User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the 6 “Supplemental Directives” (page 51).
TMCL Overview
The software that runs on the microprocessor of the TMCC160 motionCookie™ consists of two
parts:
1. Boot loader:
The boot loader is installed by TRINAMIC during production. It remains untouched throughout its
entire product lifetime.
2. Firmware:
The firmware can be updated by the user. The firmware is related to the standard TMCL firmware
[TMCL] with regard to protocol and commands. The module is based on an ARM Cortex-M4
microcontroller and the high performance pre-driver TMC6130. It supports standard TMCL with a
special range of parameters and values. TMCL sample scripts are available on the product's web page.
1.1 Basic TMCL Formats and Commands
1.1.1 Request Format
When commands are sent from a host to a module, the request format must
be used. Every request command consists of:
 A one-byte command field
 A one-byte type field
 A one-byte motor/bank field
 A four-byte value field.
Consequently, the binary representation of a command always has seven bytes.
However, when a command is sent via RS232, or RS485UART interface, it
has to be enclosed by an address byte at the beginning and a checksum
byte at the end. In this case it consists of nine bytes.
 Please turn to next page for checksum calculation.
Description of
Request Fields
RS232 and RS485 TMCL Request Format
Bytes
Meaning
1
Module address
1
Command number
1
Type number
1
Motor or Bank number
4
Value (MSB first!)
1
Checksum
Table 1: RS232 and RS485 TMCL Request Format