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TMCM-6212 TMCL

™

Firmware Manual • Firmware Version V1.11 | Document Revision V1.07 • 2019-JAN-25

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6.3

StallGuard2

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6.4

CoolStep

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6.5

Velocity and Acceleration Calculation

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

6.6

SixPoint Ramp

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TMCL Programming Techniques and Structure

132

7.1

Initialization

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

7.2

Main Loop

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

7.3

Using Symbolic Constants

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

7.4

Using Variables

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

7.5

Using Subroutines

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

7.6

Combining Direct Mode and Standalone Mode

. . . . . . . . . . . . . . . . . . . . . . . . . . . 134

7.7

Make the TMCL Program start automatically

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

Figures Index

136

Tables Index

137

10 Supplemental Directives

138

10.1 Producer Information

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

10.2 Copyright

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

10.3 Trademark Designations and Symbols

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

10.4 Target User

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

10.5 Disclaimer: Life Support Systems

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

10.6 Disclaimer: Intended Use

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

10.7 Collateral Documents & Tools

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

11 Revision History

140

11.1 Firmware Revision

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

11.2 Document Revision

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

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Содержание TMCL TMCM-6212

Страница 1: ...s well as four digital outputs in combination with a break chopper unit Features 6 Axes Stepper Motor Control TMCL Encoder Support SixPoint ramps CoolStep StallGuard2 StealthChop DcStep Applications L...

Страница 2: ...22 3 6 Detailed TMCL Command Descriptions 24 3 6 1 ROR Rotate Right 24 3 6 2 ROL Rotate Left 25 3 6 3 MST Motor Stop 26 3 6 4 MVP Move to Position 27 3 6 5 SAP Set Axis Parameter 30 3 6 6 GAP Get Axi...

Страница 3: ...8 3 6 45 RORA Rotate Right using the Accumulator Register 89 3 6 46 MVPXA Move to Position speci ed by Accumulator Register and X Register 90 3 6 47 ROLXA Rotate Left using the Accumulator Register an...

Страница 4: ...d Standalone Mode 134 7 7 Make the TMCL Program start automatically 135 8 Figures Index 136 9 Tables Index 137 10 Supplemental Directives 138 10 1 Producer Information 138 10 2 Copyright 138 10 3 Trad...

Страница 5: ...eration low power dissipation Dynamic current control Integrated protection StallGuard2 feature for stall detection CoolStep feature for reduced power consumption and heat dissipation StealthChop feat...

Страница 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...

Страница 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...

Страница 8: ...B and switch on the power supply for the module while the TMCL IDE is running on your PC The module will be recognized by the TMCL IDE and necessary driver registrations in Windows will automatically...

Страница 9: ...128 135 208 215 56 63 136 143 216 223 64 71 144 151 224 231 72 79 152 159 232 239 The most important setting as too high values can cause motor damage 0 255 RW 7 Standby current The current used when...

Страница 10: ...menu in the TMCL creator to assemble the program 2 Click the Download icon or choose Download from the TMCL menu in the TMCL creator to donwload the program to the module 3 Click the Run icon or choos...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 15: ...l parameter read out mod ule speci c settings e g communica tion settings or TMCL user variables STGP 11 parameter bank number Store global parameter TMCL user variables only RSGP 12 parameter bank nu...

Страница 16: ...ble Arithmetical operation between user variable and accumulator CALCAV 42 operation user variable Arithmetical operation between accu mulator and user variable CALCVX 43 operation user variable Arith...

Страница 17: ...e motor They are the most important commands and can be used in direct mode or in standalone mode Motion Commands Mnemonic Command number Meaning ROL 2 Rotate left ROR 1 Rotate right MVP 4 Move to pos...

Страница 18: ...for standalone mode only Branch Commands Mnemonic Command number Meaning JA 22 Jump always JC 21 Jump conditional COMP 20 Compare accumulator with constant value CSUB 23 Call subroutine RSUB 24 Retur...

Страница 19: ...d This means that while a TMCL program is running on the module standalone mode a host can still send commands like GAP and GGP to the module e g to query the actual position of the motor without affe...

Страница 20: ...position reached 5 15 StallGuard axis 0 16 StallGuard axis 1 17 StallGuard axis 2 18 StallGuard axis 3 19 StallGuard axis 4 20 StallGuard axis 5 21 Deviation axis 0 22 Deviation axis 1 23 Deviation a...

Страница 21: ...guration of Interrupts Some interrupts need further con guration e g the timer interval of a timer interrupt This can be done using SGP commands with parameter bank 3 SGP type 3 value Please refer to...

Страница 22: ...Using these new commands many taks can be programmed in an easier way This can save some code thus making a TMCL program shorter faster and easier to understand Please note that these commands are no...

Страница 23: ...X register MSTX 54 Stop motor speci ed by X register SAPX 16 Set axis parameter axis speci ed by X register GAPX 17 Get axis parameter axis speci ed by X register AAPX 18 Copy accumulator to an axis...

Страница 24: ...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 Ba...

Страница 25: ...elocity Related commands ROR MST SAP GAP Mnemonic ROL axis velocity Binary Representation Instruction Type Motor Bank Value 2 0 0 5 2147483648 2147583647 Reply in Direct Mode Status Value 100 OK don t...

Страница 26: ...onic MST axis Binary Representation Instruction Type Motor Bank Value 3 0 0 5 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...

Страница 27: ...47483648 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 Mov...

Страница 28: ...Move motor 0 from current position 10000 steps 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 Byte...

Страница 29: ...Set bit 7 of the motor parameter Now the bits 0 5 of the motor parameter de ne which motors are to be started Each of these bits stands for one motor The number of motors that can be started simulata...

Страница 30: ...arameter 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...

Страница 31: ...d 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 numbe...

Страница 32: ...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...

Страница 33: ...r 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 G...

Страница 34: ...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...

Страница 35: ...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...

Страница 36: ...erence 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 WAIT...

Страница 37: ...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 2019 TRINAMIC Motion Control GmbH Co K...

Страница 38: ...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...

Страница 39: ...put lines simulaneously The value x will then be interpreted as a bit vector where each bit represents one of the digital outputs The value x can also be 1 In this case the value will be taken from th...

Страница 40: ...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...

Страница 41: ...N0 GIO 0 0 0 1 IN1 GIO 1 0 0 1 IN2 GIO 2 0 0 1 IN3 GIO 3 0 0 1 Special case GIO 255 0 reads all general purpose inputs simulataneously and puts the result into the the accumulator register The result...

Страница 42: ...g bank 2 Digital Outputs in Bank 2 Port Command Range OUT0 GIO 0 2 0 1 OUT1 GIO 1 2 0 1 OUT2 GIO 2 2 0 1 OUT3 GIO 3 2 0 1 State of the ENABLE Input To query the state of the ENABLE input use GIO 10 0...

Страница 43: ...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...

Страница 44: ...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...

Страница 45: ...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...

Страница 46: ...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...

Страница 47: ...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 2019 TRINAMIC Motion C...

Страница 48: ...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...

Страница 49: ...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...

Страница 50: ...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...

Страница 51: ...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...

Страница 52: ...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...

Страница 53: ...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...

Страница 54: ...e 30 coordinate number motor number position 0 20 0 5 231 231 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...

Страница 55: ...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 Relate...

Страница 56: ...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...

Страница 57: ...ual 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 Typ...

Страница 58: ...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 coordina...

Страница 59: ...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...

Страница 60: ...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 2019 TRINAMIC Motion Control GmbH Co K...

Страница 61: ...P 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 5 value Reply in Direct Mode Status Value 100 OK...

Страница 62: ...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...

Страница 63: ...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...

Страница 64: ...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 2019 TRINAMIC Motion Control GmbH Co KG...

Страница 65: ...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...

Страница 66: ...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...

Страница 67: ...ended for use in standalone mode only Info Please see table 12 for a list of interrupts that can be used on the TMCM 6212 module Related commands EI DI RETI Mnemonic VECT interrupt number label Binary...

Страница 68: ...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 2019 TRINAMIC Motion Control...

Страница 69: ...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...

Страница 70: ...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...

Страница 71: ...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...

Страница 72: ...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...

Страница 73: ...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...

Страница 74: ...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...

Страница 75: ...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...

Страница 76: ...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...

Страница 77: ...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...

Страница 78: ...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...

Страница 79: ...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...

Страница 80: ...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...

Страница 81: ...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...

Страница 82: ...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...

Страница 83: ...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...

Страница 84: ...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...

Страница 85: ...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...

Страница 86: ...peci 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 Note...

Страница 87: ...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 2019 TRINAMIC Motion Control GmbH Co K...

Страница 88: ...to axis 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 5 0 don t care Reply in Direct Mode S...

Страница 89: ...to axis 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 5 0 don t care Reply in Direct Mode S...

Страница 90: ...n 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 No...

Страница 91: ...BS Field Value Target address 01h Instruction number 2Fh Type 00h Motor Bank 00h Value Byte 3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 00h Checksum 30h 2019 TRINAMIC Motion Control GmbH Co K...

Страница 92: ...accumulator is copied to axis parameter 2 target velocity Related commands RORXA MSTX SAP GAP Mnemonic ROLXA Binary Representation Instruction Type Motor Bank Value 52 0 don t care 0 don t care 0 don...

Страница 93: ...e accumulator is copied to axis parameter 2 target velocity Related commands ROLXA MSTX SAP GAP Mnemonic RORXA Binary Representation Instruction Type Motor Bank Value 53 0 don t care 0 don t care 0 do...

Страница 94: ...RORXA ROLXA Mnemonic MSTX Binary Representation Instruction Type Motor Bank Value 54 0 don t care 0 don t care 0 don t care Reply in Direct Mode Status Value 100 OK don t care Example Stop motor speci...

Страница 95: ...eci ed by the parameter number Related commands GAPX AAPX Mnemonic SAPX parameter number value Binary representation Binary Representation Instruction Type Motor Bank Value 16 see chapter 4 don t care...

Страница 96: ...value gets copied to the accumulator Related commands SAPX AAPX Mnemonic GAPX parameter number Binary Representation Instruction Type Motor Bank Value 17 see chapter 4 don t care value Reply in Direc...

Страница 97: ...hapter 4 don t care don t care Reply in Direct Mode Status Value 100 OK don t care Example Loop over all motors positon them at different speeds SGP 0 2 5 initalize user variable 0 with 5 used as loop...

Страница 98: ...Field Value Target address 01h Instruction number 12h Type 00h Motor Bank 00h Value Byte 3 00h Value Byte 2 00h Value Byte 1 00h Value Byte 0 00h Checksum 13h 2019 TRINAMIC Motion Control GmbH Co KG...

Страница 99: ...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...

Страница 100: ...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...

Страница 101: ...unction 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 d...

Страница 102: ...mic 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 B...

Страница 103: ...value eld is a bit vector It shows for 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 Bit 0 stands for motor 0 bi...

Страница 104: ...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...

Страница 105: ...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...

Страница 106: ...ary 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 t...

Страница 107: ...Not valid in position mode 7999774 7999774 pps RW 3 Actual speed The actual speed of the motor 7999774 7999774 pps R 4 Maximum positioning speed The maximum speed used for positioning ramps 0 7999774...

Страница 108: ...o 1 0 1 RW 15 Acceleration A1 First acceleration between VSTART and V1 in position mode only 0 7629278 pps2 RW 16 Velocity V1 First acceleration decelaration phase target ve locizy in position mode on...

Страница 109: ...axis parameter 22 when set ot 1 0 1 RW 29 Measured speed Speed measured by the motor driver 0 7999774 pps R 31 Power down ramp Controls the number of clock cycles for motor power down after a motion a...

Страница 110: ...t decay time See parameter 163 For spread cycle chopper mode this parameter will set return the hys teresis end setting hysteresis end value after a number of decrements For classic const off time cho...

Страница 111: ...incremented for each measured Stall Guard2 value below the lower threshold see SmartEnergy hysteresis start Current incre ment step size Scaling 0 3 1 2 4 8 0 slow increment 3 fast increment fast rea...

Страница 112: ...s 0 chopper sync function chopSync off 1 15 chopper synchronization 0 15 RW 186 PWM threshold speed The StealthChop feature will be switched off when the actual velocity is higher than this value It w...

Страница 113: ...in negative di rection ignore end switches Additional functions Add 128 to a mode value for inverting the home switch can be used with mode 5 8 Add 64 to a mode for searching the right instead of the...

Страница 114: ...at every null channel event Bit 5 Clear latch encoder only at next null channel event Bit 8 0 Latch encoder and actual posi tion on N event 1 Also clear encoder counter on N event 0 511 RW 202 Motor...

Страница 115: ...0 255 R 209 Encoder position Encoder counter value 2147483648 2147483647 steps RW 210 Encoder resolution Encoder counts per round 0 65535 RW 212 Maximum encoder deviation When the actual position para...

Страница 116: ...tion deceleration settings 0 the internal units of the motion controller are used directly 1 the units are pps for velocity and pps2 for acceleration deceleration Default value is 1 pps units 0 1 RW T...

Страница 117: ...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...

Страница 118: ...ommand is received by the mod ule the motor will be stopped Setting this parameter to 0 default turns off the serial heartbeat function 0 65535 RWA 69 CAN bit rate 2 20kBit s 3 50kBit s 4 100kBit s 5...

Страница 119: ...be stopped Setting this parameter to 0 default turns off the CAN heartbeat function 0 65535 RWA 83 CAN secondary address Second CAN ID for the module Switched off when set to zero 0 2047 RWA 84 Coordi...

Страница 120: ...k 2 contains general purpose 32 bit variables for use in TMCL applications They are located in RAM and the rst 56 variables can also be stored permanently in the EEPROM After booting their values are...

Страница 121: ...nsition 0 off 1 low high 2 high low 3 both 0 3 RW 33 Stop left 3 trigger transition 0 off 1 low high 2 high low 3 both 0 3 RW 34 Stop right 3 trigger transition 0 off 1 low high 2 high low 3 both 0 3...

Страница 122: ...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...

Страница 123: ...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...

Страница 124: ...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...

Страница 125: ...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...

Страница 126: ...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...

Страница 127: ...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...

Страница 128: ...urrent in the CoolStep area depending on the load has to be con g ured using parameters I169 and I171 In this chapter only basic axis parameters are mentioned which concern CoolStep and StallGuard2 Th...

Страница 129: ...tallGuard2 measure ments 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...

Страница 130: ...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...

Страница 131: ...8 Stop velocity VSTOP 20 Wait time WAIT 21 Table 22 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...

Страница 132: ...alone TMCL programs look like this 1 Initialization SAP 4 0 50000 define maximum positioning speed 3 SAP 5 0 10000 define maximum acceleration 5 MainLoop do something in this example just running betw...

Страница 133: ...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...

Страница 134: ...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...

Страница 135: ...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...

Страница 136: ...on controller 7 4 Reference Search Mode 1 123 5 Reference Search Mode 2 123 6 Reference Search Mode 3 124 7 Reference Search Mode 4 124 8 Reference Search Mode 5 125 9 Reference Search Mode 6 125 10 R...

Страница 137: ...terrupt Vectors 21 13 New TMCL Commands 23 14 TMCL Control Commands 106 15 All TMCM 6212 Axis Parameters 116 16 Meaning of the Letters in the Access Column 117 17 All Global Parameters of the TMCM 621...

Страница 138: ...for the rst time in the document All trademarks and brand names used are property of their respective owners 10 4 Target User The documentation provided here is for programmers and engineers only who...

Страница 139: ...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...

Страница 140: ...K Linear interpolation added for MVP COORD New TMCL commands supported RS485 baud rates higher than 115200 also selectable Swapped axis parameters 10 and 11 Table 23 Firmware Revision 11 2 Document Re...

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