Datasheet

TMCM-0010-OPC Hardware/Firmware Manual • Hardware Version V1.10 | Document Revision V1.00 • 2019-Apr-10

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5 Functional Description

5.1 Software Functions and Parameters

The TMCM-0010-OPC measures the actual supply voltage. If the brake chopper is enabled and the actual

supply voltage is higher than the brake chopper voltage limit, the brake chopper output will be switched

on. If the actual supply voltage is lower than the (voltage limit - hysteresis), the brake chopper output will

be switched oﬀ.

The software runs on a microprocessor and consists of two parts. The boot loader is installed by TRINAMIC

during production. It remains untouched throughout its entire product lifetime. The ﬁrmware can be

updated by the user. New versions can be downloaded free of charge from the product’s web page at

www.trinamic.com.

The TMCM-0010-OPC supports TMCL direct mode (binary commands). In direct mode the TMCL com-

munication over USB follows a strict master/slave relationship. That is, a host computer (e.g. PC/PLC)

acting as the interface bus master will send a command to the TMCM-0010-OPC. The TMCL interpreter

on the module will then interpret this command, read inputs and write outputs or whatever is necessary

according to the speciﬁed command. As soon as this step has been done, the module will send a reply

back over the interface to the bus master. Only then the master should transfer the next command.

Normally, the module will just switch to transmission and occupy the bus for a reply, otherwise it will stay

in receive mode. It will not send any data over the interface without receiving a command ﬁrst.

The Trinamic Motion Control Language (TMCL) provides a set of structured control commands. Every

command has a binary representation and a mnemonic. The binary format is used to send commands

from the host to a module in direct mode, whereas the mnemonic format is used for easy usage of the

commands when developing standalone TMCL applications using the TMCL-IDE. There is also a set of

conﬁguration variables which allow individual conﬁguration of the module.

5.2 Binary Command Format

Every command has a mnemonic and a binary representation. When commands are sent from a host

to a module, the binary format has to be used. Every command consists of a one-byte command ﬁeld, a

one-byte type ﬁeld, a one-byte motor/bank ﬁeld and a four-byte value ﬁeld. So the binary representation

of a command always has seven bytes. When a command is to be sent via RS-232, RS-485, RS-422 or USB

interface, it has to be enclosed by an address byte at the beginning and a checksum byte at the end. In

these cases it consists of nine bytes.

The binary command format with RS-232, RS-485, RS-422 and USB is as follows:

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