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ManualsBrandsTRINAMIC ManualsDrive EngineeringPD4-113-60-SE-232 Stepper Motor With Integrated Controller

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 12

6 TMCL

and TMCL-IDE

The PDx-113-57/60-SE supports TMCL

direct mode (binary commands or ASCII interface) and stand-alone

TMCL

program execution. You can store up to 2048 TMCL

instructions on it.

In direct mode the TMCL

communication over RS485 or RS232 follows a strict master/slave relationship.

That is, a host computer (e.g. PC/PLC) acting as the interface bus master will send a command to the PDx-

113-57/60-SE. The TMCL

interpreter on the module will then interpret this command, do the initialization of

the motion controller, read inputs and write outputs or whatever is necessary according to the specified

command. As soon as this step has been done, the module will send a reply back over RS485/RS232 to the

bus master. The master should not transfer the next command till then. Normally, the module will just

switch to transmission and occupy the bus for a reply, otherwise it will stay in receive mode. It will not

send any data over the interface without receiving a command first. This way, any collision on the bus will

be avoided when there are more than two nodes connected to a single bus.

The Trinamic Motion Control Language (TMCL

) provides a set of structured motion control commands.

Every motion control command can be given by a host computer or can be stored in an EEPROM on the

TMCM

module to form programs that run stand-alone on the module. For this purpose there are not only

motion control commands but also commands to control the program structure (like conditional jumps,

compare and calculating).

Every command has a binary representation and a mnemonic. The binary format is used to send commands

from the host to a module in direct mode, whereas the mnemonic format is used for easy usage of the

commands when developing stand-alone TMCL

applications using the TMCL-IDE (Integrated Development

Environment).

There is also a set of configuration variables for the axis and for global parameters which allow individual

configuration of nearly every function of a module. This manual gives a detailed description of all TMCL

commands and their usage.

6.1 Binary command format

Every command has a mnemonic and a binary representation. When commands are sent from a host to a

module, the binary format has to be used. Every command consists of a one-byte command field, a one-byte

type field, a one-byte motor/bank field and a four-byte value field. So the binary representation of a

command always has seven bytes. When a command is to be sent via RS232 or RS485 interface, it has to be

enclosed by an address byte at the beginning and a checksum byte at the end. In this case it consists of

nine bytes.

The binary command format for RS232 and RS485 is as follows:

Bytes

Meaning

Module address

Command number

Type number

Motor or Bank number

Value (MSB first!)

Checksum

 The checksum is calculated by adding up all the other bytes using an 8-bit addition.