TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual
2
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
Contents
1
Functional description..................................................................................................................... 3
1.1
Introduction ............................................................................................................................ 3
1.2
Getting started........................................................................................................................ 3
1.3
Stand alone operation using TMCL ....................................................................................... 3
1.4
Parameterizing the PID regulator........................................................................................... 4
1.4.1
Finding a setting for the P, I and D values......................................................................... 4
1.5
Parameterizing the positioning algorithm............................................................................... 6
1.6
Homing procedure.................................................................................................................. 7
2
Interface Protocol............................................................................................................................ 8
2.1
Assignment of the command bytes sent from the host to the BLDC-module: ....................... 8
2.2
Assignment of the reply bytes sent from the BLDC-module: ................................................. 8
3
TMCL Command Set ...................................................................................................................... 9
3.1
TMCL Motion Control Commands ....................................................................................... 10
3.1.1
ROR - Rotate Right.......................................................................................................... 10
3.1.2
ROL - Rotate Left............................................................................................................. 11
3.1.3
MST - Motor Stop ............................................................................................................ 12
3.1.4
MVP - Move to Position ................................................................................................... 13
3.2
TMCL – Axis Parameter Commands ................................................................................... 14
3.2.1
SAP - TMCL Set Axis Parameter..................................................................................... 14
3.2.2
GAP - TMCL Get Axis Parameters .................................................................................. 18
3.2.3
STAP – Store Axis Parameter ......................................................................................... 22
3.3
Global Parameters ............................................................................................................... 23
3.3.1
SGP - Set Global Parameter ........................................................................................... 23
3.3.2
GGP - Get Global Parameters......................................................................................... 26
3.4
Get Version Number ............................................................................................................ 28
3.5
Restore Factory Default Settings ......................................................................................... 28
4
Revision History ............................................................................................................................ 29
4.1
Documentation Revision ...................................................................................................... 29
5
References.................................................................................................................................... 29
Tables
Table 1: Default PID Values .................................................................................................................... 5
Table 2: TMCL command overview......................................................................................................... 9
Table 3: TMCL Commands, Set Axis Parameter (SAP) ....................................................................... 16
Table 4: Max. Current Regulation / Actual Current ............................................................................... 17
Table 5: TMCL Commands, Get Axis Parameter (GAP)....................................................................... 20
Table 6: Error / Status flags................................................................................................................... 21
Table 7: TMCL Commands, Set Global Parameters (SGP).................................................................. 24
Table 8: Baud Rate of RS232 / RS485 and CAN.................................................................................. 25
Table 9: TMCL Commands, Get Global Parameters (GGP)................................................................. 27
Table 10: Documentation Revisions...................................................................................................... 29
