNMMMMM 12 2 DOCUMENT revision vo ccceccccccccscscsscscecsscecsscscesseceseuseceusecevseseusaseveaseseuseseuseseuseseveaeseuseseuseseuseseveuseceuseceveseveasesenseses T3 References oan eae erate etic niet ac Neila coin he ARS pA te A n m ML www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 4 2 Features The TMC603 evaluation board makes it possible to evaluate the features of the TMC603 three phase BLDC motor driver with back EMF commutation hallFX On the evaluation board the STM32F ARM C
41. elocity mode and positioning mode Set 2147483647 this value to a realistic velocity which the rpm motor can reach 5 PWM limit Set get PWM limit 0 100 0 3599 RWE 6 Max current Set get the max allowed motor current 0 4294967295 RWE This value can be temporarily exceeded marginal due to mA the operation of the current regulator 7 MVP Target Maximum velocity at which end position can 2147483648 RWE reached velocity be set Prevents issuing of end position when 2147483647 the target is passed at high velocity rpm 8 Threshold speed Threshold speed for velocity regulation to 2147483648 RWE for velocity PID switch between first and second velocity PID 2147483647 parameter set rpm 9 Motor halted If the actual speed is below this value the 2147483648 RWE velocity motor halted flag will be set 2147483647 rpm 10 MVP target Maximum distance at which the position end 2147483648 RWE reached distance flag is set 2147483647 11 Acceleration Acceleration parameter for ROL ROR and the 2147483648 RWE velocity ramp of MVP 2147483647 RPM s 12 Threshold speed Threshold speed for position regulation to 2147483648 RWE for position PID switch between first and second position PID 2147483647 parameter set rpm 13 Ramp generator The actual speed of the velocity ramp used 2147483648 R speed for positioning and velocity mode 2147483647 rpm 14 velocity Velocity to
42. fined functions without topic for user specific purposes Contact TRINAMIC for customer specific programming of these functions Internal function Call user specific functions implemented in C by TRINAMIC Related commands none Mnemonic UFO UF7 Binary representation specific TMCL command extension UFO INSTRUCTION NO TYPE MOT BANK VALUE 64 71 user defined user defined user defined Reply in direct mode 36 UF7 user Byte Index 0 1 2 3 4 5 6 7 8 Function Target Target Status Instruction Operand Operand Operand Operand Checksum address address Byte3 Byte2 Byte1 Byted Value hex 02 01 user 64 71 user user user user lt checksum gt defined defined defined defined defined www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 5 4 14 TMCL control functions There are several TMCL control functions but for the user is only command 136 interesting Other control functions can be used with axis parameters 37 Command Type Parameter Description Access 136 0 string Firmware version Get the module type and firmware revision as a read 1 binary string or in binary format Motor Bank and Value are ignored Type set to 0 reply as a string Byte index Contents 1 Host Address 289 Version string 8 chara
43. g their values are automatically restored to the RAM Up to 256 user variables are available Meaning of the letters in column Access e R readable GGP e W writeable SGP e E automatically restored from EEPROM after reset or power on Number Global parameter Description Range Access 0 55 general purpose variable 0 55 for use in TMCL applications 23 42 RWE 56 255 general purpose variables 56 255 for use in TMCL applications 29 4235 RW www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 53 8 PID regulation 81 Structure of the cascaded motor regulation modes The TMC603 EVAL supports current velocity and position PID regulation modes for motor control in different application areas These regulation modes are cascaded as shown in Figure 8 1 The specific modes are explained in the following sections enable I max target velocity SAP 4 disable SAP 146 accelerat SAP 11 ramp generator max max target SUrrent target target PID target g PID arge current current M velocity PID osition target i PID target position velocity SAP 0 SAP 2 values position PID PWM PWI SAP 155 saps Vaes sap 154 SAP 5 current PID target target current ramp generator target velocity PWM motor current measurement hall sensor or encoder
44. g mode tab The input area of the positioning mode tab has three parts the velocity ramp control the positioning control and the positioning PID control The velocity ramp control is the same as on the velocity mode tab Maximum velocity and acceleration can be chosen and the velocity ramp can be enabled or disabled In the middle of the positioning mode input area is the positioning control field This is adequate designed to the TMCL command MVP move to position There are two possibilities to move in positive or negative direction move absolutely or relatively to the actual position The unit of the target position is encoder steps per rotation operation with encoder only The unit for positioning with hall sensors is steps per motor rotation The button clear sets the counter for positioning to zero Clear on NULL is used with encoder The actual position is set to zero when crossing the next N channel On the right side of the positioning mode tab input area is the position PID control Here values of the P T D and I clipping parameters set 1 and set 2 for the position PID control can be filled in and the specific threshold between both sets can be set The values can be calibrated on the fly while the drive is still active The results will be shown immediately on the diagrams www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 16 File Connection Settings Torque mode vel
45. ion EEPROM Mnemonic STGP 0 2 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byted Value hex 01 0b 00 02 00 00 00 00 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 35 5 4 12 RSGP restore global parameter This instruction copies a value from the configuration EEPROM to its RAM location and so recovers the permanently stored value of a RAM located parameter Most parameters are automatically restored after power up Lists of global parameters are available in section 0 Related commands SGP GGP STGP Mnemonic RSGP parameter number bank number Binary representation COMMAND TYPE MOT BANK VALUE 12 parameter number bank number don t care Reply in direct mode STATUS VALUE 100 OK don t care Example copy variable 0 at bank 2 from the configuration EEPROM to the RAM location Mnemonic RSGP 0 2 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 0c 00 02 00 00 00 00 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 5 4 13 Customer function The user definable functions UFO UF7 are prede
46. ipping LClipping parameter of current PID regulator 2147483648 RWE parameter for first parameter set used at lower speed 2147483647 current PID I 172 P parameter for P parameter of current PID regulator second 2147483648 RWE current PID II parameter set used at higher speed 2147483647 173 I parameter for I parameter of current PID regulator second 2147483648 RWE current PID II parameter set used at higher speed 2147483647 174 D parameter for D parameter of current PID regulator second 2147483648 RWE current PID II parameter set used at higher speed 2147483647 175 I Clipping I Clipping parameter of current PID regulator 2147483648 RWE parameter for second parameter set used at higher speed 2147483647 current PID II 176 Threshold speed Threshold speed for current regulation to 2147483648 RWE for current PID switch between first and second current PID 2147483647 parameter set rpm www trinamic com 41 TMC603 EVAL Manual Rev 1 06 2012 AUG 29 Number Axis Parameter Description Range Unit Acces s 177 Start current Motor current for controlled commutation 0 4294967295 RWE This parameter is used in commutation mode mA 1 4 b and in initialization of sine 200 Current PID error Actual error of current PID regulator 2147483648 R 2147483647 201 Current PID error Su
47. le disable shunt ENRS Set this jumper together with the three jumpers Filter Ext Shunt resistors for current There are two possibilities measurement Set ENRS jumper together with three jumpers Filter Ext_Shunt on pin position 2 3 extern shunt Now the measurement of the motor current will be done with the shunt resistors on the board If the ENRS jumper is not set and the three jumpers Filter Ext_Shunt are set on pin position 1 2 filter position there will be the filtered measured motor voltages on the measuring points F1 F2 and F3 Spike suppression SP_SUP An external capacitor on this pin controls the commutation spike time control capacitor suppression time for hallFX This pin charges the capacitor via an internal current source All jumpers unplugged Jumper 1nF plugged Jumper 2 2nF plugged Jumper 1nF and 2 2nF Jumper 4 7nF plugged Jumper 1nF and 4 7nF Csp sup 470pF tsp sup 47us Cop sup 1 47nF tcp sup 147 ps Cop sup 2 67nF tcp sup 267 ps Cop sup 3 67nF tsp sup 367 pS Cop sup 5 17nF top sup 517ps Default Cop sup 6 17nF tcp sup 617 ps Jumper 2 2nF and 4 7nF Cop sup 7 37nF tcp sup 737 pS All jumpers plugged Cop sup 8 37nF tsp sup 837 pS Filter output external sense resistor input Filter Ext Shunt Selects output signal of internal switched capacitor filters or input for external sense resistor default When the internal Rpson of optional MOS
48. le only if filter outputs of TMC603 are selected refer chapter 8 High side output HS1 2 3 High side MOSFET driver output for phase 1 to 3 Bridge output BM1 2 3 Sensing input for bridge output Used for MOSFET control and current measurement for phase 1 to 3 Low side output LS1 2 3 Low side MOSFET driver output for phase 1 to 3 Table 4 12 Measuring points www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 11 5 TMCL overview As with most TRINAMIC modules the software running on the STM32F ARM Cortex M3 processor of the TMC603 EVAL consists of two parts a boot loader and the firmware itself Whereas the boot loader is installed during production and testing at TRINAMIC and remains normally untouched throughout the whole lifetime the firmware can be updated by the user The firmware shipped with this evaluation board is related to the standard TMCL firmware shipped with most of TRINAMIC modules with regard to protocol and commands There are two software tools the TMCL BLDC and the TMCL IDE Whereas the TMCL BLDC is used for testing different configurations in all modes of operation the TMCL IDE is mainly designed for conceiving programs and firmware updates New versions of the TMCL BLDC and the TMCL IDE can be downloaded free of charge from the TRINAMIC website http www trinamic com 5 1 TMCL BLDC evaluation tool The TMCL BLDC is a special tool for adjusting and testing settings of the TMC603 E
49. ll parameter changes and commands which have been initiated with the help of the values tab and the motion area will be shown immediately on the screens and the accordant table of the value display These tools offer read out values used for adjusting positioning operations mainly The TMCL command behind this is the get axis parameter command GAP The value display area offers possibilities for changing its adjustments Under each graphic are two buttons for choosing the aspects which have to be examined Select out of the following catalog None Target Position Actual Position Ramp gen Velocity Actual Velocity Actual Current Actual PWM At all the curves of up to four aspects can be shown on the two screens at the same time Depending on the targets a customer is engaged with it might be helpful to equal the scales by ticking the appropriate fields default TMC603 EVAL Manual Rev 1 06 2012 AUG 29 23 5 3 TMCL command overview In this section a short overview of the TMCL commands is given 5 3 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 stand alone mode Mnemonic Command number Description ROR 1 Rotate right ROL 2 Rotate left MST 3 Motor stop MVP 4 Move to position Figure 5 12 Motion commands 5 3 2 Parameter commands These commands are used to set read and s
50. locity a velocity ramp generator can be activated deactivated by axis parameter 146 The ramp generator uses the maximal allowed motor velocity axis parameter 4 the acceleration axis parameter 11 und the desired target velocity axis parameter 2 to calculate a ramp generator velocity for the following velocity PID regulator 86 Position PID regulation Based on the current and velocity PID regulators the TMC603 EVAL supports a positioning mode based on encoder or hall sensor position During positioning the velocity ramp generator can be activated to enable motor positioning with controlled acceleration or disabled to support motor positioning with max allowed speed The structure of the position PID regulator is shown in Figure 8 4 Pparam 256 NTARGET VTARG ET Figure 8 4 Positioning PID regulation Parameter Description DEUM Actual motor position GAP 1 Dancer Target motor position SAP o T Error value of the last PID calculation GAP 226 esum Error sum for integral calculation GAP 227 Pici Position P parameter SAP 130 SAP 230 Iw Position I parameter SAP 131 SAP 231 Diikani Position D parameter SAP 132 SAP 232 Lop Position I Clipping parameter SAP 135 SAP 233 M ic Max allowed velocity SAP 4 V ARGET New target velocity for ramp generator GAP 13 The PID regulation uses five basic parameters The P T D and I Clipping value as well as a timing control v
51. m of errors of current PID regulator 2147483648 R sum 2147483647 209 Actual encoder Actual encoder position counter value 214748 3648 R position 2147483647 226 Position PID Actual error of position PID regulator 2147483648 R error 2147483647 227 Position PID Sum of errors of position PID regulator 2147483648 R error sum 2147483647 228 Velocity PID Actual error of velocity PID regulator 214748 3648 R error 2147483647 229 Velocity PID Sum of errors of velocity PID regulator 214748 3648 R error sum 2147483647 230 P parameter for P parameter of position PID regulator second 2147483648 RWE position PID II parameter set 2147483647 231 I parameter for I parameter of position PID regulator second 2147483648 RWE position PID II parameter set 12147483647 232 D parameter for D parameter of position PID regulator 2147483648 RWE position PID II second parameter set 2147483647 233 I Clipping I Clipping parameter of position PID regulator 2147483648 RWE parameter for second parameter set A too high value 2147483647 position PID II causes overshooting at positioning mode 234 P parameter for P parameter of velocity PID regulator second 2147483648 RWE velocity PID II parameter set 2147483647 235 I parameter for I parameter of velocity PID regulator second 2147483648 RWE velocity PID II parameter set 2147483647 236 D parameter for D parameter of
52. meter for D parameter of current PID regulator second 2147483648 RWE current PID II parameter set used at higher speed 2147483647 175 I Clipping I Clipping parameter of current PID regulator 2147483648 RWE parameter for second parameter set used at higher speed 2147483647 current PID II 200 Current PID error Actual error of current PID regulator 2147483648 R 2147483647 201 Current PID error Sum of errors of current PID regulator 2147483648 R sum 2147483647 www trinamic com 46 TMC603 EVAL Manual Rev 1 06 2012 AUG 29 VELOCITY REGULATION MODE Number Axis Parameter Description Range Unit Access 3 Actual speed The actual velocity of the motor 214748 3648 R 2147483647 rpm 2 Target speed Set get the desired target velocity 2147483648 RW 2147483647 rpm 9 Motor halted If the actual speed is below this value the 2147483648 RWE velocity motor halted flag will be set 2147483647 rpm 133 PID regulation PID calculation delay Set PID operational 0 4294967295 RWE loop delay frequency ms 8 Threshold speed Threshold speed for velocity regulation to 2147483648 RWE for velocity PID switch between first and second velocity PID 2147483647 parameter set rpm 140 P parameter for P parameter of velocity PID regulator first 2147483648 RWE velocity PID I
53. mple Rotate right velocity 350 Mnemonic ROR 0 350 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 01 00 00 00 00 01 5e www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 25 542 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 Related commands ROR MST SAP GAP Mnemonic ROL 0 velocity Binary representation COMMAND TYPE MOT BANK VALUE 2 don t care 0 lt velocity gt 2147483648 2147483647 Reply in direct mode STATUS COMMAND VALUE 100 OK 2 don t care Example Rotate left velocity 1200 Mnemonic ROL 0 1200 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 02 00 00 00 00 04 b0 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 5 4 3 MST motor stop With this command the motor will be instructed to stop Internal function The a
54. ocity mode itioni PWMmode TMCL Status error flags Overcurrent Undervoltage Position PID control Overvoltage Velocity ramp control Overtemperature Max velocity rpm 4000 21 Motor halted V Enable velocity ramp Hall HallFX error a PWM mode Accel rpm s 2000 Velocity mode 8 Position mode Torque mode 8 Position end I t exceeded Max 1521 Min 0 Figure 5 5 Positioning mode tab of TMCL BLDC www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 51 5 PWM mode tab On the PWM mode tab is the PWM control field where a target PWM can be chosen The drive can be started and stopped as on the other tabs with the appropriate buttons below the value field of the target PWM The target PWM value can be changed on the fly while the drive is still active The results will be shown immediately on the diagrams A TMCM BLDC File connection Settings Torque mode Velocity mode Positioning mode PWM Control Actual PWM 500 TargetPWM 500 G PWM mode TMCL Status error flags Overcurrent Undervoltage Overvoltage Overtemperature Motor halted Hall HallFX error 9 PWM mode Velocity mode Position mode Torque mode Position end I t exceeded Velocity Fzscmmensmstennennkekenke kd t actual rpm target rpm Position Current PWM PWM
55. of the pC PB1 ADC IN9 T3 CHA The switch can be used customer specific by GAP 21 Switch Switch2 is connected to pin PBO of the pC PBO ADC IN8 T3 CH3 The switch can be used customer specific by GAP 20 Table 4 9 Switches and potentiometer 414 Jumpers Jumper Label Description Select 3 3V supply 3 3V SEL Jumper pins Result 1 2 5V supply voltage of additional switching regulator default Precondition 5V_SEL jumper on pin 1 and 2 2 3 12V low side driver supply voltage of TMC603 Select 5V supply 5V SEL Jumper pins Result 1 2 5V supply voltage of additional switching regulator default 2 3 5V Internal supply voltage of TMC603 Short to GND control RS2G The short to GND control resister controls the delay time between resistor switching on the high side MOSFET and the short to GND check Jumper plugged Res 470KO tz 2ps Jumper unplugged Rec 1 47MO tac 6ps default Slope control resistor RSLP The slope control resistor sets output current for MOSFET drivers Jumper plugged Rep 100kO I 100mA Jumper unplugged Ra 147kO gate 68mA default Error enable ERR EN Jumper plugged In case of error e g short circuit on output the TMC603 turns off itself by hardware Jumper unplugged Without jumper the shutdown has to be realized by the processor www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 Jumper Label Description Enab
56. ooting but high enough to reach the target current The current D parameter II can still be set to zero After having found suitable values for parameter set 2 the first parameter set PID Parameter Set 1 should be set to lower values to minimize overshooting during zero time of motor start Then stop the motor and start again to test the current regulation settings If the motor current is overshot during zero time set the PID parameter set 1 once more to lower values For all tests set the motor current limitation to a realistic value so that your power supply does not become overloaded during acceleration phases If your power supply goes to current limitation the unit may reset or undetermined regulation results may occur www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 55 84 Velocity PID regulation Based on the current regulation the motor velocity can be controlled by the velocity PID regulator Also the velocity PID regulator uses a timing control value PID regulation loop delay axis parameter 133 which determines how often the PID regulator is invoked Tt is given in multiple of 1ms tpippELAY XpipnLp 1ms tpIDDELAY resulting delay between two PID calculations XpIDRLD PID regulation loop delay parameter For most applications it is recommended to leave this parameter unchanged at its default of 1ms Higher values may be necessary for very slow and less dynamic drives The structure of the
57. or current 2147483648 R current 2147483647 mA 151 Actual voltage Actual supply voltage 0 4294967295 R 152 Actual driver Actual temperature of the motor driver 0 4294967295 R temperature 153 Actual PWM duty Get actual PWM duty cycle 3599 3599 R cycle 154 Target PWM Get desired target PWM or set target PWM to 3599 3599 RW activate PWM regulation mode turn motor in right direction turn motor in left direction 155 Target current Get desired target current or set target current 2147483648 RW to activate current regulation mode turn 2147483647 motor in right direction turn motor in left mA direction www trinamic com 39 TMC603 EVAL Manual Rev 1 06 2012 AUG 29 Number Axis Parameter Description Range Unit Acces s 156 Error Status flags Bit 0 Overcurrent flag This flag is set if 0 44294967295 R overcurrent limit is exceeded Bit 1 Undervoltage flag This flag is set if supply voltage to low for motor operation Bit 2 Overvoltage flag This flag is set if the motor becomes switched off due to overvoltage Bit 3 Overtemperature flag This flag is set if overtemperature limit is exceeded Bit 4 Motor halted flag This flag is set if motor has been switched off Bit 5 Hall error flag This flag is set upon a hall error Bit 6 unused Bit 7 unused Bit 8 PWM mode active flag Bit 9 Velocity mode active flag Bit 10
58. ortex M3 microcontroller is used to control the TMC603 The FLASH memory of the microcontroller contains a program which configures the TMC603 and controls the communication with the PC via the USB interface and the RS232 interface The PC software is based on Windows and allows tuning of all operation parameters for every three phase BLDC motor Application e Evaluation of the features of the TMC603 three phase motor driver Electrical data e Motor current up to 18 8A RMS nominal motor current e Supply voltage 12V 48V operating voltage Interfaces e RS232 UART e USB type B e Inputs for encoder ABN e Three digital hall sensors Motor type e Three phase BLDC motor e Sine or block commutation e Rotor position feedback sensorless encoder or hall sensor Safety features e Overcurrent short to GND and undervoltage protection with diagnostics integrated Software e TMCL TMCL IDE and TMCL BLDO e Firmware update via USB interface and RS232 interface Highlights e Integrated current measurement using power MOS transistor RDSon e hallFX sensorless back EMF commutation emulates hall sensors e Integrated break before make logic No special microcontroller PWM hardware required e EMV optimized current controlled gate drivers e Internal QGD protection supports latest generation of Power MOSFETs e Integrated supply concept with step down switching regulator e Common rail charge pump allows for 100 PWM duty cycle 3 Order codes
59. ositioning mode Set 2147483647 this value to a realistic velocity which the rpm motor can reach 11 Acceleration Acceleration parameter for ROL ROR and the 2147483648 RWE velocity ramp of MVP 2147483647 RPM s 13 Ramp generator The actual speed of the velocity ramp used 2147483648 R speed for positioning and velocity mode 2147483647 rpm 146 Activate ramp 1 Activate velocity ramp generator for 0 1 RWE position PID control Allows usage of acceleration and positioning velocity for MVP command www trinamic com 47 TMC603 EVAL Manual Rev 1 06 2012 AUG 29 POSITION REGULATION MODE Number Axis Parameter Description Range Unit Access 1 Actual position Set get the position counter without moving 2147483648 RW the motor 2147483647 0 Target position The target position of a currently executed 2147483648 RW ramp 2147483647 7 MVP Target Maximum velocity at which end position can 2147483648 RWE reached velocity be set Prevents issuing of end position when 2147483647 the target is passed at high velocity rpm 10 MVP target Maximum distance at which the position end 2147483648 RWE reached distance flag is set 2147483647 161 Encoder set NULL 1 set position counter to zero at next N 0 1 RWE channel event 162 Switch set NULL 1 set position counter to zero at next switch 0 1 RW
60. rolled sine 128 127 RWE commutation determines the encoder offset 1 Initialization in block commutation using hall sensors 2 Initialization in controlled sine commutation use the previous set encoder offset 241 Init sine speed Velocity for sine initialization A positive sign 32768 32767 RWE initializes in right direction a negative sign in rpm left motor direction 244 Init sine delay Duration for sine initialization sequence This 32768 32767 RWE parameter should be set in a way that the ms motor has stopped mechanical oscillations after the specified time 14 velocity Velocity to switch from controlled to hallFX 2147483648 RWE threshold for mode 2147483647 hallFX Set this value to a realistic velocity which the rpm motor can reach in controlled mode 159 Commutation 0 Block commutation with hall sensors 0 1 3 RWE mode 1 Sensorless block commutation hallFXTM 3 Sine commutation with encoder 160 Re Initialization 0 sine commutation is still re initializing 0 1 RW of Sine 1 sine commutation is re initialized Attention Depending on initialization mode stop motor before issuing this command 247 Sine Compensates the propagation delay of the 0 255 RWE Compensation MPU Factor 167 Block PWM 0 PWM chopper on high side HI on low side 128 127 RWE scheme 1 PWM chopper on low side HI on high 2 PWM chopper on low side and high side 242 Init sine block This parameter helps
61. rs and use the appropriate functions of the TMCL IDE to do an interactive way Meaning of the letters in column Access R readable GGP W writeable SGP E automatically restored from EEPROM after reset or power on it in Number Global parameter Description Range Access 64 EEPROM magic Setting this parameter to a different value as E4 will O 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 RS232 baud rate 0 9600 baud Default 0 7 RWE 1 14400 baud 2 19200 baud 3 28800 baud 4 38400 baud 5 57600 baud 6 76800 baud Not supported by Windows 7 115200 baud 66 serial address The module target address for RS232 and virtual COM 0 255 RWE port 73 configuration Write 1234 to lock the EEPROM 4321 to unlock it 0 1 RWE EEPROM lock flag Read 1 EEPROM locked O EEPROM unlocked 75 telegram pause time Pause time before the reply via RS232 is sent For 0 255 RWE RS232 set to 0 76 serial host address Host address used in the reply telegrams sent back via 0 255 RWE RS232 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 52 Number Global parameter Description Range Access 71 auto start mode 0 Do not start TMCL application after power up 0 1 RWE default 1 Start TMCL application automatically after
62. s can be read with this function Lists of global parameters are available in section O Related commands SGP STGP RSGP Mnemonic GGP parameter number bank number Binary representation COMMAND TYPE MOT BANK VALUE 10 parameter number bank number don t care Reply in direct mode STATUS VALUE 100 OK value Example get variable 0 from bank 2 Mnemonic GGP 0 2 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Bytel Byte0 Value hex 01 0a 00 02 00 00 00 00 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 34 5 411 STGP store global parameter Some global parameters are located in RAM memory so modifications are lost at power down This instruction copies a value from its RAM location to the configuration EEPROM and enables permanent storing Most parameters are automatically restored after power up Lists of global parameters are available in section 0 Related commands SGP GGP RSGP Mnemonic STGP parameter number bank number Binary representation COMMAND TYPE MOT BANK VALUE 11 parameter number bank number don t care Reply in direct mode STATUS VALUE 100 OK don t care Example copy variable 0 at bank 2 to the configurat
63. sesseeseeseeseesasesesseesesseeaseaceaeeseeaeeateaeeateseesessteeesaeeaeeaeeess 32 5 4 10 GGP get global parameter scccsecsecsessessessessessessesseeseeseeseesseesesseeseeaeeeeeaeeaeeaeeaeeseeateateseeseesteeieeaseaeeaeeess 33 5 4 11 STGP store global parameter scccsccscssesssssesssssesssesseseeseeseesesesesaeeseeseeaeeaeeaeeseeaeeateaeesteseeseesteseesaseaeeaeeess 34 5 4 12 RSGP restore global parame te l s sescccsssceeceeseeceecseceessesesnessssnssasensesseaseseeasecsesesseeeenesnenssasenesass 35 5 4 13 Customer specific TMCL command extension UFO UF7 user function 36 5 414 TMGEU controbf nctions ed e ER ete b eet dd ee Las 37 6 Axis parameter overview SAP GAP STAP RSAP c sssesssssssssssessssssssessssessssesssessesesessesesnssessseesesesseseseeseseees 38 6 1 Axis parameter sorted by functionality entente tert tn tata tata ta tata ta sata tasas 44 7 Global parameter overview SGP GGP STGP RSGP c cssssssssssessessssessssessessesecsessssessessesseseeseseeseeseseseesesseses 51 7 1 Bank E 51 7 2 PEU gum 52 7 3 Bank donem A AEN E LL E M MEL LEE ELS 52 8 PIB regulations iis an ER E cie ti nen ahr 53 81 Structure of the cascaded motor regulation modes 53 8 2 PWM regulations e 53 8 3 Current PID regulationz so
64. sor RIA 182 05 5 pol 3 5mm pitch header RIA 169 05 screw type terminal block pluggable centerline 3 5 mm 0 138 inches wire entry parallel to plug direction 2 54mm pitch USB USB type B 4 pol female USB type B 4 pol male UART Multi pin connector 3 pol 2 54mm pitch Female connector with 2 54mm pitch RS232 DSUB vertical 9 pol male US type DSUB 9 pol female Low profile box header without locking Low profile IDC socket connector 20pol JTAG bar type 8380 20 pol DIN 41651 DIN41651 2 54mm pitch Table 4 1 Connectors www trinamic com Encoder TMC603 EVAL Manual Rev 1 06 2012 AUG 29 4 1 2 1 Power connector Pin Label Direction Description 1 GND Power GND Power supply and signal ground 2 UB Power Supply input Supply voltage 12 48V DC Table 4 2 Power connector 4 1 2 2 Motor connector Pin Label Direction Description 1 W Output Motor coil connection W 2 V Output Motor coil connection V 3 U Output Motor coil connection U Table 4 3 Motor connector 4 1 2 3 Hall sensor connector Pin Label Direction Description 1 5V Output Power supply output for hall sensor nom 5V DC 2 GND GND Power supply and signal ground 3 HALL1 Input 5V TTL Hall sensor 1 4 HALL2 Input 5V TTL Hall sensor 2 5 HALL3 Input 5V TTL Hall sensor 3 Table 4 4 Hall sensor connector
65. switch from controlled to hallFX 2147483648 RWE threshold for mode 2147483647 hallFX Set this value to a realistic velocity which the rpm motor can reach in controlled mode 20 Switch 2 active O inactive 1 active 0 1 R 21 Switch 1 active 0 inactive 1 active 0 1 R 22 Potentiometer The value of the analog input 0 4095 R www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 Number Axis Parameter Description Range Unit Acces s 25 Thermal winding Thermal winding time constant for the used 0 4294967295 RWE time constant motor Used for I2t monitoring ms 26 Tet limit An actual I2t sum that exceeds this limit leads 0 4294967295 RWE to increasing the T t exceed counter 21 Tet sum Actual sum of the I t monitor 0 4294967295 R 28 Tet exceed Counts how often an It sum was higher than 0 4294967295 RWE counter the Pzt limit 29 Clear Iet Clear the flag that indicates that the Izt sum ignored WwW exceeded flag has exceeded the Pt limit 30 Minute counter Counts the module operational time in 0 4294967295 RWE minutes min 130 P parameter for P parameter of position PID regulator first 2147483648 RWE position PID I parameter set 2147483647 131 I parameter for I parameter of position PID regulator first 2147483648 RWE position PID I parameter set 2147483647 132 D parame
66. t l mA I mA 1000 1000 few lms I is the desired average current try is the thermal winding time constant given by the motor datasheet Example Tet limits for an average current of a 1A b 2A c 3A and d 4A over a thermal winding time of 13 2s 1000 mA 1000 mA 1000 1000 a Pt limit 13200 ms 13200 mA x ms 2000 mA 2000 mA 1000 1000 b Pt limit 13200 ms 52800 mA ms 3000 mA _ 3000 mA 1000 1000 c Pt limit 13200 ms 118800 mA ms 4000 mA 4000 mA 1000 1000 d Pt limit 13200 ms 211200 mA ms www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 11 Life support policy TRINAMIC Motion Control GmbH amp Co KG does not authorize or warrant any of its products for use in life support systems without the specific written consent of TRINAMIC Motion Control GmbH amp Co KG Life support systems are equipment intended to support or sustain life and whose failure to perform when properly used in accordance with instructions provided can be reasonably expected to result in personal injury or death TRINAMIC Motion Control GmbH amp Co KG 2012 Information given in this data sheet is believed to be accurate and reliable 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 Specifi
67. t stop switch input is low active www trinamic com 50 TMC603 EVAL Manual Rev 1 06 2012 AUG 29 7 Global parameter overview SGP GGP STGP RSGP 51 The following section describes all global parameters that can be used with the SGP GGP STGP and RSGP commands Meaning of the letters in column Access R readable GGP W writable SGP E automatically restored from EEPROM after reset or power on Global parameters are grouped into 3 banks bank 0 global configuration of the module bank 1 normally not available for customer specific extensions of the firmware bank 2 user TMCL variables Please use SGP and GGP commands to write and read global parameters Further you can use the STGP command in order to store user variables permanently in the EEPROM of the module With the RSGP command the contents of a user variable can be restored from the EEPROM if this is necessary 71 Bank 0 Parameters 64 255 Parameters with numbers above 63 configure stuff like the serial address of the module RS232 baud rate or the telegram pause time Change these parameters to meet your needs The best and easiest way to do this is to use the appropriate functions of the TMCL IDE The parameters with numbers between 64 and 85 are stored in EEPROM only A SGP command on such a parameter will always store it permanently and no extra STGP command is needed Take care when changing these paramete
68. tation 4000 E Net sensors Motor halted Overtemperature Si coder t Max current mA 4000 Encoder direction 0 De Jen Hall HallFX error PWM mode Coil resistance 720 Ej Sineinitmode 0 Ej Trace controller Tm Velocity mode BEMF constant 0 EX Comm offset 0 Z Delay ms 20 xj L Position mode s Sue stop 9 Torque mode Position end I t exceeded actual rpm target rpm in 21943 Figure 5 2 Settings tab of TMCL BLDC www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 13 5 1 2 Torque mode tab The torque mode tab offers the possibility to test different current settings and to evaluate the current PID control by choosing values for the P I and D parameters of set 1 and set 2 Further the I clipping value for each set can be chosen and the threshold for the switch over between set 1 and set 2 can be set The drive can be started in positive and negative direction and stopped with the buttons in the current control field The values can be calibrated on the fly while the drive is still active The results will be shown immediately on the diagrams below r 4 amp TMCM BLDC m x n File Connection Settings Torque mode velocity mode Positioning mode PWMmode TMCL a Overcurrent Undervoltage Current PID control Overvoltage Gad Set 1 Set2 Overtemperature 8 Motor halted Actu
69. ter for D parameter of position PID regulator first 2147483648 RWE position PID I parameter set 2147483647 133 PID regulation PID calculation delay Set PID operational 0 4294967295 RWE loop delay frequency ms 134 Current Delay of current limitation algorithm PID 0 4294967295 RWE regulation loop current regulator 50us delay 135 I Clipping I Clipping parameter of position PID regulator 2147483648 RWE parameter for first parameter set A too high value causes 2147483647 position PID I _ overshooting at positioning mode 136 PWM Hysteresis Compensates dead time of PWM and motor 0 4294967295 RWE friction 140 P parameter for P parameter of velocity PID regulator first 2147483648 RWE velocity PID I parameter set used at lower speed 2147483647 141 I parameter for I parameter of velocity PID regulator first 2147483648 RWE velocity PID I parameter set used at lower speed 2147483647 142 D parameter for D parameter of velocity PID regulator first 2147483648 RWE velocity PID I parameter set used at lower speed 2147483647 143 I Clipping LClipping parameter of velocity PID first 2147483648 RWE parameter for parameter set used at lower speed 2147483647 velocity PID T 146 Activate ramp 1 Activate velocity ramp generator for 0 1 RWE position PID control Allows usage of acceleration and positioning velocity for MVP command 150 Actual motor Get actual mot
70. to be parameterized with respect to a given motor www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 54 Pparam 256 Tparam 262144 Trarcet SS PWMuwar Dparam 256 Tactuat Figure 8 2 Current PID regulation Parameter Description Ti cai Actual motor current GAP 150 IS Target motor current SAP 155 D Max motor current SAP 6 elast Error value of the last PID calculation GAP 200 esum Error sum for integral calculation GAP 201 PAM Current P parameter SAP 168 SAP 172 I on Current I parameter SAP169 SAP 173 Dion Current D parameter SAP 170 SAP 174 I Current I Clipping parameter SAP 171 SAP175 PWM PWM Limit SAP 5 PWM 4 New target PWM value GAP 153 To parameterize the current PID regulator for a given motor first set the P I and D parameter of both parameter sets to zero Then start the motor by using a low target current e g 1000mA Then modify the current P parameter II This is the P parameter of parameter set 2 Start from a low value and go to a higher value until the actual current nearly reaches the desired target current After that do the same for the current I parameter II with the current D parameter II still set to zero For the current I parameter II there is also a clipping value The current I clipping parameter II should be set to a relatively low value to avoid oversh
71. too high value 2147483647 position PID II causes overshooting at positioning mode 226 Position PID Actual error of PID position regulator 2147483648 R error 2147483647 227 Position PID Sum of errors of PID position regulator 2147483648 R error sum 2147483647 www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 STATUS INFORMATION Number Axis Parameter Description Range Unit Access 151 Actual voltage Actual supply voltage 0 4294967295 R 152 Actual driver Actual temperature of the motor driver 0 4294967295 R temperature 156 Error Status flags Bit 0 Overcurrent flag This flag is set if 0 44294967295 R overcurrent limit is exceeded Bit 1 Undervoltage flag This flag is set if supply voltage to low for motor operation Bit 2 Overvoltage flag This flag is set if the motor becomes switched off due to overvoltage Bit 3 Overtemperature flag This flag is set if overtemperature limit is exceeded Bit 4 Motor halted flag This flag is set if motor has been switched off Bit 5 Hall error flag This flag is set upon a hall error Bit 6 unused Bit 7 unused Bit 8 PWM mode active flag Bit 9 Velocity mode active flag Bit 10 Position mode active flag Bit 11 Torque mode active flag Bit 12 unused Bit 13 unused Bit 14 Position end flag This flag is set if the motor has been stopped at the target position Bit 15 unused Bit 16 unused for TMC
72. tore 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 stand alone mode Mnemonic Command number Description 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 Figure 5 13 Parameter commands www trinamic com TMC603 EVAL Manual Rev 1 06 2012 AUG 29 5 4 Commands The module specific commands are explained in more detail on the following pages They are listed according to their command number 5 4 1 increasing the position counter Internal function First velocity mode is selected Then the velocity value is transferred to axis parameter 2 target velocity ROR rotate right With this command the motor will be instructed to rotate with a specified velocity in right direction Related commands ROL MST SAP GAP Mnemonic ROR 0 velocity Binary representation COMMAND TYPE MOT BANK VALUE 1 don t care 0 velocity 2147483648 2147483647 Reply in direct mode STATUS COMMAND VALUE 100 OK 1 don t care Exa
73. value can be converted to a temperature in C as follows ADC actual value of GAP 152 B 3434 material constant nm 9011 2 NTC ADC B 298 16 T R 273 16 C B In NTC 298 16 Example 1 Example 2 ADC 1000 ADC 1200 Ry c 6 81 Ry c 5 31 T 35 C T 42 C 10 I2t monitoring The I2t monitor determines the sum of the square of the motor current over a given time The integrating time is motor specific In the datasheet of the motor this time is described as thermal winding time constant and can be set for each module using axis parameter 25 The number of measurement values within this time depends on how often the current regulation and thus the I2t monitoring is invoked The value of the actual It sum can be read by axis parameter 27 With axis parameter 26 the default value for the Pt limit can be changed default 211200 If the actual I2t sum exceeds the I t limit of the motor flag 17 in axis parameter 156 is set and the motor PWM is set to zero as long as the I2t exceed flag is set The actual regulation mode will not be changed Furthermore the Pet exceed counter is increased once every second as long as the actual Pt sum exceeds the I t limit The Iet exceed flag can be cleared manually using parameter 29 but only after the cool down time given by the thermal winding time constant has passed The I2t exceed flag will not be reset automatically The I2t limit can be determined as follows g
74. xis parameter target velocity is set to zero Related commands ROL ROR SAP GAP Mnemonic MST 0 Binary representation COMMAND TYPE MOT BANK VALUE 3 don t care 0 don t care Reply in direct mode STATUS COMMAND VALUE 100 OK 3 don t care Example Stop motor Mnemonic MST 0 Binary Byte Index 0 1 2 3 4 5 6 7 Function Target Instruction Type Motor Operand Operand Operand Operand address Number Bank Byte3 Byte2 Byte1 Byted Value hex 01 03 00 00 00 00 00 00 www trinamic com 26 TMC603 EVAL Manual Rev 1 06 2012 AUG 29 27 5 4 4 MVP move to position With this command the motor will be instructed to move to a specified relative or absolute position Tt will use the acceleration deceleration ramp and the positioning speed programmed into the unit This command is non blocking like all commands 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 11 Two operation types are available e Moving to an absolute position in the range from 2147483648 2147483647 e Starting a relative movement by means of an offset to the actual position In this case the new resulting position value must not ex

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