User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08

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Read entire documentation; especially the 6 “Supplemental Directives” (page 51).

TABLE OF CONTENTS

TMCC160 TMCL™ Firmware Manual .............................................................. 2

Features .......................................................................................................................... 2

TABLE OF CONTENTS ..................................................................................... 2

TMCL Overview ......................................................................................... 4

1.1 Basic TMCL Formats and Commands .................................................................. 4

1.1.1 Request Format .......................................................................................................... 4

1.1.2 Reply Format .............................................................................................................. 6

1.1.3 Motion Commands ...................................................................................................... 7

1.1.4 Parameter Commands ................................................................................................. 7

1.1.5 I/O Port Commands .................................................................................................... 7

1.2 Detailed TMCL Commands .................................................................................. 8

1.2.1 ROR (Rotate Right) ..................................................................................................... 8

1.2.2 ROL (Rotate Left) ........................................................................................................ 9

1.2.3 MST (Motor Stop) ...................................................................................................... 10

1.2.4 MVP (Move to Position).............................................................................................. 11

1.2.5 SAP (Set Axis Parameter) ........................................................................................... 12

1.2.6 GAP (Get Axis Parameter) .......................................................................................... 13

1.2.7 STAP (Store Axis Parameter) ...................................................................................... 14

1.2.8 RSAP (Restore Axis Parameter) .................................................................................. 15

1.2.9 SGP (Set Global Parameter) ....................................................................................... 16

1.2.10 GGP (Get Global Parameter) ...................................................................................... 17

1.2.11 STGP (Store Global Parameter) .................................................................................. 18

1.2.12 RSGP (Restore Global Parameter) ............................................................................... 19

1.2.13 SIO (Set Output) and GIO (Get Input / Output) .......................................................... 20

1.2.14 TMCL Control Functions ............................................................................................. 23

Axis Parameter Overview (SAP, GAP, STAP, RSAP) ............................... 25

2.1 Axis Parameters Sorted by Functionality .......................................................... 30

Global Parameter Overview (SGP, GGP, STGP, RSGP) ........................... 37

3.1 Bank 0 ............................................................................................................... 37

3.2 Bank 2 ............................................................................................................... 40

Motor Regulation .................................................................................... 41

4.1 Structure of Cascaded Motor Regulation Modes .............................................. 41

4.2 Current Regulation ........................................................................................... 41

4.3 Velocity Regulation ........................................................................................... 44

4.4 Velocity Ramp Generator .................................................................................. 46

4.5 Position Regulation ........................................................................................... 46

T-Monitoring ........................................................................................ 49

Supplemental Directives ........................................................................ 51