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PANdrive™ for Stepper

PANDRIVE™

PD57/60-1276 TMCL

™

Firmware Manual

Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28

The PD57/60-1276 is a full mechatronic solution, made up of TMCM-1276 stepper control module

and a NEMA 23 or NEMA 24 (57mm or 60mm ﬂange size) stepper motor. The PD57/60-1276 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™, stallGuard™ and coolStep™ features.

Features

• Single Axis Stepper motor control

• Supply voltage 10. . . 30V DC

• TMCL™

• Motion Contoller

• CAN

• dcStep™

•

Integrated sixPoint

™

ramp motion

controller

• stealthChop™ silent PWM mode

• spreadCycle™ smart mixed decay

• stallGuard2™ load detection

•

coolStep

™

automatic current scal-

ing

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• CNC

• Life Science

• Biotechnology

• Liquid Handling

Simpliﬁed Block Diagram

CAN

Stepper

Motor

Energy Efficient

Driver

TMC

262

TMCM-1276

Input

SPI

PD57/60-x-1276

10...30V DC

TMCL™

Memory

I2C

ARM

Cortex M0+™

Microcontroller

REFL/REFR

ENCA/ENCB

ENABLE

Stepper

Motor

Controller

Driver

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (97 pages)

PAGE 1
PANDRIVE™ PANdrive™ for Stepper PD57/60-1276 TMCL™ Firmware Manual Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 The PD57/60-1276 is a full mechatronic solution, made up of TMCM-1276 stepper control module and a NEMA 23 or NEMA 24 (57mm or 60mm ﬂange size) stepper motor. The PD57/60-1276 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 2 / 97 Contents 1 Features 1.1 stallGuard2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 coolStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 6 6 2 First Steps with TMCL 2.1 Basic Setup . . . . . . . . . . . . . . . . 2.2 Using the TMCL Direct Mode . . . . . 2.3 Changing Axis Parameters . . .
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.28 3.6.29 3.6.30 3.6.31 3.6.32 3.6.33 3.6.34 3.6.35 CLE (Clear Error Flags) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . EI (Enable Interrupt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DI (Disable Interrupt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VECT (Deﬁne Interrupt Vector) . . . . . . . . . . . . . . . . . . . . . . . .
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 4 / 97 11 Revision History 97 11.1 Firmware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 11.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 1 5 / 97 Features The PANdrive PD-57/60-1276 is a full mechantronic solution with state of the art feature set. It is highly integrated, offers a convenient handling and can be used in many decentralized applications. It has been designed for 0.50. . . 2.10Nm holding torque and 24V DC nominal supply voltage. Three digital inputs can be conﬁgured as home and endstop switches or incremental encoder inputs.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 1.1 6 / 97 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. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum motor load, the value reaches zero or is near zero.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 2 7 / 97 First Steps with TMCL In this chapter you can ﬁnd some hints for your ﬁrst steps with the PD57/60-1276 and TMCL. You may skip this chapter if you are already familiar with TMCL and the TMCL-IDE. Things that you will need • Your PD57/60-1276 PANdrive™. • A CAN adapter. • A power supply (24V DC) for your PD57/60-1276 module. • The TMCL-IDE 3.x already installed on your PC 2.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 8 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 9 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3 10 / 97 TMCL and the TMCL-IDE — An Introduction As with most TRINAMIC modules the software running on the microprocessor of the PD57/60-1276 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 11 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.2 12 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.3 13 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.4 14 / 97 TMCL Command Overview This sections gives a short overview of all TMCL commands.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 16 / 97 itself. These commands can also be used in direct mode and in standalone mode. Parameter Commands Mnemonic Command number Meaning SAP 5 Set axis parameter GAP 6 Get axis parameter SGP 9 Set global parameter GGP 10 Get global parameter STGP 11 Store global parameter RSGP 12 Restore global parameter Table 7: Parameter Commands 3.5.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.5.5 17 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 18 / 97 order to have symbolic constants for the interrupt numbers. Table 12 show all interrupts that are available on the PD57/60-1276.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 19 / 97 • Do not allow the normal program ﬂow to run into an interrupt handling routine.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6 20 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.2 21 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.3 22 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.4 23 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 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 microsteps backward.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 25 / 97 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. ©2018 TRINAMIC Motion Control GmbH & Co.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.5 26 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.6 27 / 97 GAP (Get Axis Parameter) Most motion / driver related parameters of the PD57/60-1276 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.7 28 / 97 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.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.8 29 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.9 30 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.10 31 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.11 32 / 97 RFS (Reference Search) The PD57/60-1276 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 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 ©2018 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.12 34 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 35 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.13 36 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.14 38 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.15 39 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 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 ©2018 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.16 41 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.17 42 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.18 43 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.19 44 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 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 ©2018 TRINAMIC Motion Control GmbH & Co.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.20 46 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.21 47 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.22 48 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 49 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.23 50 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.24 51 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.25 52 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 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 ©2018 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.26 54 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.27 55 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.28 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.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 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 ©2018 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.29 58 / 97 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 PD57/60-1276 module. Info Related commands: DI, VECT, RETI.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.30 59 / 97 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 PD57/60-1276 module. Info Related commands: EI, VECT, RETI.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.31 60 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 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 ©2018 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.32 62 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.33 63 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.34 64 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 3.6.35 66 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 4 68 / 97 Axis Parameters Most motor controller features of the PD57/60-1276 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 PD57/60-1276 module.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 69 / 97 Number Axis Parameter Description Range [Units] Access 7 Standby current The current used when the motor is not running. The maximum value is 255 which means 100% of the maximum current of the module. This value should be as low as possible so that the motor can cool down when it is not moving. Please see also parameter 214. 0. . .
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 70 / 97 Number Axis Parameter Description Range [Units] Access 22 Speed threshold for coolStep / fullstep Speed threshold for de-activating coolStep or switching to fullstep mode. 0. . . 7999774 [pps] RW 23 Minimum speed for dcStep Minimum speed for switching to dcStep 0. . .
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 Number Axis Parameter Description 140 Microstep resolution Microstep resolutions 0 fullstep 1 halfstep 2 4 microsteps 3 8 microsteps 4 16 microsteps 5 32 microsteps 6 64 microsteps 7 128 microsteps 8 256 microsteps per full 71 / 97 Range [Units] Access step: 0..8 RW 162 Chopper blank time Selects the comparator blank time.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 72 / 97 Number Axis Parameter Description Range [Units] Access 168 smartEnergy current minimum (SEIMIN) Sets the lower motor current limit for coolStep operation by scaling the maximum current (see axis parameter 6) value.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 73 / 97 Number Axis Parameter Description Range [Units] Access 180 smartEnergy actual current This status value provides the actual motor current setting as controlled by coolStep. The value goes up to the CS value and down to the portion of CS as speciﬁed by SEIMIN. Actual motor current scaling factor: 0. . . 31: 1/32, 2/32, . . . 32/32 0. . .
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 74 / 97 Number Axis Parameter Description Range [Units] Access 192 PWM autoscale PWM automatic amplitude scaling for stealthChop. 0 - User deﬁned PWM amplitude. The current settings do not have any inﬂuence. 1 - Enable automatic current control. 0. . . 1 RW 1..8 RW 193 Reference search mode 1 Search left stop switch only. 4 Search left stop switch from both sides.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 Number Axis Parameter Description 207 Extended error ﬂags A combination 1 of the following values: 75 / 97 Range [Units] Access 0. . . 3 R 0. . . 255 R stallGuard error 2 deviation error These error ﬂags are cleared automatically when this parameter has been read out or when a motion command has been executed.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 5 76 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 77 / 97 All Global Parameters of the PD57/60-1276 Module in Bank 0 Number 69 Global Parameter CAN bit rate Description 2 20kBit/s 3 50kBit/s 4 100kBit/s 5 125kBit/s 6 250kBit/s 7 500kBit/s 8 1000kBit/s (Default) Range [Units] Access 2. . . 8 RWA 70 CAN reply ID The CAN ID for replies from the board (default: 2). 0. . .
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 78 / 97 Number Global Parameter Description Range [Units] Access 128 TMCL application status 0 - stop 1 - run 2 - step 3 - reset 0. . . 3 R 129 Download mode 0 - normal mode 1 - download mode 0/1 R 130 TMCL program counter Contains the address of the currently executed TMCL command. 132 TMCL tick timer A 32 bit counter that gets incremented by one every millisecond.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 5.4 79 / 97 Bank 3 Bank 3 contains interrupt parameters. Some interrupts need conﬁguration (e.g. the timer interval of a timer interrupt). This can be done using the SGP commands with parameter bank 3 (SGP , 3, ). The priority of an interrupt depends on its number. Interrupts with a lower number have a higher priority. Table 18 shows all interrupt parameters that can be set.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 6 80 / 97 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. 6.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 6.1.1 81 / 97 Mode 1 Reference search mode 1 only searches the left end switch. Select this mode by setting axis parameter #193 to 1. Figure 3 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 L 82 / 97 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 5: Reference search Mode 3 6.1.4 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 6.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 83 / 97 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 7: Reference search Mode 5 6.1.6 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 8.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 L 84 / 97 R start stop home switch : reference search speed (axis parameter 194) : reference switch speed (axis parameter 195) Figure 9: Reference search Mode 7 6.1.8 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.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 6.2 85 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 6.3 86 / 97 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 11 shows all the adjustment points for coolStep.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 6.4 88 / 97 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 PD57/60-1276 are given in microsteps per second (also called pulse per second or pps). Acceleration and deceleration units are given in pps2 .
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 7 89 / 97 TMCL Programming Techniques and Structure 7.1 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. 7.2 Main Loop Embedded systems normally use a main loop that runs inﬁnitely.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 17 90 / 97 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.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 7.5 91 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 92 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 8 93 / 97 Figures Index 1 2 3 4 5 6 stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . Energy Eﬃciency Example with coolStep Reference search Mode 1 . . . . . . . Reference search Mode 2 . . . . . . . Reference search Mode 3 . . . . . . . Reference search Mode 4 . . . . . . . 6 6 81 81 82 82 ©2018 TRINAMIC Motion Control GmbH & Co.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 9 94 / 97 Tables Index 1 2 3 4 5 6 7 8 9 10 11 12 13 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 . . . . . . . . Calculation Commands . . . . . .
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 10 95 / 97 Supplemental Directives 10.1 Producer Information 10.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2018 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 96 / 97 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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PD57/60-1276 TMCL™ Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28 11 Revision History 11.1 Firmware Revision Version Date Author Description V1.13 2018-JUN-28 OK First release. Table 21: Firmware Revision 11.2 Document Revision Version Date Author Description V1.00 2018-JUN-28 OK First release. Table 22: Document Revision ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.