User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 7

4 Overview

As with most TRINAMIC modules the software running on the microprocessor of the PDx-113-57/60-SE

consists of two parts, a boot loader and the firmware itself. Whereas the boot loader is installed during

production and testing at TRINAMIC and remains – normally – untouched throughout the whole lifetime, the

firmware can be updated by the user. New versions can be downloaded free of charge from the TRINAMIC

website (http://www.trinamic.com).

The firmware shipped with this PANdrive

is related to the standard TMCL

firmware shipped with most of

TRINAMIC modules with regard to protocol and commands. Corresponding, the module of the PANdrive

based on the TMC428 motion controller for stepper motors and the TMC249 high power driver and supports

the standard TMCL

with a special range of values. All commands and parameters available with this unit

are explained on the following pages.