User manual

PD-1160 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 13
www.trinamic.com
3 TMCL and the TMCL-IDE: Introduction
As with most TRINAMIC modules the software running on the microprocessor of the PD-1160 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 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 PD-1160 supports TMCL direct mode (binary commands) and standalone TMCL program execution. You
can store up to 2048 TMCL instructions on it. In direct mode and most cases the TMCL communication over
RS485, CAN, or USB 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 PD-1160. 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/CAN/USB to the bus master. Only then should the master
transfer the next command. 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
module to form programs that run standalone 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 standalone TMCL applications using the TMCL-IDE (IDE means
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.
3.1 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 RS485 or USB 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.
This is different when communicating is via the CAN bus. Address and checksum are included in the CAN
standard and do not have to be supplied by the user.
The binary command format for R485/USB is as follows:
Bytes
Meaning
1
Module address
1
Command number
1
Type number
1
Motor or Bank number
4
Value (MSB first!)
1
Checksum
- The checksum is calculated by adding up all the other bytes using an 8-bit addition.
- When using CAN bus, just leave out the first byte (module address) and the last byte (checksum).