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Module for Stepper Motors

MODULE

TMCM-6210 TMCL

™

Firmware Manual

Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08

The TMCM-6210 is a six axes controller/driver module for 2-phase bipolar stepper motors with

separate diﬀerential encoder and separate home and stop switch inputs for each axis. Dynamic

current control, and quiet, smooth and eﬃcient operation are combined with stealthChop™, dc-

Step™, stallGuard™ and coolStep™ features. The module oﬀers four analog or digital inputs as well

as four digital outputs in combination with a break chopper unit.

Features

• 6-Axes Stepper Motor Control

• TMCL

™

• Encoder Support

• coolStep™

• dcStep™

• stallGuard2™

• stealthChop™

Applications

• Lab-Automation

• Semiconductor Handling

• Manufacturing

• Robotics

• Factory Automation

• CNC

• Laboratory Automation

Simpliﬁed Block Diagram

10..27V

TMCM-6210

µC

(ARM)

CAN

USB

RS485

Inputs

Outputs

I2C

SPI

EEPROM

TMC5072

+5V

HOME, REFL, REFR

+5V

HOME, REFL, REFR

A/B/N Encoder

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (104 pages)

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MODULE Module for Stepper Motors TMCM-6210 TMCL™ Firmware Manual Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 The TMCM-6210 is a six axes controller/driver module for 2-phase bipolar stepper motors with separate differential encoder and separate home and stop switch inputs for each axis. Dynamic current control, and quiet, smooth and eﬃcient operation are combined with stealthChop™, dcStep™, stallGuard™ and coolStep™ features.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 2 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.27 3.6.28 3.6.29 3.6.30 3.6.31 3.6.32 3.6.33 3.6.34 3.6.35 3.6.36 3 / 104 AAP (Accu to Axis Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . AGP (Accu to Global Parameter) . . . . . . . . . . . . . . . . . . . . . . . CLE (Clear Error Flags) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . EI (Enable Interrupt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 4 / 104 11 Revision History 104 11.1 Firmware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 11.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 1 5 / 104 Features The TMCM-6210 is a six axis controller/driver module for 2-phase bipolar stepper motors with state of the art feature set. It is highly integrated, offers a convenient handling and can be used in many decentralized applications. The module has been designed for coil currents up to 0.7A RMS and 24V DC supply voltage.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 1.1 6 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 2 7 / 104 First Steps with TMCL In this chapter you can ﬁnd some hints for your ﬁrst steps with the TMCM-6210 and TMCL. You may skip this chapter if you are already familiar with TMCL and the TMCL-IDE. Things that you will need • Your TMCM-6210 module. • A USB cable with micro USB plug or an RS485 interface with suitable cable or a CAN interface with suitable cable.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 8 / 104 The following table points out the most important axis parameters. Please see chapter 4 for a complete list of all axis parameters. 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.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3 5 MST 0 ROR 0 , 51200 WAIT TICKS , 0 , 500 MST 0 9 / 104 // Rotate motor 0 with 50000 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 .
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3 10 / 104 TMCL and the TMCL-IDE — An Introduction As with most TRINAMIC modules the software running on the microprocessor of the TMCM-6210 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 11 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.2 12 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.3 13 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.4 14 / 104 TMCL Command Overview This sections gives a short overview of all TMCL commands. 3.4.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.5.2 16 / 104 Parameter Commands These commands are used to set, read and store axis parameters or global parameters. Axis parameters can be set independently for each axis, whereas global parameters control the behavior of the module itself. These commands can also be used in direct mode and in standalone mode.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 17 / 104 I/O Port Commands Mnemonic Command number Meaning SIO 14 Set output GIO 15 Get input Table 9: I/O Port Commands 3.5.5 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 18 / 104 Interrupt Processing Commands Mnemonic Command number Meaning EI 25 Enable interrupt DI 26 Disable interrupt VECT 37 Set interrupt vector RETI 38 Return from interrupt Table 11: Interrupt Processing Commands 3.5.6.1 Interrupt Types There are many different interrupts in TMCL, like timer interrupts, stop switch interrupts, position reached interrupts, and input pin change interrupts.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 20 / 104 • Enable the interrupt using an EI command. • Globally enable interrupts using an EI 255 command. • An interrupt handling routine must always end with a RETI command. • Do not allow the normal program ﬂow to run into an interrupt handling routine.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6 21 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.2 22 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.3 23 / 104 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. . . 5 0 Reply in Direct Mode Status Value 100 - OK don’t care Example Stop motor 0.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.4 24 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 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) 10h Value (Byte 1) 5Fh Value (Byte 0) 90h Checksum F5h Example Move motor 0 from current position 10000 microsteps backward.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 26 / 104 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. ©2017 TRINAMIC Motion Control GmbH & Co.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.5 27 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.6 28 / 104 GAP (Get Axis Parameter) Most motion / driver related parameters of the TMCM-6210 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.7 29 / 104 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. The different groups of these parameters are organized in banks to allow a larger total number for future products.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.8 30 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.9 31 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.10 32 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.11 33 / 104 RFS (Reference Search) The TMCM-6210 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 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 ©2017 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.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.12 35 / 104 SIO (Set Output) This command sets the states of the general purpose digital outputs. Internal function: The state of the output line speciﬁed by the type parameter is set according to the value passed to this command. Related commands: GIO.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 36 / 104 Digital Outputs in Bank 2 Port Command Range OUT0 SIO 0, 2, 0/1 OUT1 SIO 1, 2, 0/1 OUT2 SIO 2, 2, 0/1 OUT3 SIO 3, 2, 0/1 Special case: SIO 255, 2, can be used to change all general purpose digital output lines simulaneously. The value will then be interpreted as a bit vector where each bit represents one of the digital outputs.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.13 37 / 104 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 16 bit result in the range of 0. . . 65535.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 38 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 39 / 104 Bank 2 – States of the Digital Outputs The states of the output lines (that have been set by SIO commands) can be read back using bank 2. Digital Outputs in Bank 2 Port Command Range OUT0 GIO 0, 2 0/1 OUT1 GIO 1, 2 0/1 OUT2 GIO 2, 2 0/1 OUT3 GIO 3, 2 0/1 State of the ENABLE Input To query the state of the ENABLE input use GIO 10, 0.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.14 40 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.15 42 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.16 43 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 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 ©2017 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.17 45 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.18 46 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.19 47 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.20 48 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 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 ©2017 TRINAMIC Motion Control GmbH & Co.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.21 50 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.22 51 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.23 52 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 53 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.24 54 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.25 55 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.26 56 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 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 ©2017 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.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.27 58 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.28 59 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.29 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. Related commands: JC, WAIT.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 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 ©2017 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.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.30 62 / 104 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 TMCM-6210 module. Info Related commands: DI, VECT, RETI.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.31 63 / 104 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 TMCM-6210 module. Info Related commands: EI, VECT, RETI.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.32 64 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 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 ©2017 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.33 66 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.34 67 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.35 68 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 3.6.36 70 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 4 72 / 104 Axis Parameters Most motor controller features of the TMCM-6210 module are controlled by axis parameters. Axis parameters can be modiﬁed or read using SAP, GAP, AAP, STAP and RSAP commands. This chapter describes all axis parameters that can be used on the TMCM-6210 module.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 73 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 74 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 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 75 / 104 Range [Units] Access step: 0..8 RW 162 Chopper blank time Selects the comparator blank time.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 76 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 77 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 Number 193 Axis Parameter Reference search mode Description 1 Search left stop switch only. 2 Search right stop switch, then search left stop switch. 3 Search right stop switch, then search left stop switch from both sides. 4 Search left stop switch from both sides. 5 Search home switch in negative direction, reverse the direction when left stop switch reached.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 Number Axis Parameter Description 204 Freewheeling mode Stand still option current (parameter when 7) is the standby set to zero. 0 normal operation 1 freewheeling 2 coil shorted using low side drivers 3 coil shorted using high side drivers 79 / 104 Range [Units] Access 0. . . 3 RW 206 Actual load value Readout of the actual load value used for stall detection (stallGuard2). 0. . .
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 80 / 104 Number Axis Parameter Description Range [Units] Access 212 Maximum encoder deviation When the actual position (parameter 1) and the encoder position (parameter 209) differ more than set here the motor will be stopped. This function is switched off when the maximum deviation is set to zero. 0. . .
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 5 81 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 82 / 104 All Global Parameters of the TMCM-6210 Module in Bank 0 Number 65 Global Parameter Description 0 9600 1 14400 2 19200 3 28800 4 38400 5 57600 6 76800 7 115200 8 230400 Not supported by PCs 9 250000 Not supported by PCs 10 500000 Not supported by PCs 11 1000000 Not supported by PCs Range [Units] Access 0. . .
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 83 / 104 Number Global Parameter Description Range [Units] Access 76 Serial host address Host address used in the reply telegrams sent back via RS485. 0. . . 255 RWA 77 Auto start mode 0 - Do not start TMCL application after power up (default). 1 - Start TMCL application automatically after power up. 0/1 RWA 78 I/O mode Switches between stop switches and encoder interface for axis pairs.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 84 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 5.4 85 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 86 / 104 Number Global Parameter Description Range [Units] Access 40 Input 1 trigger transition 0=off, 1=low-high, 2=high-low, 3=both 0. . . 3 RW 41 Input 2 trigger transition 0=off, 1=low-high, 2=high-low, 3=both 0. . . 3 RW 42 Input 3 trigger transition 0=off, 1=low-high, 2=high-low, 3=both 0. . . 3 RW Table 18: Interrupt Parameters in Bank 3 ©2017 TRINAMIC Motion Control GmbH & Co.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 6 87 / 104 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 or using an incremental encoder. You will also ﬁnd basic information about stallGuard2™ and coolStep™ in this chapter. 6.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 6.1.1 88 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 L 89 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 90 / 104 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 left limit switch is reached. This is shown in ﬁgure 8.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 L 91 / 104 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. The exact middle of the switch will be found and used as the zero point.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 6.2 92 / 104 Using Encoders With the TMCM-6210 it is also possible to use encoders. Please note that the TMCM-6210 is an open-loop system, and hence encoders can only be used to check if the motor has really reached its target position or really follows the position counter.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 6.4 93 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 6.5 95 / 104 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 TMCM-6210 are given in microsteps per second (also called pulse per second or pps). Acceleration and deceleration units are given in pps2 . When axis parameter #255 is set to 0 the internal units of the ramp generators are directly used.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 7 96 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 17 97 / 104 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. 7.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 7.5 98 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 99 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 8 100 / 104 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 88 88 89 89 ©2017 TRINAMIC Motion Control GmbH & Co.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 9 101 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 10 102 / 104 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 2017 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 103 / 104 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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TMCM-6210 TMCL™ Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08 11 11.1 104 / 104 Revision History Firmware Revision Version Date Author Description 1.04 2016-JUL-13 OK First release. 1.05 2016-NOV-02 OK Bugﬁx: TMCL program could be overwritten by user variables. 1.07 2017-JUN-08 OK Position reached event command ﬁxed. USB OTG power disabled. Table 21: Firmware Revision 11.2 Document Revision Version Date Author Description 1.