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PANdrive™ for Stepper

PANDRIVE™

PD42-1241 TMCL

™

Firmware Manual

Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23

The PD42-1241 is a full mechatronic solution, made up of a TMCM-1241 stepper control module and

a NEMA 17 (42mm ﬂange size) motor. The PD42-1241 TMCL ﬁrmware allows to control the module

using TMCL™ commands, supporting standalone operation as well as direct mode control, making

use of the Trinamic TMC5160 motion controller and motor driver. Dynamic current control, and

quiet, smooth and eﬃcient operation are combined with StealthChop™, DcStep™, StallGuard2™

and CoolStep™ features.

Features

• Single Axis Stepper motor control

• Supply voltage 24V DC

• TMCL™

• Host interfaces: RS485, CAN, USB

• Step/Direction inputs

• Additional inputs and outputs

• SixPoint™ ramps

• CoolStep™

• StallGuard2™

• StealthChop™

• SensOstep™ encoder

• External (AB) encoder interface

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

Simpliﬁed Block Diagram

…

V DC

ARM

Cortex

microcontroller

EEPROM

485

MOSFET

Driver

Stage

Energy Efficient

Driver

TMC

262

Motion

Controller

Pre

Driver

SPI

USB

SPI

CAN

sensOstep™

Encoder

SPI

STOP

Encoder

Step

Motor

1241

QSH

4218

040

TMCM

1241

QSH

4218

080

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (107 pages)

PAGE 1
PANDRIVE™ PANdrive™ for Stepper PD42-1241 TMCL™ Firmware Manual Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 The PD42-1241 is a full mechatronic solution, made up of a TMCM-1241 stepper control module and a NEMA 17 (42mm ﬂange size) motor. The PD42-1241 TMCL ﬁrmware allows to control the module using TMCL™ commands, supporting standalone operation as well as direct mode control, making use of the Trinamic TMC5160 motion controller and motor driver.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 2 / 107 Contents 1 Features 1.1 StallGuard2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 CoolStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.3 SixPoint Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 6 6 7 2 First Steps with TMCL 2.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.26 3.6.27 3.6.28 3.6.29 3.6.30 3.6.31 3.6.32 3.6.33 3.6.34 3.6.35 3.6.36 CALCX (Calculate using the X Register) . . . . . . . . . . . . . . . . . . . AAP (Accu to Axis Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . AGP (Accu to Global Parameter) . . . . . . . . . . . . . . . . . . . . . . . CLE (Clear Error Flags) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 11 Supplemental Directives 11.1 Producer Information . . . . . . . . . . 11.2 Copyright . . . . . . . . . . . . . . . . . 11.3 Trademark Designations and Symbols 11.4 Target User . . . . . . . . . . . . . . . . 11.5 Disclaimer: Life Support Systems . . . 11.6 Disclaimer: Intended Use . . . . . . . . 11.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 1 5 / 107 Features The PANdrive™ PD42-1241 is a full mechatronic solution with state of the art feature set. It is highly integrated and offers a convenient handling. The PD42-1241 includes a stepper motor, controller/driver electronics and Trinamic’s SensOstep™ encoder. It can be used in many decentralized applications and has been designed for 0.20. . . 0.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 6 / 107 Electrical data • Supply voltage: +24V DC nominal (10. . . 30V DC supply range). • Motor current: up to 3A RMS / 4.2A peak (programmable). Please see also the separate Hardware Manual. 1.1 StallGuard2 StallGuard2 is a high-precision sensorless load measurement using the back EMF of the coils. It can be used for stall detection as well as other uses at loads below those which stall the motor.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 0,9 7 / 107 Efficiency with coolStep 0,8 Efficiency with 50v torque reserve 0,7 0,6 0,5 Efficiency 0,4 0,3 0,2 0,1 0 0 50 100 150 200 250 300 350 Velocity [RPM] Figure 2: Energy Eﬃciency Example with CoolStep 1.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 2 8 / 107 First Steps with TMCL In this chapter you can ﬁnd some hints for your ﬁrst steps with the PD42-1241 and TMCL. You may skip this chapter if you are already familiar with TMCL and the TMCL-IDE. Things that you will need • Your PD42-1241 module. • A USB cable. • A power supply (24V DC) for your PD42-1241 module. • The TMCL-IDE 3.x already installed on your PC. • A two-phase bipolar stepper motor. 2.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 9 / 107 Most important axis parameters Number Axis Parameter Description Range [Units] Access 4 Maximum positioning speed The maximum speed used for positioning ramps. 0. . . 7999774 [pps] RW 5 Maximum acceleration Maximum acceleration in positioning ramps. Acceleration and deceleration value in velocity mode. 0. . .
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 10 / 107 7 9 11 13 15 SAP 4 , 0 , 51200 SAP 5 , 0 , 51200 Loop : MVP ABS , 0 , 512000 WAIT POS , 0 , 0 MVP ABS , 0 , -512000 WAIT POS , 0 , 0 JA Loop // Set max . Velocity // Set max . Acceleration // Move to Position 512000 // Wait until position reached // Move to Position -512000 // Wait until position reached // Infinite Loop After you have done that, take the following steps: 1.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3 11 / 107 TMCL and the TMCL-IDE — An Introduction As with most TRINAMIC modules the software running on the microprocessor of the PD42-1241 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.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 12 / 107 TMCL Command Format Bytes Meaning 1 Module address 1 Command number 1 Type number 1 Motor or Bank number 4 Value (MSB ﬁrst!) 1 Checksum Table 2: TMCL Command Format Info Note 3.1.1 The checksum is calculated by accumulating all the other bytes using an 8-bit addition. When using the CAN interface, leave out the address byte and the checksum byte.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.2 13 / 107 Reply Format Every time a command has been sent to a module, the module sends a reply. The reply format with RS-232, RS-485, RS-422 and USB is as follows: TMCL Reply Format Bytes Meaning 1 Reply address 1 Module address 1 Status (e.g.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.3 14 / 107 Standalone Applications The module is equipped with a TMCL memory for storing TMCL applications. You can use the TMCL-IDE for developing standalone TMCL applications. You can download a program 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.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.4 15 / 107 TMCL Command Overview This sections gives a short overview of all TMCL commands.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.5.2 17 / 107 Parameter Commands These commands are used to set, read and store axis parameters or global parameters. Axis parameters can be set independently for each axis, whereas global parameters control the behavior of the module itself. These commands can also be used in direct mode and in standalone mode.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 18 / 107 I/O Port Commands Mnemonic Command number Meaning SIO 14 Set output GIO 15 Get input Table 9: I/O Port Commands 3.5.5 Calculation Commands These commands are intended to be used for calculations within TMCL applications. Although they could also be used in direct mode it does not make much sense to do so.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 19 / 107 Interrupt Processing Commands Mnemonic Command number Meaning EI 25 Enable interrupt DI 26 Disable interrupt VECT 37 Set interrupt vector RETI 38 Return from interrupt Table 11: Interrupt Processing Commands 3.5.6.1 Interrupt Types There are many different interrupts in TMCL, like timer interrupts, stop switch interrupts, position reached interrupts, and input pin change interrupts.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 20 / 107 3.5.6.3 Further Conﬁguration of Interrupts Some interrupts need further conﬁguration (e.g. the timer interval of a timer interrupt). This can be done using SGP commands with parameter bank 3 (SGP , 3, ). Please refer to the SGP command (chapter 3.6.7) for further information about that. 3.5.6.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6 21 / 107 Detailed TMCL Command Descriptions The module speciﬁc commands are explained in more detail on the following pages. They are listed according to their command number. 3.6.1 ROR (Rotate Right) The motor is instructed to rotate with a speciﬁed velocity in right direction (increasing the position counter). The velocity is given in microsteps per second (pulse per second [pps]).
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.2 22 / 107 ROL (Rotate Left) The motor is instructed to rotate with a speciﬁed velocity in left direction (decreasing the position counter). The velocity is given in microsteps per second (pulse per second [pps]). Internal function: • First, velocity mode is selected. • Then, the velocity value is transferred to axis parameter #2 (target velocity). Related commands: ROR, MST, SAP, GAP.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.3 23 / 107 MST (Motor Stop) The motor is instructed to stop with a soft stop. Internal function: The velocity mode is selected. Then, the target speed (axis parameter #0) is set to zero. Related commands: ROR, ROL, SAP, GAP. Mnemonic: MST Binary Representation Instruction Type Motor/Bank Value 3 0 0 0 Reply in Direct Mode Status Value 100 - OK don’t care Example Stop motor 0.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.4 24 / 107 MVP (Move to Position) With this command the motor will be instructed to move to a speciﬁed relative or absolute position. It will use the acceleration/deceleration ramp and the positioning speed programmed into the unit. This command is non-blocking - that is, a reply will be sent immediately after command interpretation and initialization of the motion controller.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 Binary Form of MVP ABS, 0, 90000 Field Value Target address 01h Instruction number 04h Type 00h Motor/Bank 00h Value (Byte 3) 00h Value (Byte 2) 01h Value (Byte 1) 5Fh Value (Byte 0) 90h Checksum F5h Example Move motor 0 from current position 10000 steps backward.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 26 / 107 Binary Form of MVP COORD, 0, 8 Field Value Target address 01h Instruction number 04h Type 02h Motor/Bank 00h Value (Byte 3) 00h Value (Byte 2) 00h Value (Byte 1) 00h Value (Byte 0) 08h Checksum 0Fh Note Before moving to a stored coordinate, the coordinate has to be set using an SCO, CCO or ACO command. ©2019 TRINAMIC Motion Control GmbH & Co.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.5 27 / 107 SAP (Set Axis Parameter) With this command most of the motion control parameters of the module can be speciﬁed. The settings will be stored in SRAM and therefore are volatile. That is, information will be lost after power off. For a table with parameters and values which can be used together with this command please refer to section 4.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.6 28 / 107 GAP (Get Axis Parameter) Most motion / driver related parameters of the PD42-1241 can be adjusted using e.g. the SAP command. With the GAP parameter they can be read out. In standalone mode the requested value is also transferred to the accumulator register for further processing purposes (such as conditional jumps).
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.7 29 / 107 SGP (Set Global Parameter) With this command most of the module speciﬁc parameters not directly related to motion control can be speciﬁed and the TMCL user variables can be changed. Global parameters are related to the host interface, peripherals or application speciﬁc variables. The different groups of these parameters are organized in banks to allow a larger total number for future products.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.8 30 / 107 GGP (Get Global Parameter) All global parameters can be read with this function. Global parameters are related to the host interface, peripherals or application speciﬁc variables. The different groups of these parameters are organized in banks to allow a larger total number for future products. Currently, bank 0 is used for global parameters, and bank 2 is used for user variables.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.9 31 / 107 STGP (Store Global Parameter) This command is used to store TMCL global parameters permanently in the EEPROM of the module. This command is mainly needed to store the TMCL user variables (located in bank 2) in the EEPROM of the module, as most other global parameters (located in bank 0) are stored automatically when being modiﬁed.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.10 32 / 107 RSGP (Restore Global Parameter) With this command the contents of a TMCL user variable can be restored from the EEPROM. By default, all user variables are automatically restored after power up. A user variable that has been changed before can be reset to the stored value by this instruction.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.11 33 / 107 RFS (Reference Search) The PD42-1241 has a built-in reference search algorithm. The reference search algorithm provides different refrence search modes. This command starts or stops the built-in reference search algorithm. The status of the reference search can also be queried to see if it already has ﬁnished.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 Binary Form of RFS START 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. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.12 35 / 107 SIO (Set Output) This command sets the states of the general purpose digital outputs. Internal function: The state of the output line speciﬁed by the type parameter is set according to the value passed to this command. Related commands: GIO.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 36 / 107 Digital Outputs in Bank 2 Port Command Range OUT0 SIO 0, 2, 0/1 Pull-up Resistor Control The SIO command can also be used to program the pull-up resistors of the IN0, IN1 and IN2 inputs. The pull-up resistor of the IN0/HOME input can separately be switched on and off whereas the pull-up resistors of the IN1 and IN2 inputs can be switched on and off together.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.13 37 / 107 GIO (Get Input) With this command the status of the available general purpose outputs of the module can be read. The function reads a digital or an analog input port. Digital lines will read as 0 or 1, while the ADC channels deliver their 12 bit result in the range of 0. . . 4095.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 38 / 107 Reply (Status=no error, Value=302) Field Value Host address 02h Target address 01h Status 64h Instruction 0Fh Value (Byte 3) 00h Value (Byte 2) 00h Value (Byte 1) 01h Value (Byte 0) 2Eh Checksum A5h Bank 0 – Digital Inputs The analog input lines can be read as digital or analog inputs at the same time. The digital input states can be accessed in bank 0.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 Digital Outputs in Bank 2 Port Command Range OUT0 GIO 0, 2 0/1 ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 40
PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.14 40 / 107 CALC (Calculate) A value in the accumulator variable, previously read by a function such as GAP (get axis parameter) can be modiﬁed with this instruction. Nine different arithmetic functions can be chosen and one constant operand value must be speciﬁed. The result is written back to the accumulator, for further processing like comparisons or data transfer.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.15 42 / 107 COMP (Compare) The speciﬁed number is compared to the value in the accumulator register. The result of the comparison can for example be used by the conditional jump (JC) instruction. This command is intended for use in standalone operation only. Internal function: The accumulator register is compared with the sepciﬁed value.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.16 43 / 107 JC (Jump conditional) The JC instruction enables a conditional jump to a ﬁxed address in the TMCL program memory, if the speciﬁed condition is met. The conditions refer to the result of a preceding comparison. Please refer to COMP instruction for examples. This command is intended for standalone operation only.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 Binary form of JC GE, Label assuming Label 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 Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.17 45 / 107 JA (Jump always) Jump to a ﬁxed address in the TMCL program memory. This command is intended for standalone operation only. Internal function: The TMCL program counter is set to the value passed to this command. Related commands: JC, WAIT, CSUB.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.18 46 / 107 CSUB (Call Subroutine) This function calls a subroutine in the TMCL program memory. It is intended for standalone operation only. Internal function: the actual TMCL program counter value is saved to an internal stack, afterwards overwritten with the passed value. The number of entries in the internal stack is limited to 8. This also limits nesting of subroutine calls to 8.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.19 47 / 107 RSUB (Return from Subroutine) Return from a subroutine to the command after the CSUB command. This command is intended for use in standalone mode only. Internal function: the TMCL program counter is set to the last value saved on the stack. The command will be ignored if the stack is empty. Related commands: CSUB.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.20 48 / 107 WAIT (Wait for an Event to occur) This instruction interrupts the execution of the TMCL program until the speciﬁed condition is met. This command is intended for standalone operation only. There are ﬁve different wait conditions that can be used: • TICKS: Wait until the number of timer ticks speciﬁed by the parameter has been reached.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 Wait for motor 0 to reach its target position, without timeout. Mnemonic: 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 1Dh ©2019 TRINAMIC Motion Control GmbH & Co.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.21 50 / 107 STOP (Stop TMCL Program Execution – End of TMCL Program) This command stops the execution of a TMCL program. It is intended for use in standalone operation only. Internal function: Execution of a TMCL program in standalone mode will be stopped. Related commands: none.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.22 51 / 107 SCO (Set Coordinate) Up to 20 position values (coordinates) can be stored for every axis for use with the MVP COORD command. This command sets a coordinate to a speciﬁed value. Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only).
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.23 52 / 107 GCO (Get Coordinate) Using this command previously stored coordinate can be read back. In standalone mode the requested value is copied to the accumulator register for further processing purposes such as conditional jumps. In direct mode, the value is only output in the value ﬁeld of the reply, without affecting the accumulator.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 53 / 107 Two special functions of this command have been introduced that make it possible to copy all coordinates or one selected coordinate from the EEPROM to the RAM. These functions can 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.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.24 54 / 107 CCO (Capture Coordinate) This command copies the actual position of the axis to the selected coordinate variable. Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only).
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.25 55 / 107 ACO (Accu to Coordinate) With the ACO command the actual value of the accumulator is copied to a selected coordinate of the motor. Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only). Note Coordinate #0 is always stored in RAM only.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.26 56 / 107 CALCX (Calculate using the X Register) This instruction is very similar to CALC, but the second operand comes from the X register. The X register can be loaded with the LOAD or the SWAP type of this instruction. The result is written back to the accumulator for further processing like comparisons or data transfer. This command is mainly intended for use in standalone mode.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 Binary Form of CALCX MUL 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. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.27 58 / 107 AAP (Accu to Axis Parameter) The content of the accumulator register is transferred to the speciﬁed axis parameter. For practical usage, the accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have been modiﬁed by the CALC or CALCX (calculate) instruction. This command is mainly intended for use in standalone mode.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.28 59 / 107 AGP (Accu to Global Parameter) The content of the accumulator register is transferred to the speciﬁed global parameter. For practical usage, the accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have been modiﬁed by the CALC or CALCX (calculate) instruction. This command is mainly intended for use in standalone mode.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.29 CLE (Clear Error Flags) This command clears the internal error ﬂags. It is mainly intended for use in standalone mode. The following error ﬂags can be cleared by this command (determined by the <ﬂag> parameter): • ALL: clear all error ﬂags. • ETO: clear the timeout ﬂag. • EAL: clear the external alarm ﬂag. • EDV: clear the deviation ﬂag. • EPO: clear the position error ﬂag. Related commands: JC, WAIT.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 Binary Form of CLE ETO 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, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.30 62 / 107 EI (Enable Interrupt) The EI command enables an interrupt. It needs the interrupt number as parameter. Interrupt number 255 globally enables interrupt processing. This command is mainly intended for use in standalone mode. Please see table 12 for a list of interrupts that can be used on the PD42-1241 module. Info Related commands: DI, VECT, RETI.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.31 63 / 107 DI (Disable Interrupt) The DI command disables an interrupt. It needs the interrupt number as parameter. Interrupt number 255 globally disables interrupt processing. This command is mainly intended for use in standalone mode. Please see table 12 for a list of interrupts that can be used on the PD42-1241 module. Info Related commands: EI, VECT, RETI.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.32 64 / 107 VECT (Deﬁne Interrupt Vector) The VECT command deﬁnes an interrupt vector. It takes an interrupt number and a label (just like with JA, JC and CSUB commands) as parameters. The label must be the entry point of the interrupt handling routine for this interrupts. Interrupt vectors can also be re-deﬁned. This command is intended for use in standalone mode only.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 Binary form of VECT (assuming label 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 GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.33 66 / 107 RETI (Return from Interrupt) This command terminates an interrupt handling routine. Normal program ﬂow will be continued then. This command is intended for use in standalone mode only. An interrupt routine must always end with a RETI command. Do not allow the normal program ﬂow to run into an interrupt routine.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.34 67 / 107 Customer speciﬁc Command Extensions (UF0. . . UF7 – User Functions) These commands are used for customer speciﬁc extensions of TMCL. They will be implemented in C by Trinamic. Please contact the sales department of Trinamic Motion Control GmbH & Co KG if you need a customized TMCL ﬁrmware. Related commands: none. Mnemonic: UF0. . .
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.35 68 / 107 Request Target Position reached Event This command is the only exception to the TMCL protocol, as it sends two replies: One immediately after the command has been executed (like all other commands also), and one additional reply that will be sent when the motor has reached its target position.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3.6.36 70 / 107 TMCL Control Commands There is a set of TMCL commands which are called TMCL control commands. These commands can only be used in direct mode and not in a standalone program. For this reason they only have opcodes, but no mnemonics. Most of these commands are only used by the TMCL-IDE (in order to implement e.g. the debugging functions in the TMCL creator).
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 Instruction Description Type Value 135 – get application status Return information about the current status, depending on the type ﬁeld. 0 - return mode, wait ﬂag, memory pointer 1 - return mode, wait ﬂag, program counter 2 - return accumulator 3 - return X register 0 (don’t care) 136 – get ﬁrmware version Return ﬁrmware version in string format (special reply) or binary format).
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 4 72 / 107 Axis Parameters Most motor controller features of the PD42-1241 module are controlled by axis parameters. Axis parameters can be modiﬁed or read using SAP, GAP and AAP commands. This chapter describes all axis parameters that can be used on the PD42-1241 module.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 73 / 107 Number Axis Parameter Description Range [Units] Access 6 Maximum current Motor current used when motor is running. The maximum value is 255 which means 100% of the maximum current of the module. The current can be adjusted in 32 steps: 0. . . 255 RW 0. . . 7 79. . . 87 160. . . 167 240. . . 247 8. . . 15 88. . . 95 168. . . 175 248. . . 255 16. . . 23 96. . . 103 176. . . 183 24.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 74 / 107 Number Axis Parameter Description Range [Units] Access 16 Velocity V1 First acceleration / decelaration phase target velocizy (in position mode only). Setting this value to 0 turns off the ﬁrst acceleration / deceleration phase, maximum acceleration (axis parameter 5) and maximum decleration (axis parameter 17) are used only. 0. . .
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 75 / 107 Number Axis Parameter Description Range [Units] Access 31 Power down ramp Controls the number of clock cycles for motor power down after a motion as soon as the motor has stopped and the setting time has expired. The smooth transition avoids a motor jerk upon power down. 0=instant power down, 15=longest possible power down ramp. 0. . . 15 [0.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 76 / 107 Number Axis Parameter Description Range [Units] Access 162 Chopper blank time Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. Normally leave at the default value. 0..
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 77 / 107 Number Axis Parameter Description Range [Units] Access 170 SmartEnergy hysteresis Sets the distance between the lower and the upper threshold for StallGuard2 reading. Above the upper threshold the motor current becomes decreased. Hysteresis: ([AP 172] + 1) ∗ 32 Upper StallGuard threshold: ([AP 172]+[AP 170]+ 1) ∗ 32 0. . .
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 78 / 107 Number Axis Parameter Description Range [Units] Access 185 Chopper synchronization This parameter allows synchronization of the chopper for both phases of a two phase motor in order to avoid the occurrence of a beat, especially at low velocities. 0: chopper sync function chopSync off 1. . . 15: chopper synchronization 0. . .
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 Number 193 Axis Parameter Reference search mode Description 1 Search left stop switch only. 2 Search right stop switch, then search left stop switch. 3 Search right stop switch, then search left stop switch from both sides. 4 Search left stop switch from both sides. 5 Search home switch in negative direction, reverse the direction when left stop switch reached.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 80 / 107 Number Axis Parameter Description Range [Units] Access 204 Freewheeling mode Stand still option when the standby current (parameter 7) is set to zero and StealthChop is active. 0 normal operation 0. . .
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 81 / 107 Number Axis Parameter Description Range [Units] 212 Maximum internal encoder deviation When the actual position (parameter #1) and the encoder position (parameter #209) differ more than set here the motor will be stopped. Setting this parameter to zero turns off this feature. Please see also 6.2. 0 RW . . .
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 5 82 / 107 Global Parameters The following sections describe all global parameters that can be used with the SGP, GGP, AGP, STGP and RSGP commands. Global parameters are grouped into banks: • Bank 0: Global conﬁguration of the module. • Bank 1: Not used. • Bank 2: TMCL user variables. • Bank 3: TMCL interrupt conﬁguration. 5.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 83 / 107 All Global Parameters of the PD42-1241 Module in Bank 0 Number 65 Global Parameter RS485 baud rate Description 0 9600 1 14400 2 19200 3 28800 4 38400 5 57600 6 76800 7 115200 8 230400 Range [Units] Access 0. . . 8 RWA Default 66 Serial address Module (target) address for RS485. 1. . . 255 RWA 68 Serial heartbeat Serial heartbeat for RS485 interface and USB interface.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 84 / 107 Number Global Parameter Description Range [Units] Access 77 Auto start mode 0 - Do not start TMCL application after power up (default). 1 - Start TMCL application automatically after power up. 0/1 RWA 81 TMCL code protection Protect a TMCL program against disassembling or overwriting.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 85 / 107 Number Global Parameter Description Range [Units] Access 133 Random number Returns a random number. The seed value can be set by writing to this parameter. 0. . . 2147483647 RW 255 Suppress reply The reply in direct mode will be suppressed when this parameter is set to 1. This parameter cannot be stored to EEPROM and will be reset to 0 on startup.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 86 / 107 Number Global Parameter Description Range [Units] 1 Timer 1 period (ms) Time between two interrupts 0. . . 4294967295 RW [ms] 2 Timer 2 period (ms) Time between two interrupts 0. . . 4294967295 RW [ms] 27 Stop left 0 trigger transition 0=off, 1=low-high, 2=high-low, 3=both 0. . . 3 RW 28 Stop right 0 trigger transition 0=off, 1=low-high, 2=high-low, 3=both 0. . .
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 6 87 / 107 Module Speciﬁc Hints This section contains some hints that are speciﬁc to the PD42-1241 module. 6.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 6.3 88 / 107 External Encoders External encoders with ABN interface can also be attached to the PD42-1241 module. Please see the Hardware Manual on how to connect an external encoder. Consider the following things when using an external ABN encoder: • The encoder counter can be read by software and can be used to monitor the current position of the motor.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 7 89 / 107 Hints and Tips This chapter gives some hints and tips on using the functionality of TMCL, for example how to use and parameterize the built-in reference search algorithm. You will also ﬁnd basic information about StallGuard2™ and CoolStep™ in this chapter. 7.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 7.1.1 90 / 107 Mode 1 Reference search mode 1 only searches the left end switch. Select this mode by setting axis parameter #193 to 1. Figure 4 illustrates this. Add 64 to the mode number (i.e. set axis parameter #193 to 65) to search the right end switch instead of the left end switch.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 L 91 / 107 R start stop left limit / end / stop switch right limit / end / stop switch : reference search speed (axis parameter 194) : reference switch speed (axis parameter 195) Figure 6: Reference Search Mode 3 7.1.4 Mode 4 Reference search mode 4 searches the left end switch only, but from both sides so that the middle of the switch will be found and used as the zero point. This is shown in ﬁgure 7.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 92 / 107 Home L R start stop left limit / end / stop switch home switch : reference search speed (axis parameter 194) : reference switch speed (axis parameter 195) Figure 8: Reference Search Mode 5 7.1.6 Mode 6 Reference search mode 6 searches the home switch in positive direction. The search direction will be reversed if the right limit switch is reached. This is shown in ﬁgure 9.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 L 93 / 107 R start stop home switch : reference search speed (axis parameter 194) : reference switch speed (axis parameter 195) Figure 10: Reference Search Mode 7 7.1.8 Mode 8 Reference search mode 8 searches the home switch in positive direction, ignoring the limit switch inputs. It is recommende mainly for use with a circular axis. The exact middle of the switch will be found and used as the zero point.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 7.2 94 / 107 StallGuard2 The module is equipped with motor driver chips that feature load measurement. This load measurement can be used for stall detection. StallGuard2 delivers a sensorless load measurement of the motor as well as a stall detection signal. The measured value changes linear with the load on the motor in a wide range of load, velocity and current settings.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 7.3 95 / 107 CoolStep This section gives an overview of the CoolStep related parameters. Please bear in mind that the ﬁgure only shows one example for a drive. There are parameters which concern the conﬁguration of the current. Other parameters are there for velocity regulation and for time adjustment. Figure 12 shows all the adjustment points for CoolStep.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 CoolStep Adjustment Points and Thresholds Number Axis Parameter Description I6 Absolute maximum current The maximum value is 255. This value means 100% of the maximum current of the module. The current adjustment is within the range 0. . . 255 and can be adjusted in 32 steps (0. . . 255 divided by eight; e.g. step 0 = 0. . . 7, step 1 = 8. . . 15 and so on).
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 7.4 97 / 107 Velocity and Acceleration Calculation When the unit mode (axis parameter #255) is set to 1 (which is also the default value), all velocity parameters on the PD42-1241 are given in microsteps per second (also called pulse per second or pps). Acceleration and deceleration units are given in pps2 . When axis parameter #255 is set to 0 the internal units of the ramp generators are directly used.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 7.5 98 / 107 SixPoint Ramp The PD42-1241 is equipped with a motion controller that supports TRINAMIC’s SixPoint ramp technology. Please see also section 1.3 for more information about the SixPoint ramp.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 8 99 / 107 TMCL Programming Techniques and Structure 8.1 Initialization The ﬁrst task in a TMCL program (like in other programs also) is to initialize all parameters where different values than the default values are necessary. For this purpose, SAP and SGP commands are used. 8.2 Main Loop Embedded systems normally use a main loop that runs inﬁnitely.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 17 100 / 107 WAIT POS , Motor0 , 0 JA MainLoop Have a look at the ﬁle TMCLParam.tmc provided with the TMCL-IDE. It contains symbolic constants that deﬁne all important parameter numbers. Using constants for other values makes it easier to change them when they are used more than once in a program. You can change the deﬁnition of the constant and do not have to change all occurrences of it in your program. 8.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 8.5 101 / 107 Using Subroutines The CSUB and RSUB commands provide a mechanism for using subroutines. The CSUB command branches to the given label. When an RSUB command is executed the control goes back to the command that follows the CSUB command that called the subroutine. This mechanism can also be nested. From a subroutine called by a CSUB command other subroutines can be called.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 102 / 107 This example provides three very simple TMCL routines. They can be called from a host by issuing a run command with address 0 to call the ﬁrst function, or a run command with address 1 to call the second function, or a run command with address 2 to call the third function.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 9 103 / 107 Figures Index 1 2 3 4 5 6 StallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . . 6 Energy Eﬃciency Example with CoolStep 7 Typical motion proﬁle with TRINAMIC’s SixPoint motion controller . . . . . . . . 7 Reference Search Mode 1 . . . . . . . . 90 Reference Search Mode 2 . . . . . . . . 90 Reference Search Mode 3 . . . . . . . . 91 ©2019 TRINAMIC Motion Control GmbH & Co.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 10 1 2 3 4 5 6 7 8 9 10 11 12 13 14 104 / 107 Tables Index Most important Axis Parameters . . . TMCL Command Format . . . . . . . . TMCL Reply Format . . . . . . . . . . . TMCL Status Codes . . . . . . . . . . . Overview of all TMCL Commands . . Motion Commands . . . . . . . . . . . Parameter Commands . . . . . . . . . Branch Commands . . . . . . . . . . . I/O Port Commands . . . . . . . . . .
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 11 105 / 107 Supplemental Directives 11.1 Producer Information 11.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2019 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 106 / 107 or of any other nature are made hereunder with respect to information/speciﬁcation or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product.
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PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 12 Revision History 12.1 Firmware Revision Version Date Author Description V1.44 2018-MAY-03 OK First release version. Table 23: Firmware Revision 12.2 Document Revision Version Date Author Description V1.00 2018-MAY-03 OK First release version. V1.01 2019-MAY-23 OK Motor current values corrected. Table 24: Document Revision ©2019 TRINAMIC Motion Control GmbH & Co.