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TMCM-1211 TMCL

™

Firmware Manual • Firmware Version V1.10 | Document Revision V1.00 • 2018-OCT-02

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3.6.21

RSUB (Return from Subroutine)

Return from a subroutine to the command after the CSUB command.

This command is intended for use in

standalone mode only.

Internal function:

the TMCL program counter is set to the last value saved on the stack. The command

will be ignored if the stack is empty.

Related commands:

CSUB.

Mnemonic:

RSUB

Binary Representation

Instruction

Type

Motor/Bank

Value

0 (don’t care)

Example

Please see the CSUB example (section

3.6.20

Binary form:

Binary Form of RSUB

Field

Value

Target address

Instruction number

Type

Motor/Bank

Value (Byte 3)

Value (Byte 2)

Value (Byte 1)

Value (Byte 0)

Checksum

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Summary of Contents for TMCM-1211 TMCL

Page 1: ...ures Features Single Axis Stepper motor control Supply voltage 24V DC TMCL USB interface RS485 interface CAN interface coolStep stallGuard2 stealthChop Applications Laboratory Automation Manufacturing...

Page 2: ...L Command Descriptions 23 3 6 1 ROR Rotate Right 23 3 6 2 ROL Rotate Left 24 3 6 3 MST Motor Stop 25 3 6 4 MVP Move to Position 26 3 6 5 SAP Set Axis Parameter 29 3 6 6 GAP Get Axis Parameter 30 3 6 7...

Page 3: ...3 6 44 CALL Conditional Subroutine Call 85 3 6 45 MVPA Move to Position speci ed by Accumulator Register 87 3 6 46 ROLA Rotate Left using the Accumulator Register 89 3 6 47 RORA Rotate Right using the...

Page 4: ...automatically 128 9 Figures Index 129 10 Tables Index 130 11 Supplemental Directives 131 11 1 Producer Information 131 11 2 Copyright 131 11 3 Trademark Designations and Symbols 131 11 4 Target User...

Page 5: ...e g position velocity acceleration High performance microcontroller for overall system control and communication protocol handling Up to 256 microsteps per full step High e cient operation low power...

Page 6: ...d adaptive automatic current scaling based on the load measurement via stallGuard2 adapting the required current to the load Energy consumption can be reduced by as much as 75 coolStep allows substant...

Page 7: ...reater than zero can also be used Figure 3 Typical motion pro le with TRINAMIC s sixPoint motion controller A six point ramp begins using the start speed VSTART which can also be zero Then the acceler...

Page 8: ...PC The module will be recognized by the TMCL IDE and necessary driver registrations in Windows will automatically done by the TMCL IDE 2 2 Using the TMCL Direct Mode At rst try to use some TMCL comma...

Page 9: ...Now test the TMCL stand alone mode with a simple TMCL program To type in assemble and download the program you will need the TMCL creator This is also a tool that can be found in the tool tree of the...

Page 10: ...ons in the TMCL creator 1 Click on the Bug icon to start the debugger 2 Click the Animate button to see the single steps of the program 3 You can at any time pause the program set or reset breakpoints...

Page 11: ...here are more than two nodes connected to a single bus The Trinamic Motion Control Language TMCL provides a set of structured motion control commands Every motion control command can be given by a hos...

Page 12: ...ing up all bytes including the module address byte using 8 bit addition Here are two examples which show how to do this Checksum calculation in C 1 unsigned char i Checksum unsigned char Command 9 3 S...

Page 13: ...received the reply Note When using CAN interface the reply does not contain an address byte and a checksum byte With CAN the CAN ID is used as the reply address and the checksum is not needed because...

Page 14: ...rogram into the EEPROM and afterwards it will run on the module The TMCL IDE contains an editor and the TMCL assembler where the commands can be entered using their mnemonic format They will be assemb...

Page 15: ...ngs SGP 9 parameter bank number value Set global parameter module speci c settings e g communication settings or TMCL user variables GGP 10 parameter bank number Get global parameter read out mod ule...

Page 16: ...motor num ber Accu to coordinate CALCVV 40 operation user variable 1 user variable 2 Arithmetical operation between two user variables CALCVA 41 operation user variable Arithmetical operation between...

Page 17: ...de or in standalone mode Motion Commands Mnemonic Command number Meaning ROL 2 Rotate left ROR 1 Rotate right MVP 4 Move to position MST 3 Motor stop SCO 30 Store coordinate CCO 32 Capture coordinate...

Page 18: ...conditions jumps etc Using them in direct mode does not make sense They are intended for standalone mode only Branch Commands Mnemonic Command number Meaning JA 22 Jump always JC 21 Jump conditional...

Page 19: ...executed in a TMCL program in standalone mode all TMCL commands that read a value store the result in the accumulator The X register can be used as an additional memory when doing calculations It can...

Page 20: ...e available on the TMCM 1211 Interrupt Vectors Interrupt number Interrupt type 0 Timer 0 1 Timer 1 2 Timer 2 3 Target position reached 0 15 stallGuard axis 0 21 Deviation axis 0 27 Left stop switch 0...

Page 21: ...ys end with a RETI command Do not allow the normal program ow to run into an interrupt handling routine The following example shows the use of a timer interrupt 1 VECT 0 Timer0Irq define the interrupt...

Page 22: ...ing CALCVV 40 Calculate using two user variables CALCVA 41 Calculate using a user variable and the accumulator CALCAV 42 Calculate using the accumulator and a user variable CALCVX 43 Calculate using a...

Page 23: ...y mode is selected Then the velocity value is transferred to axis parameter 2 target velocity Related commands ROL MST SAP GAP Mnemonic ROR axis velocity Binary Representation Instruction Type Motor B...

Page 24: ...velocity Related commands ROR MST SAP GAP Mnemonic ROL axis velocity Binary Representation Instruction Type Motor Bank Value 2 0 0 2147483648 2147583647 Reply in Direct Mode Status Value 100 OK don t...

Page 25: ...monic MST axis Binary Representation Instruction Type Motor Bank Value 3 0 0 0 Reply in Direct Mode Status Value 100 OK don t care Example Stop motor 0 Mnemonic MST 0 Binary Form of MST 0 Field Value...

Page 26: ...2147483648 2147483647 231 231 1 Starting a relative movement by means of an offset to the actual position In this case the new resulting position value must not exceed the above mentioned limits too M...

Page 27: ...e motor 0 from current position 10000 microsteps backward Mnemonic MVP REL 0 10000 Binary Form of MVP REL 0 10000 Field Value Target address 01h Instruction number 04h Type 01h Motor Bank 00h Value By...

Page 28: ...er 04h Type 02h Motor Bank 00h Value Byte 3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 08h Checksum 0Fh Note Before moving to a stored coordinate the coordinate has to be set using an SCO CCO...

Page 29: ...parameter speci ed by the parameter number Related commands GAP AAP Mnemonic SAP parameter number axis value Binary representation Binary Representation Instruction Type Motor Bank Value 5 see chapter...

Page 30: ...nd values that can be used together with this command please refer to section 4 Internal function The speci ed value gets copied to the accumulator Related commands SAP AAP Mnemonic GAP parameter numb...

Page 31: ...4 Internal function The axis parameter speci ed by the type and bank number will be stored in the EEPROM Related commands SAP AAP GAP RSAP Mnemonic STAP parameter number bank Binary Representation Ins...

Page 32: ...ernal function The axis parameter speci ed by the type and bank number will be restored from the EEPROM Related commands SAP AAP GAP RSAP Mnemonic RSAP parameter number bank Binary Representation Inst...

Page 33: ...For a table with parameters and values which can be used together with this command please refer to section 5 Internal function The speci ed value will be copied to the global parameter speci ed by th...

Page 34: ...er with this command please refer to section 5 Internal function The global parameter speci ed by the type and bank number will be copied to the accumulator register Related commands SGP AGP Mnemonic...

Page 35: ...n be used together with this command please refer to dection 5 3 Internal function The global parameter speci ed by the type and bank number will be stored in the EEPROM Related commands SGP AGP GGP R...

Page 36: ...rnal function The global parameter speci ed by the type and bank number will be restored from the EEPROM Related commands SGP AGP GGP STGP Mnemonic RSGP parameter number bank Binary Representation Ins...

Page 37: ...ference search algorithm to meet your needs please see chapter 4 Internal function The internal reference search state machine is started or stoped or its state is queried Related commands SAP GAP WAI...

Page 38: ...RT Field Value Target address 01h Instruction number 0Dh Type 00h Motor Bank 00h Value Byte 3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 00h Checksum 0Eh 2018 TRINAMIC Motion Control GmbH Co K...

Page 39: ...ruction Type Motor Bank Value 14 port number bank number 2 0 1 Reply in Direct Mode Status Value 100 OK 0 don t care Example Set output 0 bank 2 to high Mnemonic SIO 0 2 1 Binary Form of SIO 0 2 1 Fie...

Page 40: ...rogram can be used to copy the states of the input lines to the output lines 1 Loop GIO 255 0 3 SIO 255 2 1 JA Loop Pull up Resistor Control The SIO command can also be used to program the pull up res...

Page 41: ...the accumulator The actual status of a digital output line can also be read Internal function The state of the i o line speci ed by the type parameter and the bank parameter is read Related commands...

Page 42: ...Port Command Range AIN0 GIO 0 0 0 1 PWMD0 GIO 1 0 0 1 PWMD1 GIO 2 0 0 1 PWMD2 GIO 3 0 0 1 PWMU0 GIO 4 0 0 1 PWMU1 GIO 5 0 0 1 PWMU2 GIO 6 0 0 1 Special case GIO 255 0 reads all general purpose inputs...

Page 43: ...mmands can be read back using bank 2 Digital Outputs in Bank 2 Port Command Range OpenDrain1 GIO 0 2 0 1 OpenDrain2 GIO 1 2 0 1 PWMU0 GIO 2 2 0 1 PWMU1 GIO 3 2 0 1 PWMU2 GIO 4 2 0 1 PWMD0 GIO 5 2 0 1...

Page 44: ...AP GGP GIO Mnemonic CALC operation operand Binary representation Binary Representation Instruction Type Motor Bank Value 19 0 ADD add to accumulator 0 don t care operand 1 SUB subtract from accumulato...

Page 45: ...FFh Value Byte 2 FFh Value Byte 1 ECh Value Byte 0 78h Checksum 78h Reply Status no error value 5000 Field Value Host address 02h Target address 01h Status 64h Instruction 13h Value Byte 3 FFh Value...

Page 46: ...jump Related commands JC GAP GGP GIO CALC CALCX Mnemonic COMP operand Binary Representation Instruction Type Motor Bank Value 20 0 don t care 0 don t care operand Example Jump to the address given by...

Page 47: ...ands JA COMP WAIT CLE Mnemonic JC condition label Binary Representation Instruction Type Motor Bank Value 21 0 ZE zero 0 don t care jump address 1 NZ not zero 2 EQ equal 3 NE not equal 4 GT greater 5...

Page 48: ...abel at address 10 Field Value Target address 01h Instruction number 15h Type 05h Motor Bank 00h Value Byte 3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 0Ah Checksum 25h 2018 TRINAMIC Motion C...

Page 49: ...r Bank Value 22 0 don t care 0 don t care jump address Example An in nite loop in TMCL 1 Loop MVP ABS 0 51200 3 WAIT POS 0 0 MVP ABS 0 0 5 WAIT POS 0 0 JA Loop Binary form of the JA Loop command when...

Page 50: ...ic CSUB label Binary Representation Instruction Type Motor Bank Value 23 0 don t care 0 don t care subroutine address Example Call a subroutine Loop 2 MVP ABS 0 10000 CSUB SubW Save program counter an...

Page 51: ...nored if the stack is empty Related commands CSUB Mnemonic RSUB Binary Representation Instruction Type Motor Bank Value 24 0 don t care 0 don t care 0 don t care Example Please see the CSUB example se...

Page 52: ...ks parameter Special case for the ticks parameter When this parameter is set to 1 the contents of the accumulator register will be taken for this value So for example WAIT TICKS 0 1 will wait as long...

Page 53: ...onic WAIT POS 0 0 Binary Form of WAIT POS 0 0 Field Value Target address 01h Instruction number 1Bh Type 01h Motor Bank 00h Value Byte 3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 00h Checksum...

Page 54: ...ne mode will be stopped Related commands none Mnemonic STOP Binary Representation Instruction Type Motor Bank Value 28 0 don t care 0 don t care 0 don t care Example Mnemonic STOP Binary Form of STOP...

Page 55: ...ue 30 coordinate number motor number position 0 20 0 231 231 1 Example Set coordinate 1 of motor 0 to 1000 Mnemonic SCO 1 0 1000 Binary Form of SCO 1 0 1000 Field Value Target address 01h Instruction...

Page 56: ...s stored in RAM only Internal function the desired value is read out of the internal coordinate array copied to the accumulator register and in direct mode returned in the value eld of the reply Relat...

Page 57: ...be accessed using the following special forms of the GCO command GCO 0 255 0 copies all coordinates except coordinate number 0 from the EEPROM to the RAM GCO coordinate number 255 0 copies the coordi...

Page 58: ...tual position of the selected motor is copied to selected coordinate array entry Related commands SCO GCO ACO MVP COORD Mnemonic CCO coordinate number motor number Binary Representation Instruction Ty...

Page 59: ...motor is copied to selected coordinate array entry Related commands SCO GCO CO MVP COORD Mnemonic ACO coordinate number motor number Binary Representation Instruction Type Motor Bank Value 39 coordin...

Page 60: ...on Type Motor Bank Value 33 0 ADD add X register to accumulator 0 don t care 0 don t care 1 SUB subtract X register from accumulator 2 MUL multiply accumulator by X register 3 DIV divide accumulator b...

Page 61: ...UL Field Value Target address 01h Instruction number 21h Type 02h Motor Bank 00h Value Byte 3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 00h Checksum 24h 2018 TRINAMIC Motion Control GmbH Co K...

Page 62: ...AP GAP SGP GGP GIO GCO CALC CALCX Mnemonic AAP parameter number motor number Binary Representation Instruction Type Motor Bank Value 34 see chapter 4 0 value Reply in Direct Mode Status Value 100 OK d...

Page 63: ...hat can be used with this com mand please see section 5 Related commands AAP SGP GGP SAP GAP GIO Mnemonic AGP parameter number bank number Binary Representation Instruction Type Motor Bank Value 35 pa...

Page 64: ...he external alarm ag EDV clear the deviation ag EPO clear the position error ag Related commands JC WAIT Mnemonic CLE ags Binary Representation Instruction Type Motor Bank Value 36 0 ALL all ags 0 don...

Page 65: ...O Field Value Target address 01h Instruction number 24h Type 01h Motor Bank 00h Value Byte 3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 00h Checksum 26h 2018 TRINAMIC Motion Control GmbH Co KG...

Page 66: ...Related commands DI VECT RETI Mnemonic EI interrupt number Binary Representation Instruction Type Motor Bank Value 25 interrupt number 0 don t care 0 don t care Reply in Direct Mode Status Value 100 O...

Page 67: ...Related commands EI VECT RETI Mnemonic DI interrupt number Binary Representation Instruction Type Motor Bank Value 26 interrupt number 0 don t care 0 don t care Reply in Direct Mode Status Value 100...

Page 68: ...ended for use in standalone mode only Info Please see table 12 for a list of interrupts that can be used on the TMCM 1211 module Related commands EI DI RETI Mnemonic VECT interrupt number label Binary...

Page 69: ...el is at 50 Field Value Target address 01h Instruction number 25h Type FFh Motor Bank 00h Value Byte 3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 32h Checksum 58h 2018 TRINAMIC Motion Control...

Page 70: ...and program counter are copied back so that normal program ow will continue Related commands EI DI VECT Mnemonic RETI Binary Representation Instruction Type Motor Bank Value 38 interrupt number 0 don...

Page 71: ...ALCXV CALCV Mnemonic CALCVV operation var1 var2 Binary representation Binary Representation Instruction Type Motor Bank Value 40 0 ADD add var2 to var1 0 var1 0 255 var2 0 255 1 SUB subtract var2 from...

Page 72: ...e 3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 2Ah Checksum 95h Reply Status no error value 0 Field Value Host address 02h Target address 01h Status 64h Instruction 28h Value Byte 3 00h Value...

Page 73: ...on Type Motor Bank Value 41 0 ADD add accumulator to var 0 var 0 255 0 don t care 1 SUB subtract accumulator from var 2 MUL multiply var with accumulator 3 DIV divide var by accumulator 4 MOD modulo d...

Page 74: ...3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 00h Checksum 46h Reply Status no error value 0 Field Value Host address 02h Target address 01h Status 64h Instruction 29h Value Byte 3 00h Value B...

Page 75: ...pe Motor Bank Value 42 0 ADD add var to accumulator 0 var 0 255 0 don t care 1 SUB subtract var from accumulator 2 MUL multiply accumulator with var 3 DIV divide accumulator by var 4 MOD modulo divide...

Page 76: ...3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 00h Checksum 47h Reply Status no error value 0 Field Value Host address 02h Target address 01h Status 64h Instruction 2Ah Value Byte 3 00h Value B...

Page 77: ...ype Motor Bank Value 43 0 ADD add X register to var 0 var 0 255 0 don t care 1 SUB subtract X register from var 2 MUL multiply var with X register 3 DIV divide var by X register 4 MOD modulo divide va...

Page 78: ...3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 00h Checksum 48h Reply Status no error value 0 Field Value Host address 02h Target address 01h Status 64h Instruction 2Bh Value Byte 3 00h Value B...

Page 79: ...Motor Bank Value 44 0 ADD add var to X register 0 var 0 255 0 don t care 1 SUB subtract var from X register 2 MUL multiply X register with var 3 DIV divide X register by var 4 MOD modulo divide X regi...

Page 80: ...3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 00h Checksum 49h Reply Status no error value 0 Field Value Host address 02h Target address 01h Status 64h Instruction 2Ch Value Byte 3 00h Value B...

Page 81: ...CALCVX CALCXV CALCVV Mnemonic CALCV operation var value Binary representation Binary Representation Instruction Type Motor Bank Value 45 0 ADD add value to var 0 var 0 255 value 1 SUB subtract value...

Page 82: ...3 00h Value Byte 2 00h Value Byte 1 13h Value Byte 0 88h Checksum E5h Reply Status no error value 5000 Field Value Host address 02h Target address 01h Status 64h Instruction 2Dh Value Byte 3 00h Valu...

Page 83: ...alue passed to this command Related commands JA CSUB STOP Mnemonic RST label Binary Representation Instruction Type Motor Bank Value 48 0 don t care 0 don t care restart address Example Restart the pr...

Page 84: ...to this command Related commands JC WAIT CSUB Mnemonic DJNZ var label Binary Representation Instruction Type Motor Bank Value 49 user variable 0 255 0 don t care jump address Example A counting loop...

Page 85: ...s also limits nesting of subroutine calls to 8 The command will be ignored if there is no more stack space left Related commands RSUB JC Mnemonic CALL condition label Binary Representation Instruction...

Page 86: ...ed 24 RSUB Binary form of CALL LT RunLeft assuming RunLeft at address 100 Field Value Target address 01h Instruction number 50h Type 06h Motor Bank 00h Value Byte 3 00h Value Byte 2 00h Value Byte 1 0...

Page 87: ...speci ed by the accumulator register contents Starting a relative movement by means of an offset to the actual position Moving the motor to a previously stored coordinate refer to SCO for details Not...

Page 88: ...0 Field Value Target address 01h Instruction number 2Eh Type 00h Motor Bank 00h Value Byte 3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 00h Checksum 2Fh 2018 TRINAMIC Motion Control GmbH Co K...

Page 89: ...is parameter 2 target velocity Related commands RORA MST SAP GAP Mnemonic ROLA axis Binary Representation Instruction Type Motor Bank Value 50 0 don t care 0 don t care 0 don t care Reply in Direct Mo...

Page 90: ...xis parameter 2 target velocity Related commands ROLA MST SAP GAP Mnemonic ROLA axis Binary Representation Instruction Type Motor Bank Value 51 0 don t care 0 don t care 0 don t care Reply in Direct M...

Page 91: ...pplied to this command will be copied to the user variable speci ed by the X register Related commands AIV GIV Mnemonic SIV Binary Representation Instruction Type Motor Bank Value 55 0 don t care 0 do...

Page 92: ...tion The user variable speci ed by the x register will be copied to the accumulator register Related commands SIV AIV Mnemonic GIV Binary Representation Instruction Type Motor Bank Value 55 0 don t ca...

Page 93: ...nction The accumulator will be copied to the user variable speci ed by the X register Related commands SIV GIV Mnemonic AIV Binary Representation Instruction Type Motor Bank Value 55 0 don t care 0 do...

Page 94: ...ic Please contact the sales department of Trinamic Motion Control GmbH Co KG if you need a customized TMCL rmware Related commands none Mnemonic UF0 UF7 Binary Representation Instruction Type Motor Ba...

Page 95: ...r which motors one would like to have a position reached message The value eld contains a bit mask where every bit stands for one motor For one motor modules like the TMCM 1211 it only makes sense to...

Page 96: ...or bit mask Checksum depends also on motor bit mask Additional Reply after Motor has reached Target Position Field Value Target address 01h Host address 02h Status 80h 128 Command 8Ah 138 Value Byte 3...

Page 97: ...Description Type Value 128 stop application stop a running TMCL application 0 don t care 0 don t care 129 run application start or continue TMCL program execution 0 from current address 0 don t care...

Page 98: ...ry format 0 don t care 137 restore factory settings Reset all settings in the EEPROM to their factory defaults This command does not send a reply 0 don t care set to 1234 255 software reset Restart th...

Page 99: ...Number Axis Parameter Description Range Units Access 0 Target position The desired target position in position mode 2147483648 2147483647 steps RW 1 Actual position The actual position of the motor St...

Page 100: ...as low as possible so that the motor can cool down when it is not moving Please see also parameter 214 0 255 RW 8 Position reached ag This ag is always set when target position and actual position ar...

Page 101: ...ment or direction inversion can start Time range is 0 to 2 seconds This setting avoids excess acceleration e g from VSTOP to VSTART 0 65535 0 000032s RW 22 Speed threshold for coolStep fullstep Speed...

Page 102: ...for higher sensitivity 0 255 RW 127 Relative positioning option Start position for MVP REL command 0 last target position 1 actual position 2 encoder position 0 1 RW 140 Microstep resolution Microste...

Page 103: ...river transistors and the motor can free wheel 0 15 RW 168 smartEnergy current minimum SEIMIN Sets the lower motor current limit for coolStep operation by scaling the maximum current see axis paramete...

Page 104: ...to the CS value and down to the portion of CS as speci ed by SEIMIN Actual motor current scaling factor 0 31 1 32 2 32 32 32 0 31 R 181 Stop on stall Below this speed motor will not be stopped Above...

Page 105: ...R 190 PWM mode Status of stealthChop voltage PWM mode de pending on velocity thresholds 0 stealthChop disabled 1 stealthChop enabled 0 1 R 191 PWM frequency PWM frequency selection for stealthChop 0 f...

Page 106: ...a mode for searching the right instead of the left reference switch can be used with mode 1 4 1 8 RW 194 Reference search speed This value speci es the speed for roughly search ing the reference swit...

Page 107: ...he following values Bit 0 stallGuard2 status 1 stall detected Bit 1 Overtemperature 1 driver is shut down due to overtemper ature Bit 2 Overtemperature pre warning 1 temperature threshold is exceeded...

Page 108: ...period before the current will be ramped down to standby current The standard value is 200 which means 2000ms 0 417 10ms RW 251 Reverse shaft Reverse the rotation direction of the motor shaft 0 1 RW 2...

Page 109: ...hanging these parameters and use the appropriate func tions of the TMCL IDE to do it in an interactive way Some con gurations of the interface for example baud rates that are not supported by the PC m...

Page 110: ...l heartbeat function 0 65535 RWA 69 CAN bit rate 2 20kBit s 3 50kBit s 4 100kBit s 5 125kBit s 6 250kBit s 7 500kBit s 8 1000kBit s Default 2 8 RWA 70 CAN reply ID The CAN ID for replies from the boar...

Page 111: ...ng and overwriting When switching off the protection against disassembling changing this parameter from 1 or 3 to 0 or 2 the program will be erased rst 0 1 2 3 RWA 82 CAN heartbeat Heartbeat for CAN i...

Page 112: ...GAP GGP and GIO commands 0 1 RW Table 18 All Global Parameters of the TMCM 1211 Module in Bank 0 5 2 Bank 1 The global parameter bank 1 is normally not available It may be used for customer speci c e...

Page 113: ...d ms Time between two interrupts 0 4294967295 ms RW 2 Timer 2 period ms Time between two interrupts 0 4294967295 ms RW 27 Stop left 0 trigger transition 0 off 1 low high 2 high low 3 both 0 3 RW 28 St...

Page 114: ...f the corresponding digital line is an input or an output A bit that is clear means input and a bit that is set means output Table 21 shows the relationship between the bits of global parameter 78 and...

Page 115: ...irection setting the reference point to the center of the two switching points The speed used for this calibration is de ned by axis parameter 195 Axis parameter 193 de nes the reference search mode t...

Page 116: ...de number i e set axis parameter 193 to 66 to search the left end switch rst and then use the right end switch as the zero point left limit end stop switch L R right limit end stop switch start stop r...

Page 117: ...e number i e set axis parameter 193 to 68 to search the right end switch instead left limit end stop switch L R stop reference search speed axis parameter 194 reference switch speed axis parameter 195...

Page 118: ...ity of the home switch input L R right limit end stop switch reference search speed axis parameter 194 reference switch speed axis parameter 195 start stop home switch Figure 9 Reference search Mode 6...

Page 119: ...is recommende mainly for use with a circular axis The exact middle of the switch will be found and used as the zero point Figure 11 illustrates this Add 128 to the mode number i e set axis parameter...

Page 120: ...automatically set to 0 The motor can also be stopped automatically when it cannot follow anymore due to overload or obstruction Axis parameter 212 controls this function Some special encoder function...

Page 121: ...urrent in the coolStep area depending on the load has to be con gured using parameters I169 and I171 In this chapter only basic axis parameters are mentioned which concern coolStep and stallGuard2 The...

Page 122: ...tallGuard2 measurements per decrement Scaling 0 3 32 8 2 1 0 slow decrement 3 fast decrement I171 smartEnergy current up step Sets the current increment step The current becomes incremented for each m...

Page 123: ...er minute rpm one has to know the fullstep resolution of the motor full steps per round and the microstep resolution setting of the module axis parameter 140 default setting is 256 microsteps per full...

Page 124: ...8 Stop velocity VSTOP 20 Wait time WAIT 21 Table 24 sixPoint Ramp Parameters Setting the velocity V1 axis parameter 16 to zero switches off the sixPoint ramp In this case a trape zoidal ramp de ned by...

Page 125: ...alone TMCL programs look like this Initialization 2 SAP 4 0 50000 define maximum positioning speed SAP 5 0 10000 define maximum acceleration 4 MainLoop 6 do something in this example just running bet...

Page 126: ...red in the EEPROM back to the user variable Global parameter 85 controls if user variables will be restored from the EEPROM automatically on startup default setting or not user variables will then be...

Page 127: ...les The host can then change the value of a user variable using a direct mode SGP command which is regularly polled by the TMCL program e g in its main loop and so the TMCL program can react on such c...

Page 128: ...cally For stand alone operation the module has to start the TMCL program in its memory automatically after power on In order to achieve this switch on the Autostart option of the module This is contro...

Page 129: ...on controller 7 4 Reference search Mode 1 116 5 Reference search Mode 2 116 6 Reference search Mode 3 117 7 Reference search Mode 4 117 8 Reference search Mode 5 118 9 Reference search Mode 6 118 10 R...

Page 130: ...4 TMCL Control Commands 98 15 Meaning of the Letters in the Access Column 99 16 All TMCM 1211 Axis Parameters 108 17 Meaning of the Letters in the Access Column 109 18 All Global Parameters of the TMC...

Page 131: ...for the rst time in the document All trademarks and brand names used are property of their respective owners 11 4 Target User The documentation provided here is for programmers and engineers only who...

Page 132: ...RINAMIC s speci c written consent TRINAMIC products are not designed nor intended for use in military or aerospace applications or environ ments or in automotive applications unless speci cally design...

Page 133: ...scription V1 10 2018 OCT 02 OK First release version Table 25 Firmware Revision 12 2 Document Revision Version Date Author Description V1 00 2018 OCT 02 OK First release version Table 26 Document Revi...

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