User Manual

TMCM-1070 TMCL
™
Firmware Manual • Firmware Version V1.01 | Document Revision V1.1 • 2017-Mar-02
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3 TMCL and the TMCL-IDE — An Introduction
As with most TRINAMIC modules the software running on the microprocessor of the TMCM-1070 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. New versions can be downloaded free of charge from the TRINAMIC website
(http://www.trinamic.com).
The TMCM-1070 supports TMCL direct mode (binary commands).
In direct mode the TMCL communication over RS-232, RS-485, CAN and 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-1070. The TMCL interpreter on the module will then interpret this command, do the
initialization of the motion controller, 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 should the master 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. This way,
any collision on the bus will be avoided when there are more than two nodes connected to a single bus.
The Trinamic Motion Control Language [TMCL] provides a set of structured motion control commands.
Every command has a binary representation and a mnemonic. The binary format is used to send com-
mands 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 (IDE means Integrated
Development Environment).
There is also a set of configuration variables for the axis and for global parameters which allow individual
configuration of nearly every function of a module. This manual gives a detailed description of all TMCL
commands and their usage.
3.1 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:
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
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