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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) 2

Table of contents

1 Life support policy ....................................................................................................................................................... 4

2 Features ........................................................................................................................................................................... 5

3 Order codes .................................................................................................................................................................... 6

4 Overview ......................................................................................................................................................................... 7

5 Putting the PDx-113-57/60-SE into operation ....................................................................................................... 8

5.1 Starting up ............................................................................................................................................................. 9

5.2 Writing a simple TMCL

program ................................................................................................................ 10

5.3 Operating the module in direct mode ........................................................................................................ 11

6 TMCL

and TMCL-IDE ................................................................................................................................................ 12

6.1 Binary command format .................................................................................................................................. 12

6.2 Reply format ........................................................................................................................................................ 13

6.2.1 Status codes .................................................................................................................................................. 14

6.3 Stand-alone applications ................................................................................................................................. 14

6.4 TMCL

command overview ............................................................................................................................ 14

6.4.1 Motion commands ...................................................................................................................................... 14

6.4.2 Parameter commands ................................................................................................................................ 15

6.4.3 I/O port commands..................................................................................................................................... 15

6.4.4 Control commands ...................................................................................................................................... 15

6.4.5 Calculation commands ............................................................................................................................... 15

6.5 TMCL

commands ............................................................................................................................................. 16

6.6 The ASCII interface ........................................................................................................................................... 18

6.6.1 Format of the command line ................................................................................................................... 18

6.6.2 Format of a reply ......................................................................................................................................... 18

6.6.3 Commands that can be used in ASCII mode ..................................................................................... 18

6.6.4 Configuring the ASCII interface .............................................................................................................. 18

6.7 Commands ........................................................................................................................................................... 20

6.7.1 ROR (rotate right)......................................................................................................................................... 20

6.7.2 ROL (rotate left) ............................................................................................................................................ 21

6.7.3 MST (motor stop) ......................................................................................................................................... 22

6.7.4 MVP (move to position) ............................................................................................................................. 23

6.7.5 SAP (set axis parameter) ........................................................................................................................... 25

6.7.6 GAP (get axis parameter) ........................................................................................................................... 29

6.7.7 STAP (store axis parameter) ..................................................................................................................... 33

6.7.8 RSAP (restore axis parameter) ................................................................................................................. 37

6.7.9 SGP (set global parameter) ....................................................................................................................... 40

6.7.10 GGP (get global parameter) ...................................................................................................................... 43

6.7.11 STGP (store global parameter) ................................................................................................................. 46

6.7.12 RSGP (restore global parameter) ............................................................................................................. 48

6.7.13 RFS (reference search) ................................................................................................................................ 50

6.7.14 SIO (set output) ........................................................................................................................................... 51

6.7.15 GIO (get input/output) ............................................................................................................................... 52

6.7.16 CALC (calculate) ............................................................................................................................................ 54

6.7.17 COMP (compare) ........................................................................................................................................... 55

6.7.18 JC (jump conditional).................................................................................................................................. 56

6.7.19 JA (jump always).......................................................................................................................................... 57

6.7.20 CSUB (call subroutine) ................................................................................................................................ 58

6.7.21 RSUB (return from subroutine) ................................................................................................................ 59

6.7.22 WAIT (wait for an event to occur) ......................................................................................................... 60

6.7.23 STOP (stop TMCL

program execution) ................................................................................................ 61

6.7.24 SCO (set coordinate) ................................................................................................................................... 62

6.7.25 GCO (get coordinate) .................................................................................................................................. 63

6.7.26 CCO (capture coordinate) ........................................................................................................................... 64

6.7.27 CALCX (calculate using the X register) .................................................................................................. 65

6.7.28 AAP (accumulator to axis parameter) .................................................................................................... 66

6.7.29 AGP (accumulator to global parameter) ............................................................................................... 70

6.7.30 CLE (clear error flags) ................................................................................................................................. 73