User Manual
Table Of Contents
- 1 Features
- 2 First Steps with TMCL
- 3 TMCL and the TMCL-IDE — An Introduction
- 3.1 Binary Command Format
- 3.2 Reply Format
- 3.3 Standalone Applications
- 3.4 The ASCII Interface
- 3.5 TMCL Command Overview
- 3.6 TMCL Commands by Subject
- 3.7 Detailed TMCL Command Descriptions
- 3.7.1 ROR (Rotate Right)
- 3.7.2 ROL (Rotate Left)
- 3.7.3 MST (Motor Stop)
- 3.7.4 MVP (Move to Position)
- 3.7.5 SAP (Set Axis Parameter)
- 3.7.6 GAP (Get Axis Parameter)
- 3.7.7 STAP (Store Axis Parameter)
- 3.7.8 RSAP (Restore Axis Parameter)
- 3.7.9 SGP (Set Global Parameter)
- 3.7.10 GGP (Get Global Parameter)
- 3.7.11 STGP (Store Global Parameter)
- 3.7.12 RSGP (Restore Global Parameter)
- 3.7.13 RFS (Reference Search)
- 3.7.14 SIO (Set Output)
- 3.7.15 GIO (Get Input)
- 3.7.16 CALC (Calculate)
- 3.7.17 COMP (Compare)
- 3.7.18 JC (Jump conditional)
- 3.7.19 JA (Jump always)
- 3.7.20 CSUB (Call Subroutine)
- 3.7.21 RSUB (Return from Subroutine)
- 3.7.22 WAIT (Wait for an Event to occur)
- 3.7.23 STOP (Stop TMCL Program Execution – End of TMCL Program)
- 3.7.24 SCO (Set Coordinate)
- 3.7.25 GCO (Get Coordinate)
- 3.7.26 CCO (Capture Coordinate)
- 3.7.27 ACO (Accu to Coordinate)
- 3.7.28 CALCX (Calculate using the X Register)
- 3.7.29 AAP (Accu to Axis Parameter)
- 3.7.30 AGP (Accu to Global Parameter)
- 3.7.31 CLE (Clear Error Flags)
- 3.7.32 EI (Enable Interrupt)
- 3.7.33 DI (Disable Interrupt)
- 3.7.34 VECT (Define Interrupt Vector)
- 3.7.35 RETI (Return from Interrupt)
- 3.7.36 Customer specific Command Extensions (UF0…UF7 – User Functions)
- 3.7.37 Request Target Position reached Event
- 3.7.38 TMCL Control Commands
- 4 Axis Parameters
- 5 Global Parameters
- 6 Module Specific Hints
- 7 Hints and Tips
- 8 TMCL Programming Techniques and Structure
- 9 Figures Index
- 10 Tables Index
- 11 Supplemental Directives
- 12 Revision History
PD-1160 TMCL
™
Firmware Manual • Firmware Version V1.42 | Document Revision V1.06 • 2018-JAN-09
5 / 113
1 Features
The PANdrive
™
PD-1160 is a full mechatronic solution with state of the art feature set. It is highly integrated
and offers a convenient handling. The PD-1160 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. . . 0.70Nm maximum holding torque and up to 48V DC nominal supply voltage. With its
high energy efficiency from TRINAMICs coolStep technology cost for power consumption is kept down.
The TMCL™ firmware allows for standalone operation and direct mode control.
Main characteristics
• Motion controller & stepper motor driver:
– Hardware motion profile calculation in real-time.
– On the fly alteration of motion parameters (e.g. position, velocity, acceleration).
–
High performance microcontroller for overall system control and communication protocol
handling.
– Up to 256 microsteps per full step.
– High-efficient operation, low power dissipation.
– Dynamic current control.
– Integrated protection.
– stallGuard2™ feature for stall detection.
– coolStep™ feature for reduced power consumption and heat dissipation.
• Encoder
– sensOstep™ magnetic encoder with 1024 increments per round.
–
Usable for example for step-loss detection under all operating conditions and positioning
supervision.
• Interfaces
– USB interface.
– RS485 bus.
– CAN bus.
– Optically isolated step/direction inputs.
–
Three dedicated inputs for stop switches and home switch (+24V compatible) with programmable
pull-up resistors
– Two general-purpose digital inputs (+24V compatible), also usable as analog inputs.
– Two general purpose digital outputs (open drain, max. 1A).
Software
TMCL remote controlled operation via USB, RS485 or CAN interface and/or stand-alone operation via TMCL
programming. PC-based application development software TMCL-IDE available for free.
Electrical data
• Supply voltage: +12V / +24V /+48V DC nominal (10. . . 51V DC supply range).
• Motor current: up to 2.8A RMS / 4A peak (programmable).
Please see also the separate Hardware Manual.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com