TMCM 1630 TMCL Firmware Manual Rev2.04

TMCM-1630_TMCL_Firmware_Manual_Rev2.04

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MODULE FOR BLDC MOTORS MODULE

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

Firmware Version V2.08

TMCL™ FIRMWARE MANUAL

+ + TMCM-1630

1-Axis BLDC

Controller / Driver

10A / 48V

RS232 / CAN or

RS485 / USB

+ +

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 2

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Table of Contents

1 Features ........................................................................................................................................................................... 4

2 Overview ......................................................................................................................................................................... 5

3 Putting the TMCM-1630 into Operation .................................................................................................................. 6

3.1 Starting up ............................................................................................................................................................. 6

3.2 Operating the Module in Direct Mode ........................................................................................................... 8

4 TMCL and TMCL-IDE .................................................................................................................................................... 10

4.1 Binary Command Format ................................................................................................................................ 10

4.2 Reply Format ....................................................................................................................................................... 11

4.2.1 Status Codes ................................................................................................................................................. 11

4.3 Standalone Applications .................................................................................................................................. 12

4.4 Testing with a Simple TMCL Program ......................................................................................................... 12

4.5 TMCL Command Overview .............................................................................................................................. 13

4.5.1 Motion Commands ...................................................................................................................................... 13

4.5.2 Parameter Commands ................................................................................................................................ 13

4.5.3 Control Commands ..................................................................................................................................... 13

4.5.4 I/O Port Commands .................................................................................................................................... 13

4.5.5 Calculation Commands .............................................................................................................................. 14

4.6 Commands ........................................................................................................................................................... 15

4.6.1 ROR (rotate right)......................................................................................................................................... 15

4.6.2 ROL (rotate left) ............................................................................................................................................ 16

4.6.3 MST (motor stop) ......................................................................................................................................... 17

4.6.4 MVP (move to position) ............................................................................................................................. 18

4.6.5 SAP (set axis parameter) ........................................................................................................................... 19

4.6.6 GAP (get axis parameter) ........................................................................................................................... 20

4.6.7 STAP (store axis parameter) ..................................................................................................................... 21

4.6.8 RSAP (restore axis parameter) ................................................................................................................. 22

4.6.9 SGP (set global parameter) ....................................................................................................................... 23

4.6.10 GGP (get global parameter) ...................................................................................................................... 24

4.6.11 STGP (store global parameter) ................................................................................................................. 24

4.6.12 RSGP (restore global parameter) ............................................................................................................. 25

4.6.13 SIO (set output) and GIO (get input / output) ................................................................................... 26

4.6.14 CALC (calculate) ............................................................................................................................................ 28

4.6.15 COMP (compare) ........................................................................................................................................... 29

4.6.16 JC (jump conditional).................................................................................................................................. 30

4.6.17 JA (jump always).......................................................................................................................................... 31

4.6.18 CSUB (call subroutine) ................................................................................................................................ 32

4.6.19 WAIT (wait for an event to occur) ......................................................................................................... 33

4.6.20 STOP (stop TMCL program execution) ................................................................................................... 34

4.6.21 CALCX (calculate using the X register) .................................................................................................. 35

4.6.22 AAP (accumulator to axis parameter) .................................................................................................... 36

4.6.23 AGP (accumulator to global parameter) ............................................................................................... 37

4.6.24 Customer Specific TMCL Command Extension (user functions 0… 7) ........................................... 37

4.6.25 Command 136 – Get Firmware Version ................................................................................................ 38

5 Axis Parameter Overview (SAP, GAP, STAP, RSAP, AAP) ................................................................................. 39

5.1 Axis Parameter Sorted by Functionality ...................................................................................................... 43

6 Global Parameter Overview (SGP, GGP, STGP, RSGP) ....................................................................................... 47

6.1 Bank 0 ................................................................................................................................................................... 47

6.2 Bank 2 ................................................................................................................................................................... 48

7 Motor Regulation ........................................................................................................................................................ 49

7.1 Structure of the Cascaded Motor Regulation Modes............................................................................... 49

7.2 Current Regulation ............................................................................................................................................ 50

7.3 Velocity Regulation ........................................................................................................................................... 51

7.4 Velocity Ramp Generator ................................................................................................................................. 52

7.5 Position Regulation ........................................................................................................................................... 52

8 Temperature Calculation........................................................................................................................................... 54

9 I²t Monitoring .............................................................................................................................................................. 54

10 Life Support Policy ..................................................................................................................................................... 55

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11 Revision History .......................................................................................................................................................... 56

11.1 Firmware Revision ............................................................................................................................................. 56

11.2 Document Revision ........................................................................................................................................... 56

12 References..................................................................................................................................................................... 56

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1 Features

The TMCM-1630 is a highly integrated single axis BLDC servo controller module with several interface-options.

The highly integrated module (size: 50mm x 92.5 mm) has been designed in order to be plugged onto a

baseboard. It integrates velocity and position control and offers hall sensor and incremental encoder (a/b/n)

inputs. The module can be used in standalone operation or remote controlled.

Applications

- Demanding single and multi-axis BLDC motor solutions

Electrical data

- Supply voltage: +24V DC or +48V DC nominal (+12… +55V DC max.)

- Motor current: up to 10A RMS (programmable) peak

Integrated motion controller

- High performance ARM Cortex™-M3 microcontroller for system control and communication protocol

handling

Integrated motor driver

- High performance integrated pre-driver (TMC603A)

- High-efficient operation, low power dissipation (MOSFETs with low RDS(ON))

- Dynamic current control

- Integrated protection

- On the fly alteration of motion parameters (e.g. position, velocity, acceleration)

Interfaces

- Two standard assembly options:

- RS232 and CAN (2.0B up to 1Mbit/s)

- RS485 and USB

- 2 analogue and 2 digital inputs

- 3 open drain outputs

Motor type

- Block commutated 3 phase BLDC motors with optional hall sensors / optional encoder

- Motor power from a few Watts to nearly 500W

- Motor velocity up to 100,000 RPM (electrical field)

- Common supply voltages of 12V DC, 24V DC, 36V DC and 48V DC supported

- Coil current up to 10A peak

Software

- TMCL standalone operation or remote controlled operation

- TMCL program memory (non volatile) for up to 2048 TMCL commands

- TMCL PC-based application development software TMCL-IDE and TMCL-BLDC available for free

Other

- Two double-row 2.54mm connectors

- ROHS compliant

- Size: 50x92.5mm²

Please see separate TMCM-1630 Hardware Manual for additional information

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2 Overview

The software running on the microprocessor of the TMCM-1630 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 firmware is related to the standard TMCL firmware [TMCL] with regard to protocol and commands. The

module is based on the ARM Cortex-M3 microcontroller and the high performance pre-driver TMC603 and

supports the standard TMCL with a special range of values.

The new FOC firmware V2.02 is field oriented control software for brushless DC applications. It is developed

for high-performance motor applications which can operate smoothly over the full velocity range, can generate

full torque at zero speed and is capable of fast acceleration and deceleration. This saves energy and quiets

rotating machinery.

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3 Putting the TMCM-1630 into Operation

Here you can find basic information for putting your module into operation. The text contains a simple

example for a TMCL program and a short description of operating the module in direct mode.

THINGS YOU NEED:

- TMCM-1630

- Interface suitable to your TMCM-1630 with cables

- Nominal supply voltage +24V DC or +48V DC for your module

- Encoder optional

- BLDC motor

- TMCL-IDE program and PC

PRECAUTIONS

- Do not mix up connections or short-circuit pins.

- Avoid bounding I/O wires with motor power wires as this may cause noise picked up from the motor supply.

- The power supply has to be buffered by a capacitor. Otherwise the module will be damaged!

- Do not exceed the maximum power supply of 55V DC.

- Do not connect or disconnect the motor while powered!

- Start with power supply OFF!

3.1 Starting up

The following figure shows how the connectors have to be used.

+5V

Torque

Dir_IN

Stop_IN

LED_Curlim

GND

Enc_A+

Enc_B+

Enc_N+

CANL/USBD-

CANH/USBD+

USB_+VB

GND

Velocity

GND

Tacho

LED_Temp

+5V

GND

Enc_A-

Enc_B-

Enc_N-

RXD/485-

TXD/485+

n.c.

GND

Hall1

+5V

GND

+VM

Hall2

Hall3

GND

+VM

Figure 3.1: Connectors of the TMCM-1630

Domain

Connector type

Mating connector type

I/Os, interfaces,

encoder

TSM-113-03-L-DV-K-A, 2x13 poles, double

row, 2.54mm pitch, SMD vertical, Samtec

SSW, SSQ, SSM, BSW, ESW, ESQ, BCS, SLW,

CES, HLE , IDSS and IDSD series, Samtec

Power, motor

TSM-113-03-L-DV-K-A, 2x13 poles, double

row, 2.54mm pitch, SMD vertical, Samtec

SSW, SSQ, SSM, BSW, ESW, ESQ, BCS, SLW,

CES, HLE , IDSS and IDSD series, Samtec

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1. Connect the motor, power supply and hall sensors

1. Connect the motor and the power supply as follows:

Label

Description

Label

Description

Motor coil W

Motor coil V

Motor coil U

Module driver supply voltage

GND

Module ground (power supply and

signal ground)

GND

Module ground (power supply

and signal ground)

GND

Module ground (power supply and

signal ground)

GND

Module ground (power supply

and signal ground)

GND

Module ground (power supply and

signal ground)

GND

Module ground (power supply

and signal ground)

+5V

+5V output (100mA max.) for

encoder and/or hall sensor supply

HALL3

Hall sensor 3 signal input

HALL1

Hall sensor 1 signal input

HALL2

Hall sensor 2 signal input

2. Connect the interface, IOs and the encoder as follows:

Label

Description

Label

Description

+5V

5V analog reference as used by the

internal DAC.

Max. load 0.5mA

Velocity

Used for velocity control in

standalone operation by

supplying external 0 - 10V

signal

Torque

Used for max. motor current /

torque control in standalone

operation by supplying external 0-

10V signal

GND

Module ground (power supply

and signal ground)

Dir_IN

5V TTL input. Tie to GND to inverse

motor direction, leave open or tie

to 5V otherwise.

Tacho

This pin outputs a tacho

impulse, i.e. toggles on each

hall sensor change

Stop_IN

Emergency stop. Tie this pin to

GND to stop the motor (same as

the Motor OFF switch on PCB). The

motor can be restarted via the

interface, or by cycling the power

supply

LED-Temp

5V TTL output: Toggling with

3Hz when temperature pre-

warning threshold is exceeded,

high when module shut down

due to overtemperature

LED-Curlim

High, when module goes into

current limiting mode

+5V

5V output as reference for

external purpose

GND

GND reference

GND

GND reference

Enc_A+

Encoder A+ channel

Enc_A-

Encoder A- channel

Enc_B+

Encoder B+ channel

Enc_B-

Encoder B- channel

Since the two connectors of the TMCM-1630 are similar be careful not to connect the module turned

around. When powered up this would damage the module. Be sure to place the connectors exactly to

their opponents. A deviation of only one pin row can damage the module also.

Start with power supply OFF!

Since the two connectors of the TMCM-1630 are similar be careful not to connect the module turned

around. When powered up this would damage the module. Be sure to place the connectors exactly to

their opponents. A deviation of only one pin row can damage the module also.

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Enc_N+

Encoder N+ channel

Enc_N-

Encoder N- channel

CANL/USBD-

CAN low /

USB D- bus line

RXD/

485-

RXD signal for RS232 /

inverting signal for RS485

CANH/USBD+

CAN high /

USB D+ bus line

TXD/

485+

TXD signal for RS232 /

non inverting signal for RS485

USB_+VB

Use to detect availability of

attached host system (e.g. PC)

n.c.

GND

GND reference

GND

GND reference

3. Switch ON the power supply

The power LED is ON now.

If this does not occur, switch power OFF and check your connections as well as the power

supply.

4. Start the TMCL-IDE software development environment

The TMCL-IDE is available on the TechLibCD and on www.trinamic.com.

Installing the TMCL-IDE

Make sure the COM port you intend to use is not blocked by another program.

Open TMCL-IDE by clicking TMCL.exe.

Choose Setup and Options and thereafter the Connection tab. Choose Type. The TMCL-IDE shows

you which Port the module uses. Click OK.

Figure 3.2: Setup menu Figure 3.3: Connection tab of TMCL-IDE

3.2 Operating the Module in Direct Mode

1. Start TMCL Direct Mode.

Direct Mode

2. If the communication is established the TMCM-1630 is automatically detected. If the module is not

detected, please check all points above (cables, interface, power supply, COM port, baud rate).

3. Issue a command by choosing instruction, type (if necessary), motor, and value and click execute

to send it to the module.

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Figure 3.4: TMCL direct mode window

Examples:

- ROR rotate right, motor 0, value 500 -> Click Execute. The first motor is rotating now.

- MST motor stop, motor 0 -> Click Execute. The first motor stops now.

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4 TMCL and TMCL-IDE

The TMCM-1630 module supports TMCL direct mode (binary commands) and standalone TMCL program

execution. You can store up to 2048 TMCL instructions on it.

In direct mode the TMCL communication over USB, CAN, RS232, and RS485 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 module. The TMCL interpreter on it 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. The

master should not transfer the next command till then. 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

motion control command can be given by a host computer or can be stored on the TMCM-1630 to form

programs that run standalone on the module. For this purpose there are not only motion control commands

but also commands to control the program structure (like conditional jumps, compare and calculating).

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.

- The mnemonic format is used for easy usage of the commands when developing standalone TMCL

applications with 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.

4.1 Binary Command Format

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 RS232, USB or RS485 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.

The binary command format for RS232/RS485/USB is structured as follows:

Bytes

Meaning

Module address

Command number

Type number

Motor or Bank number

Value (MSB first!)

Checksum

- When using CAN bus, the first byte (reply address) and the last byte (checksum) are left out.

- Do not send the next command before you have received the reply!

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Checksum calculation

As mentioned above, the checksum is calculated by adding up all bytes (including the module address byte)

using 8-bit addition. Here is an example for the calculation:

- in C:

unsigned char i, Checksum;

unsigned char Command[9];

//Set the “Command” array to the desired command

Checksum = Command[0];

for(i=1; i<8; i++)

Checksum+=Command[i];

Command[8]=Checksum; //insert checksum as last byte of the command

//Now, send the command back to the module

4.2 Reply Format

Every time a command has been sent to a module, the module sends a reply.

The reply format for RS232/RS485/USB is structured as follows:

Bytes

Meaning

Reply address

Module address

Status (e.g. 100 means no error)

Command number

Value (MSB first!)

Checksum

- The checksum is calculated by adding up all the other bytes using an 8-bit addition.

- When using CAN bus, the first byte (reply address) and the last byte (checksum) are left out.

- Do not send the next command before you have received the reply!

4.2.1 Status Codes

The reply contains a status code.

The status code can have one of the following values:

Code

Meaning

100

Successfully executed, no error

101

Command loaded into TMCL

program EEPROM

Wrong checksum

Invalid command

Wrong type

Invalid value

Configuration EEPROM locked

Command not available

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4.3 Standalone Applications

The module is equipped with an EEPROM for storing TMCL applications. You can use the TMCL-IDE for

developing standalone TMCL applications. You can load your program down into the EEPROM and then it will

run on the module. The TMCL-IDE contains an editor and a TMCL assembler where the commands can be

entered using their mnemonic format. They will be assembled automatically into their binary representations.

Afterwards this code can be downloaded into the module to be executed there.

4.4 Testing with a Simple TMCL Program

Open the file test2.tmc of the TMCL-IDE. The following source code appears on the screen:

Assemble

Download Run

Stop

Figure 4.1: Assemble, download, stop, and run icons of TMCL-IDE

1. Click on icon Assemble to convert the example into binary code.

2. Then download the program to the TMCM-1630 module via the icon Download.

3. Press icon Run. The desired program will be executed.

4. Click Stop button to stop the program.

For further information about the TMCL-IDE and TMCL programming techniques please refer to the TMCL-IDE

User Manual on TRINAMICs website.

TRINAMIC offers two software tools for BLDC applications: the TMCM-BLDC and the BLDC tool of the

TMCL-IDE. Whereas the TMCM-BLDC is used for testing different configurations in all modes of operation

the TMCL-IDE is mainly designed for conceiving programs and firmware updates. New versions of the

TMCM-BLDC and the TMCL-IDE can be downloaded free of charge from the TRINAMIC website

(http://www.trinamic.com).

//A simple example for using TMCL and TMCL-IDE

Loop:

ROL 0, 4000 //rotate left with 4000 rev/min

WAIT TICKS, 0, 2000

ROR 0, 4000 //rotate right with 4000 rev/min

WAIT TICKS, 0, 2000

JA Loop

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4.5 TMCL Command Overview

The following section provides a short overview of the TMCL commands supported by the TMCM-1630.

4.5.1 Motion Commands

These commands control the motion of the motor. They are the most important commands and can be used

in direct mode or in standalone mode.

Mnemonic

Command number

Meaning

ROL

Rotate left

ROR

Rotate right

MVP

Move to position

MST

Motor stop

4.5.2 Parameter Commands

These commands are used to set, read and store axis parameters or global parameters. Axis parameters can

be set independently for the axis, whereas global parameters control the behavior of the module itself. These

commands can also be used in direct mode and in standalone mode.

Mnemonic

Command number

Meaning

SAP

Set axis parameter

GAP

Get axis parameter

STAP

Store axis parameter into EEPROM

RSAP

Restore axis parameter from EEPROM

SGP

Set global parameter

GGP

Get global parameter

STGP

Store global parameter into EEPROM

RSGP

Restore global parameter from EEPROM

4.5.3 Control Commands

These commands are used to control the program flow (loops, conditions, jumps etc.). It does not make sense

to use them in direct mode. They are intended for standalone mode only.

Mnemonic

Command number

Meaning

Jump always

Jump conditional

COMP

Compare accumulator with constant value

CSUB

Call subroutine

RSUB

Return from subroutine

WAIT

Wait for a specified event

STOP

End of a TMCL program

4.5.4 I/O Port Commands

These commands control the external I/O ports and can be used in direct mode and in standalone mode.

Mnemonic

Command number

Meaning

SIO

Set output

GIO

Get input

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4.5.5 Calculation Commands

These commands are intended to be used for calculations within TMCL applications in standalone mode, only.

For calculating purposes there are an accumulator (or accu or A register) and an X register. When executed in

a TMCL program (in standalone mode), all TMCL commands that read a value store the result in the accumulator.

The X register can be used as an additional memory when doing calculations. It can be loaded from the

accumulator.

Mnemonic

Command number

Meaning

CALC

Calculate using the accumulator and a constant value

CALCX

Calculate using the accumulator and the X register

AAP

Copy accumulator to an axis parameter

AGP

Copy accumulator to a global parameter

MIXING STANDALONE PROGRAM EXECUTION AND DIRECT MODE

It is possible to use some commands in direct mode while a standalone program is active. When a command

which reads out a value is executed (direct mode) the accumulator will not be affected. While a TMCL program

is running standalone on the module, a host can still send commands like GAP and GGP to it (e.g. to query

the actual position of the motor) without affecting the flow of the TMCL program running standalone on the

module.

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4.6 Commands

The module specific commands are explained in more detail on the following pages. They are listed according

to their command number.

4.6.1 ROR (rotate right)

The motor will be instructed to rotate with a specified velocity in right direction (increasing the position

counter).

Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter #2

(target velocity).

Related commands: ROL, MST, SAP, GAP

Mnemonic: ROR 0, <velocity>

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE <velocity>

don’t care

-200000… +200000

Reply in direct mode:

STATUS

COMMAND

VALUE

100 – OK

don’t care

Example:

Rotate right, velocity = 350

Mnemonic: ROR 0, 350

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$00

$01

$5e

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4.6.2 ROL (rotate left)

The motor will be instructed to rotate with a specified velocity (opposite direction compared to ROR, decreasing

the position counter).

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

Mnemonic: ROL 0, <velocity>

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE <velocity>

don’t care

-200000… +200000

Reply in direct mode:

STATUS

COMMAND

VALUE

100 – OK

don’t care

Example:

Rotate left, velocity = 1200

Mnemonic: ROL 0, 1200

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$02

$00

$04

$b0

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4.6.3 MST (motor stop)

The motor will be instructed to stop.

Internal function: The axis parameter target velocity is set to zero.

Related commands: ROL, ROR, SAP, GAP

Mnemonic: MST 0

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

don’t care

Reply in direct mode:

STATUS

COMMAND

VALUE

100 – OK

don’t care

Example:

Stop motor

Mnemonic: MST 0

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$03

$00

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4.6.4 MVP (move to position)

The motor will be instructed to move to a specified relative or absolute position. It uses the

acceleration/deceleration ramp and the positioning speed programmed into the unit. This command is non-

blocking (like all commands). A reply will be sent immediately after command interpretation. Further

commands may follow without waiting for the motor reaching its end position. The maximum velocity and

acceleration are defined by axis parameters #4 and #11.

TWO OPERATION TYPES ARE AVAILABLE:

- Moving to an absolute position in the range from -2147483648… +2147483647.

- Starting a relative movement by means of an offset to the actual position. In this case, the new

resulting position value must not exceed the above mentioned limits, too.

Internal function: A new position value is transferred to the axis parameter #0 target position.

Related commands: SAP, GAP, and MST

Mnemonic: MVP <ABS|REL>, 0, <position|offset value>

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

0 ABS – absolute

-2147483648…

+2147483647

1 REL – relative

-2147483648…

+2147483647

Reply in direct mode:

STATUS

COMMAND

VALUE

100 – OK

don’t care

Example MVP ABS:

Move motor to (absolute) position 9000

Mnemonic: MVP ABS, 0, 9000

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$04

$00

$23

$28

Example MVP REL:

Move motor from current position 1000 steps backward (move relative -1000)

Mnemonic: MVP REL, 0, -1000

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$00

$04

$01

$00

$ff

$fc

$18

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 19

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4.6.5 SAP (set axis parameter)

Most of the motion control parameters of the module can be specified by using the SAP command. The

settings will be stored in SRAM and therefore are volatile. Thus, information will be lost after power off.

Please use command STAP (store axis parameter) in order to store any setting permanently.

Related commands: GAP, STAP, and RSAP

Mnemonic: SAP <parameter number>, 0, <value>

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

<value>

Reply in direct mode:

STATUS

COMMAND

VALUE

100 – OK

don’t care

A list of all parameters which can be used for the SAP command is shown in section 5.

Example:

Set the absolute maximum current to 2000mA

Mnemonic: SAP 6, 0, 2000

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$05

$06

$00

$07

$D0

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 20

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4.6.6 GAP (get axis parameter)

Most parameters of the TMCM-1630 can be adjusted individually. They can be read out using the GAP command.

Related commands: SAP, STAP, and RSAP

Mnemonic: GAP <parameter number>, 0

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

don’t care

Reply in direct mode:

STATUS

COMMAND

VALUE

100 – OK

don’t care

A list of all parameters which can be used for the GAP command is shown in section 5.

Example:

Get the actual position of motor

Mnemonic: GAP 1, 0

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$06

$01

$00

Reply:

Byte Index

Function

Host-

address

Target-

address

Status

Instructio

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$00

$01

$64

$06

$00

$02

$c7

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 21

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4.6.7 STAP (store axis parameter)

The STAP command stores an axis parameter previously set with a Set Axis Parameter command (SAP)

permanently. Most parameters are automatically restored after power up.

Internal function: An axis parameter value stored in SRAM will be transferred to EEPROM and loaded from

EEPORM after next power up.

Related commands: SAP, RSAP, and GAP

Mnemonic: STAP <parameter number>, 0

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

don’t care*

* The value operand of this function has no effect. Instead, the currently used value (e.g. selected by SAP) is saved.

Reply in direct mode:

STATUS

COMMAND

VALUE

100 – OK

don’t care

A list of all parameters which can be used for the STAP command is shown in section 5.

Example:

Store the maximum speed

Mnemonic: STAP 4, 0

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$07

$04

$00

Note: The STAP command will not have any effect when the configuration EEPROM is locked. The error

code 5 (configuration EEPROM locked) will be returned in this case.

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 22

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4.6.8 RSAP (restore axis parameter)

For all configuration related axis parameters non-volatile memory locations are provided. By default, most

parameters are automatically restored after power up. A single parameter that has been changed before can

be reset by this instruction also.

Internal function: The specified parameter is copied from the configuration EEPROM memory to its RAM

location.

Related commands: SAP, STAP, and GAP

Mnemonic: RSAP <parameter number>, 0

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

don’t care

Reply in direct mode:

STATUS

COMMAND

VALUE

100 – OK

don’t care

A list of all parameters which can be used for the RSAP command is shown in section 5.

Example:

Restore the maximum current

Mnemonic: RSAP 6, 0

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$08

$06

$00

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 23

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4.6.9 SGP (set global parameter)

Global parameters are related to the host interface, peripherals or other 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 intended for user variables.

Related commands: GGP, STGP, RSGP

Mnemonic: SGP <parameter number>, <bank number>, <value>

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

<value>

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

A list of all parameters which can be used for the SGP command is shown in section 6.

Example:

Set variable 0 at bank 2 to 100

Mnemonic: SGP, 0, 2, 100

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$09

$00

$02

$00

$64

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 24

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4.6.10 GGP (get global parameter)

All global parameters can be read with this function.

Related commands: SGP, STGP, RSGP

Mnemonic: GGP <parameter number>, <bank number>

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

don’t care

Reply in direct mode:

STATUS

VALUE

100 – OK

<value>

A list of all parameters which can be used for the GGP command is shown in section 6.

Example:

Get variable 0 from bank 2

Mnemonic: GGP, 0, 2

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$0a

$00

$02

$00

4.6.11 STGP (store global parameter)

Some global parameters are located in RAM memory, so modifications are lost at power down. This instruction

copies a value from its RAM location to the configuration EEPROM and enables permanent storing. Most

parameters are automatically restored after power up.

Related commands: SGP, GGP, RSGP

Mnemonic: STGP <parameter number>, <bank number>

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

don’t care

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

A list of all parameters which can be used for the STGP command is shown in section 6.

Example:

Copy variable 0 at bank 2 to the configuration EEPROM

Mnemonic: STGP, 0, 2

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$0b

$00

$02

$00

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 25

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4.6.12 RSGP (restore global parameter)

This instruction copies a value from the configuration EEPROM to its RAM location and so recovers the

permanently stored value of a RAM-located parameter. Most parameters are automatically restored after power

up.

Related commands: SGP, GGP, STGP

Mnemonic: RSGP <parameter number>, <bank number>

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

don’t care

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

A list of all parameters which can be used for the RSGP command is shown in section 6.

Example:

Copy variable 0 at bank 2 from the configuration EEPROM to the RAM location

Mnemonic: RSGP, 0, 2

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$0c

$00

$02

$00

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 26

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4.6.13 SIO (set output) and GIO (get input / output)

The TMCM-1630 provides two commands for dealing with inputs and outputs:

- SIO sets the status of the general digital output either to low (0) or to high (1).

- With GIO the status of all general purpose inputs of the module can be read out. The command reads

out a digital or analogue input port. Digital lines will read 0 and 1, while the ADC channel delivers 12

bit in the range of 0… 4095.

CORRELATION BETWEEN I/OS AND BANKS

Inputs/ Outputs

Bank

Description

Digital inputs

Bank 0

Digital inputs are accessed in bank 0.

Analogue inputs

Bank 1

Analog inputs are accessed in bank 1.

Digital outputs

Bank 2

The states of the OUT lines (that have been set by SIO commands)

can be read back using bank 2.

4.6.13.1 SIO (set output)

Bank 2 is used for setting the status of the general digital output either to low (0) or to high (1).

Internal function: the passed value is transferred to the specified output line.

Related commands: GIO, WAIT

Mnemonic: SIO <port number>, <bank number>, <value>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

<value>

0/1

Reply structure:

STATUS

VALUE

100 – OK

don’t care

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$0e

$07

$02

$00

$01

4.6.13.2 GIO (get input/output)

GIO can be used in direct mode or in standalone mode.

GIO IN STANDALONE MODE

In standalone mode the requested value is copied to the accumulator (accu) for further processing purposes

such as conditioned jumps.

GIO IN DIRECT MODE

In direct mode the value is output in the value field of the reply without affecting the accumulator. The actual

status of a digital output line can also be read.

Internal function: the specified line is read.

Related commands: SIO, WAIT

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 27

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Mnemonic: GIO <port number>, <bank number>

Binary representation:

INSTRUCTION NO.

TYPE

MOT/BANK

VALUE

don’t care

Reply in direct mode:

STATUS

VALUE

100 – OK

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$0f

$00

$01

$00

Reply:

Byte Index

Function

Host-

address

Target-

address

Status

Instructio

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$02

$01

$64

$0f

$00

$01

$2e

+5V

Torque

Dir_IN

Stop_IN

LED_Curlim

GND

Enc_A+

Enc_B+

Enc_N+

CANL/USBD-

CANH/USBD+

USB_+VB

GND

Velocity

GND

Tacho

LED_Temp

+5V

GND

Enc_A-

Enc_B-

Enc_N-

RXD/485-

TXD/485+

n.c.

GND

Hall1

+5V

GND

+VM

Hall2

Hall3

GND

+VM

Figure 4.2 Connector of TMCM-1630

PROVIDED SIO AND GIO COMMANDS

Digital

Analog

GIO <port>, <bank>

SIO <port>, <bank>, <value>

Value range

GIO 0, 1 (velocity)

0… 4095

GIO 1, 1 (torque)

0… 4095

GIO 2, 1 (Phase A)

0… 4095

GIO 3, 1 (Phase B)

0… 4095

GIO 4, 1 (Phase C)

0… 4095

GIO 5, 1 (VSupply)

0… 4095

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 28

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GIO 6, 1 (Temp)

0… 4095

GIO 0, 0 (DIR_IN)

0/1

GIO 0, 2 (tacho)

SIO 0, 2, <value>

0/1

GIO 1, 0 (STOP_IN)

0/1

THE FOLLOWING PROGRAM WILL SHOW THE STATES OF THE INPUT LINES ON THE OUTPUT LINES:

Loop: GIO 255, 0

SIO 255, 2,-1

JA Loop

4.6.14 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.

Related commands: CALCX, COMP, JC, AAP, AGP, GAP, GGP, GIO

Mnemonic: CALC <op>, <value>

Binary representation:

COMMAND

TYPE <op>

MOT/BANK

VALUE

0 ADD – add to accu

1 SUB – subtract from accu

2 MUL – multiply accu by

3 DIV – divide accu by

4 MOD – modulo divide by

5 AND – logical and accu with

6 OR – logical or accu with

7 XOR – logical exor accu with

8 NOT – logical invert accu

9 LOAD – load operand to accu

don’t care

Example:

Multiply accu by -5000

Mnemonic: CALC MUL, -5000

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$13

$02

$00

$FF

$EC

$78

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 29

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4.6.15 COMP (compare)

The specified number is compared to the value in the accumulator register. The result of the comparison can

be used for example by the conditional jump (JC) instruction. This command is intended for use in standalone

operation, only. The host address and the reply are required to take the instruction to the TMCL program

memory while the TMCL program downloads. It does not make sense to use this command in direct mode.

Internal function: The specified value is compared to the internal accumulator, which holds the value of a

preceding get or calculate instruction (see GAP/GGP/CALC/CALCX). The internal arithmetic status flags are set

according to the comparison result.

Related commands: JC (jump conditional), GAP, GGP, CALC, CALCX

Mnemonic: COMP <value>

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

don’t care

Example:

Jump to the address given by the label when the position of the motor #0 is greater or equal to 1000.

GAP 1, 0, 0 //get axis parameter, type: no. 1 (actual position), motor: 0, value: 0 don’t care

COMP 1000 //compare actual value to 1000

JC GE, Label //jump, type: 5 greater/equal, the label must be defined somewhere else in the

program

Binary format of the COMP 1000 command:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$14

$00

$03

$e8

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4.6.16 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. This function is for standalone

operation only. The host address and the reply are required to take the instruction to the TMCL program

memory while the TMCL program downloads. It is not possible to use this command in direct mode.

Internal function: The TMCL program counter is set to the passed value if the arithmetic status flags are in

the appropriate state(s).

Related commands: JA, COMP, WAIT

Mnemonic: JC <condition>, <label>

where <condition>=ZE|NZ|EQ|NE|GT|GE|LT|LE|ETO|EAL

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

0 ZE - zero

1 NZ - not zero

2 EQ - equal

3 NE - not equal

4 GT - greater

5 GE - greater/equal

6 LT - lower

7 LE - lower/equal

8 ETO - time out error

9 EAL - external alarm

don’t care

Example:

Jump to address given by the label when the position of the motor is greater than or equal to 1000.

GAP 1, 0, 0 //get axis parameter, type: no. 1 (actual position), motor: 0, value: 0 don’t care

COMP 1000 //compare actual value to 1000

JC GE, Label //jump, type: 5 greater/equal

...

Label: ROL 0, 1000

Binary format of JC GE, Label when Label is at address 10:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$15

$05

$00

$0a

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 31

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4.6.17 JA (jump always)

Jump to a fixed address in the TMCL program memory. This command is intended for standalone operation,

only. The host address and the reply are required to take the instruction to the TMCL program memory while

the TMCL program downloads. This command cannot be used in direct mode.

Internal function: The TMCL program counter is set to the passed value.

Related commands: JC, WAIT, CSUB

Mnemonic: JA <Label>

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

don’t care

Example:

An infinite loop in TMCL

Loop: MVP ABS, 0, 10000

WAIT POS, 0, 0

MVP ABS, 0, 0

WAIT POS, 0, 0

JA Loop //Jump to the label Loop

Binary format of JA Loop assuming that the label Loop is at address 20:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$16

$00

$14

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 32

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4.6.18 CSUB (call subroutine)

For implementing subroutines there are two commands:

- CSUB calls a subroutine in the TMCL program memory. It is intended for standalone operation, only.

The host address and the reply are required to take the instruction to the TMCL program memory

while the TMCL program downloads. This command cannot be used in direct mode.

- RSUB is used for returning from a subroutine to the next command behind the CSUB command.

4.6.18.1 CSUB (call subroutine)

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. The command will be ignored if there is no more stack space left.

Related commands: RSUB, JA

Mnemonic: CSUB <Label>

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

don’t care

Binary format of the CSUB SubW command assuming that the label SubW is at address 100:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$17

$00

$64

4.6.18.2 RSUB (return from subroutine)

Internal function: The TMCL program counter is set to the last value of the stack. The command will be

ignored if the stack is empty.

Related command: CSUB

Mnemonic: RSUB

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

don’t care

Binary format of RSUB:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$18

$00

Example: Call a subroutine

Loop: MVP ABS, 0, 10000

CSUB SubW //Save program counter and jump to label SubW (see below)

MVP ABS, 0, 0

JA Loop

SubW: WAIT POS, 0, 0

WAIT TICKS, 0, 50

RSUB //Continue with the command following the CSUB command (in this

example: MVP ABS).

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 33

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4.6.19 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. The host address and the reply are only used to take the

instruction to the TMCL program memory while the TMCL program downloads. This command is not to be

used in direct mode.

THERE ARE DIFFERENT WAIT CONDITIONS THAT CAN BE USED:

TICKS: Wait until the number of timer ticks specified by the <ticks> parameter has been reached.

POS: Wait until the target position of the motor specified by the <motor> parameter has been reached. An

optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.

The timeout flag (ETO) will be set after a timeout limit has been reached. You can then use a JC ETO command

to check for such errors or clear the error using the CLE command.

Internal function: The TMCL program counter is held until the specified condition is met.

Related commands: JC, CLE

Mnemonic: WAIT <condition>, <motor number>, <ticks>

where <condition> is TICKS|POS

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

0 TICKS - timer ticks*

don’t care

<no. of ticks*>

1 POS - target position reached

<no. of ticks* for timeout>,

0 for no timeout

* One tick is 10msec (in standard firmware).

Example:

Wait for motor to reach its target position, without timeout

Mnemonic: WAIT POS, 0, 0

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$1b

$01

$00

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 34

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4.6.20 STOP (stop TMCL program execution)

This function stops executing a TMCL program. The host address and the reply are only used to transfer the

instruction to the TMCL program memory.

Every standalone TMCL program needs the STOP command at its end. It is not to be used in direct mode.

Internal function: TMCL instruction fetching is stopped.

Related commands: none

Mnemonic: STOP

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

don’t care

Example:

Stop TMCL execution

Mnemonic: STOP

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$1c

$00

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 35

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4.6.21 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.

Related commands: CALC, COMP, JC, AAP, AGP

Mnemonic: CALCX <operation>

Binary representation:

COMMAND

TYPE <operation>

MOT/BANK

VALUE

0 ADD – add X register to accu

1 SUB – subtract X register from accu

2 MUL – multiply accu by X register

3 DIV – divide accu by X-register

4 MOD – modulo divide accu by x-register

5 AND – logical and accu with X-register

6 OR – logical or accu with X-register

7 XOR – logical exor accu with X-register

8 NOT – logical invert X-register

9 LOAD – load accu to X-register

10 SWAP – swap accu with X-register

don’t care

Example:

Multiply accu by X-register

Mnemonic: CALCX MUL

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$21

$02

$00

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 36

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4.6.22 AAP (accumulator to axis parameter)

The content of the accumulator register is transferred to the specified axis parameter. For practical use, 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.

Related commands: AGP, SAP, GAP, SGP, GGP, CALC, CALCX

Mnemonic: AAP <parameter number>, 0

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

<don't care>

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

See chapter 5 for a complete list of axis parameters.

Example:

Positioning a motor by a potentiometer connected to analogue input #0:

Start: GIO 0, 1 // get value of analogue input line 0

CALC MUL, 4 // multiply by 4

AAP 0, 0 // transfer result to target position of motor 0

JA Start // jump back to start

Binary format of the AAP 0, 0 command:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$22

$00

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 37

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4.6.23 AGP (accumulator to global parameter)

The content of the accumulator register is transferred to the specified global parameter. For practical use, 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.

- Note that the global parameters in bank 0 are mostly EEPROM-only and thus should not be modified

automatically by a standalone application.

- See chapter Fehler! Verweisquelle konnte nicht gefunden werden. for a complete list of global parameters.

Related commands: AAP, SGP, GGP, SAP, GAP

Mnemonic: AGP <parameter number>, <bank number>

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

don’t care

Reply in direct mode:

STATUS

VALUE

100 – OK

don’t care

Example:

Copy accumulator to TMCL user variable #3

Mnemonic: AGP 3, 2

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$01

$23

$03

$02

$00

4.6.24 Customer Specific TMCL Command Extension (user functions 0… 7)

The user definable functions UF0… UF7 are predefined functions without topic for user specific purposes. A

user function UF command uses three parameters. Please contact TRINAMIC for a customer specific

programming.

Internal function: Call user specific functions implemented in C by TRINAMIC.

Related commands: none

Mnemonic: UF0… UF7 <parameter number>

Binary representation:

COMMAND

TYPE

MOT/BANK

VALUE

64… 71

user defined

Reply in direct mode:

Byte Index

Function

Target-

address

Target-

address

Status

Instructio

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Value (hex)

$02

$01

user

defined

64… 71

user

defined

user

defined

user

defined

user

defined

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 38

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4.6.25 Command 136 – Get Firmware Version

Command 136 is used for reading out the module type and firmware version as a string or in binary format.

(Motor/Bank and Value are ignored.)

Other control functions can be used with axis parameters.

Command

Type

Parameter

Description

Access

136

0 – string

1 – binary

Firmware version

Get the module type and firmware revision as a

string or in binary format. (Motor/Bank and Value

are ignored.)

read

TYPE SET TO 0 - REPLY AS A STRING:

Byte index

Contents

Host Address

2… 9

Version string (8 characters, e.g. 1630V202)

There is no checksum in this reply format!

TYPE SET TO 1 - VERSION NUMBER IN BINARY FORMAT:

The version number is output in the value field.

Byte index in value field

Contents

Version number, low byte

Version number, high byte

Type number, low byte

Type number, high byte

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 39

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5 Axis Parameter Overview (SAP, GAP, STAP, RSAP, AAP)

The following section describes all axis parameters that can be used with the SAP, GAP, STAP and RSAP

commands.

MEANING OF THE LETTERS IN COLUMN ACCESS:

Access

type

command(s)

Description

GAP

Parameter readable

SAP, AAP

Parameter writable

STAP, RSAP

Parameter automatically restored from EEPROM after reset or power-on. These

parameters can be stored permanently in EEPROM using STAP command and

also explicitly restored (copied back from EEPROM into RAM) using RSAP.

Number

Axis Parameter

Description

Range [Unit]

Access

Target position

The target position of a currently executed ramp.

-2147483648…

+2147483647

Actual position

Set/get the position counter without moving the

motor.

-2147483648…

+2147483647

Target speed

Set/get the desired target velocity.

-200000… +200000

[rpm]

Actual speed

The actual velocity of the motor.

-2147483648…

+2147483647

[rpm]

Max. absolute

ramp velocity

The maximum velocity used for velocity ramp in

velocity mode and positioning mode. Set this

value to a realistic velocity which the motor can

reach!

0… +200000

[rpm]

RWE

Max current

Set/get the max allowed motor current.

*This value can be temporarily exceeded marginal due to the

operation of the current regulator.

0… +20000

[mA]

RWE

MVP Target

reached velocity

Maximum velocity at which end position can be

set. Prevents issuing of end position when the

target is passed at high velocity.

0… +200000 [rpm]

RWE

Motor halted

velocity

If the actual speed is below this value the motor

halted flag will be set.

0 +200000 [rpm]

RWE

MVP target

reached

distance

Maximum distance at which the position end flag

is set.

0… +100000

RWE

Acceleration

Acceleration parameter for ROL, ROR, and the

velocity ramp of MVP.

0… +100000

[RPM/s]

RWE

Ramp generator

speed

The actual speed of the velocity ramp used for

positioning and velocity mode.

-2147483648…

+2147483647

[rpm]

Thermal

winding time

constant

Thermal winding time constant for the used

motor. Used for I²t monitoring.

0… +4294967295

[ms]

RWE

I²t limit

An actual I²t sum that exceeds this limit leads to

increasing the I²t exceed counter.

0… +4294967295

RWE

I²t sum

Actual sum of the I²t monitor.

0… +4294967295

I²t exceed

counter

Counts how often an I²t sum was higher than the

I²t limit.

0… +4294967295

RWE

Clear I²t

exceeded flag

Clear the flag that indicates that the I²t sum has

exceeded the I²t limit.

(ignored)

Minute counter

Counts the module operational time in minutes.

0… +4294967295

[min]

RWE

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 40

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Number

Axis Parameter

Description

Range [Unit]

Access

BLDC

re-initialization

Restart the timer and initialize encoder.

(ignored)

133

PID regulation

loop delay

Delay of the position and velocity regulator

0… +10

[ms]

RWE

134

Current

regulation loop

delay

Delay of the PID current regulator.

0… +10

[50µs]

RWE

146

Activate ramp

1: Activate velocity ramp generator for position

and velocity mode. (Allows usage of acceleration

and positioning velocity for MVP command.)

0/1

RWE

150

Actual motor

current

Get actual motor current.

-2147483648…

+2147483647 [mA]

151

Actual voltage

Actual supply voltage.

0… +4294967295

152

Actual driver

temperature

Actual temperature of the motor driver.

0… +4294967295

155

Target current

Get desired target current or set target current to

activate current regulation mode. (+= turn motor

in right direction; -= turn motor in left direction)

-20000… +20000

[mA]

156

Error/Status

flags

Bit 0: Overcurrent flag. This flag is set if the max.

current limit is exceeded.

Bit 1: Undervoltage flag. This flag is set if supply

voltage is too low for motor operation.

Bit 2: Overvoltage flag. This flag is set if the

motor becomes switched off due to overvoltage.

Bit 3: Overtemperature flag. This flag is set if

overtemperature limit is exceeded.

Bit 4: Motor halted flag. This flag is set if motor

has been switched off.

Bit 5: Hall error flag. This flag is set upon a hall

error.

Bit 6: TMC603 error flag

Bit 7: unused

Bit 8: unused

Bit 9: Velocity mode active flag

Bit 10: Position mode active flag.

Bit 11: Torque mode active flag.

Bit 12: unused

Bit 13: unused

Bit 14: Position end flag. This flag is set if the

motor has been stopped at the target position.

Bit 15: unused

Bit 16: unused

Bit 17: I²t exceeded flag. This flag is set if the I²t

sum exceeded the I²t limit of the motor.

(reset by SAP 29 after the time specified by the

I²t thermal winding time constant)

Flag 0 to 15 are automatically reset. Only flag 17

must be cleared manually.

0…+4294967295

159

Commutation

mode

0: Block based on hall sensor

6: FOC based on hall sensor

7: FOC based on encoder

8: FOC controlled

0, 6, 7, 8

RWE

161

Encoder set

NULL

1: set position counter to zero at next N channel

event.

0/1

RWE

162

Switch set NULL

1: set position counter to zero at next switch

event.

0/1

RWE

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 41

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Number

Axis Parameter

Description

Range [Unit]

Access

163

Encoder clear

set NULL

1: set position counter to zero only once

0: always at an N channel event

0/1

RWE

164

Activate stop

switch

Bit 0

Left stop switch

enable

When this bit is set

the motor will be

stopped if it is

moving in negative

direction and the left

stop switch input

becomes active

Bit 1

Right stop switch

enable

When this bit is set

the motor will be

stopped if it is

moving in positive

direction and the

right stop switch

input becomes

active

Please see parameter 166 for selecting the stop

switch input polarity.

0… 3

RWE

165

Actual encoder

commutation

offset

This value represents the internal commutation

offset.

(0 … max. encoder steps per rotation)

0… 65535

RWE

166

Stop switch

polarity

Bit 0

Left stop switch

polarity

Bit set: Left stop

switch input is high

active

Bit clear: Left stop

switch input is low

active

Bit 1

Right stop switch

polarity

Bit set: Right stop

switch input is high

active

Bit clear: Right stop

switch input is low

active

0… 3

RWE

172

P parameter for

current PID

P parameter of current PID regulator.

0… 65535

RWE

173

I parameter for

current PID

I parameter of current PID regulator.

0… 65535

RWE

177

Start current

Motor current for controlled commutation. This

parameter is used in commutation mode.

0… +20000

[mA]

RWE

200

Current PID

error

Actual error of current PID regulator

-2147483648…

+2147483647

201

Current PID

error sum

Sum of errors of current PID regulator

-2147483648…

+2147483647

210

Actual hall

angle

Actual hall angle value

-32767… +32767

211

Actual encoder

angle

Actual encoder angle value

-32767… +32767

212

Actual

controlled

angle

Actual controlled angle value

-32767… +32767

226

Position PID

error

Actual error of position PID regulator

-2147483648…

+2147483647

228

Velocity PID

error

Actual error of velocity PID regulator

-2147483648…

+2147483647

229

Velocity PID

error sum

Sum of errors of velocity PID regulator

-2147483648…

+2147483647

230

P parameter for

position PID

P parameter of position PID regulator.

0… 65535

RWE

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 42

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Number

Axis Parameter

Description

Range [Unit]

Access

234

P parameter for

velocity PID

P parameter of velocity PID regulator.

0… 65535

RWE

235

I parameter for

velocity PID

I parameter of velocity PID regulator.

0… 65535

RWE

241

Sine

initialization

speed

Velocity during initialization in init sine mode 2.

Refer to axis parameter 249, too.

-200000… +200000

[rpm]

RWE

244

Init sine delay

Duration for sine initialization sequence. This

parameter should be set in a way, that the motor

has stopped mechanical oscillations after the

specified time.

0… 10000

[ms]

RWE

245

Overvoltage

protection

1: Enable overvoltage protection.

0/1

RWE

249

Init sine mode

0: Initialization in controlled sine commutation

(determines the encoder offset)

1: Initialization in block commutation using hall

sensors

2: Initialization in controlled sine commutation

(use the previous set encoder offset)

0, 1, 2

RWE

250

Encoder steps

Encoder steps per rotation.

0… +65535

RWE

251

Encoder

direction

Set the encoder direction in a way, that ROR

increases position counter.

0/1

RWE

253

Number of

motor poles

Number of motor poles.

+2… +254

RWE

254

Hall sensor

invert

1: Hall sensor invert. Invert the hall scheme, e.g.

used by some Maxon motors.

0/1

RWE

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 43

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5.1 Axis Parameter Sorted by Functionality

The following section describes all axis parameters that can be used with the SAP, GAP, STAP and RSAP

commands.

MEANING OF THE LETTERS IN COLUMN ACCESS:

Access

type

command(s)

Description

GAP

Parameter readable

SAP, AAP

Parameter writable

STAP, RSAP

Parameter automatically restored from EEPROM after reset or power-on. These

parameters can be stored permanently in EEPROM using STAP command and

also explicitly restored (copied back from EEPROM into RAM) using RSAP.

MOTOR / MODULE SETTINGS

Number

Axis Parameter

Description

Range [Unit]

Access

253

Number of

motor poles

Number of motor poles.

+2… +254

RWE

Thermal

winding time

constant

Thermal winding time constant for the used

motor. Used for I²t monitoring.

0… +4294967295

[ms]

RWE

I²t limit

An actual I²t sum that exceeds this limit leads to

increasing the I²t exceed counter.

0… +4294967295

RWE

I²t sum

Actual sum of the I²t monitor.

0… +4294967295

I²t exceed

counter

Counts how often an I²t sum was higher than the

I²t limit.

0… +4294967295

RWE

Clear I²t

exceeded flag

Clear the flag that indicates that the I²t sum has

exceeded the I²t limit.

(ignored)

Minute counter

Counts the module operational time in minutes.

0… +4294967295

[min]

RWE

245

Overvoltage

protection

1: Enable overvoltage protection.

0/1

RWE

ENCODER / INITIALIZATION SETTINGS

Number

Axis Parameter

Description

Range [Unit]

Access

BLDC

re-initialization

1: restart the timer and initialize encoder.

(Ignored)

159

Commutation

mode

0: Block based on hall sensor

6: FOC based on hall sensor

7: FOC based on encoder

8: FOC controlled

0, 6, 7, 8

RWE

165

Actual encoder

commutation

offset

This value represents the internal commutation

offset.

(0 … max. encoder steps per rotation)

0… 65535

RWE

177

Start current

Motor current for controlled commutation. This

parameter is used in commutation mode.

0… +20000

[mA]

RWE

210

Actual hall

angle

Actual hall angle value

-32767… +32767

211

Actual encoder

angle

Actual encoder angle value

-32767… +32767

212

Actual

controlled

angle

Actual controlled angle value

-32767… +32767

241

Sine

initialization

speed

Velocity during initialization in init sine mode 2.

Refer to axis parameter 249, too.

-200000… +200000

[rpm]

RWE

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 44

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Number

Axis Parameter

Description

Range [Unit]

Access

244

Init sine delay

Duration for sine initialization sequence. This

parameter should be set in a way, that the motor

has stopped mechanical oscillations after the

specified time.

0… 10000

[ms]

RWE

249

Init sine mode

0: Initialization in controlled sine commutation

(determines the encoder offset)

1: Initialization in block commutation using hall

sensors

2: Initialization in controlled sine commutation

(use the previous set encoder offset)

0… 2

RWE

250

Encoder steps

Encoder steps per rotation.

0… +65535

RWE

251

Encoder

direction

Set the encoder direction in a way, that ROR

increases position counter.

0/1

RWE

254

Hall sensor

invert

1: Hall sensor invert. Invert the hall scheme, e.g.

used by some Maxon motors.

0/1

RWE

TORQUE REGULATION MODE

Number

Axis Parameter

Description

Range [Unit]

Access

Max current

Set/get the max allowed motor current.

This value can be temporarily exceeded marginal due to the

operation of the current regulator.

0… +20000

[mA]

RWE

150

Actual motor

current

Get actual motor current.

-2147483648…

+2147483647 [mA]

155

Target current

Get desired target current or set target current to

activate current regulation mode. (+= turn motor

in right direction; -= turn motor in left direction)

-20000… +20000

[mA]

134

Current

regulation loop

delay

Delay of the PID current regulator.

0… +10

[50µs]

RWE

172

P parameter for

current PID

P parameter of current PID regulator.

0… 65535

RWE

173

I parameter for

current PID

I parameter of current PID regulator.

0… 65535

RWE

200

Current PID

error

Actual error of current PID regulator

-2147483648…

+2147483647

201

Current PID

error sum

Sum of errors of current PID regulator

-2147483648…

+2147483647

VELOCITY REGULATION MODE

Number

Axis Parameter

Description

Range [Unit]

Access

Target speed

Set/get the desired target velocity.

-2147483648…

+2147483647

[rpm]

Actual speed

The actual velocity of the motor.

-2147483648…

+2147483647

[rpm]

Motor halted

velocity

If the actual speed is below this value the motor

halted flag will be set.

0 +200000 [rpm]

RWE

133

PID regulation

loop delay

Delay of the position and velocity

0… +10

[ms]

RWE

234

P parameter for

velocity PID

P parameter of velocity PID regulator.

0… +10

[50µs]

RWE

228

Velocity PID

error

Actual error of PID velocity regulator

-2147483648…

+2147483647

229

Velocity PID

error sum

Sum of errors of PID velocity regulator

-2147483648…

+2147483647

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 45

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VELOCITY RAMP PARAMETER

Number

Axis Parameter

Description

Range [Unit]

Access

Max. absolute

ramp velocity

The maximum velocity used for velocity ramp in

velocity mode and positioning mode. Set this

value to a realistic velocity which the motor can

reach!

0 +200000

[rpm]

RWE

Acceleration

Acceleration parameter for ROL, ROR, and the

velocity ramp of MVP.

0… +100000

[RPM/s]

RWE

Ramp generator

speed

The actual speed of the velocity ramp used for

positioning and velocity mode.

-2147483648…

+2147483647

[rpm]

146

Activate ramp

1: Activate velocity ramp generator for position

PID control. (Allows usage of acceleration and

positioning velocity for MVP command.)

0/1

RWE

POSITION REGULATION MODE

Number

Axis Parameter

Description

Range [Unit]

Access

Actual position

Set/get the position counter without moving the

motor.

-2147483648…

+2147483647

Target position

The target position of a currently executed ramp.

-2147483648…

+2147483647

MVP Target

reached velocity

Maximum velocity at which end position flag can

be set. Prevents issuing of end position when the

target is passed at high velocity.

0 +200000 [rpm]

RWE

MVP target

reached

distance

Maximum distance at which the position end flag

is set.

0… +100000

RWE

161

Encoder set

NULL

1: set position counter to zero at next N channel

event.

0/1

RWE

162

Switch set NULL

1: set position counter to zero at next switch

event.

0/1

RWE

163

Encoder clear

set NULL

1: set position counter to zero only once

0: always at an N channel event

0/1

RWEP

164

Activate stop

switch

Bit 0

Left stop switch

enable

When this bit is set

the motor will be

stopped if it is

moving in negative

direction and the left

stop switch input

becomes active

Bit 1

Right stop switch

enable

When this bit is set

the motor will be

stopped if it is

moving in positive

direction and the

right stop switch

input becomes

active

Please see parameter 166 for selecting the stop

switch input polarity.

0… 3

RWE

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 46

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Number

Axis Parameter

Description

Range [Unit]

Access

166

Stop switch

polarity

Bit 0

Left stop switch

polarity

Bit set: Left stop

switch input is high

active

Bit clear: Left stop

switch input is low

active

Bit 1

Right stop switch

polarity

Bit set: Right stop

switch input is high

active

Bit clear: Right stop

switch input is low

active

0… 3

RWE

230

P parameter for

position PID

P parameter of position PID regulator. (

0… 65535

RWE

226

Position PID

error

Actual error of PID position regulator

-2147483648…

+2147483647

STATUS INFORMATION

Number

Axis Parameter

Description

Range [Unit]

Access

151

Actual voltage

Actual supply voltage.

0… +4294967295

152

Actual driver

temperature

Actual temperature of the motor driver.

0… +4294967295

156

Error/Status

flags

Bit 0: Overcurrent flag. This flag is set if the max.

current limit is exceeded.

Bit 1: Undervoltage flag. This flag is set if supply

voltage is too low for motor operation.

Bit 2: Overvoltage flag. This flag is set if the

motor becomes switched off due to overvoltage.

Bit 3: Overtemperature flag. This flag is set if

overtemperature limit is exceeded.

Bit 4: Motor halted flag. This flag is set if motor

has been switched off.

Bit 5: Hall error flag. This flag is set upon a hall

error.

Bit 6: TMC603 error flag

Bit 7: unused

Bit 8: unused

Bit 9: Velocity mode active flag

Bit 10: Position mode active flag.

Bit 11: Torque mode active flag.

Bit 12: unused

Bit 13: unused

Bit 14: Position end flag. This flag is set if the

motor has been stopped at the target position.

Bit 15: unused

Bit 16: unused

Bit 17: I²t exceeded flag. This flag is set if the I²t

sum exceeded the I²t limit of the motor.

(reset by SAP 29 after the time specified by the

I²t thermal winding time constant)

Flag 0 to 15 are automatically reset. Only flag 17

must be cleared manually.

0…+4294967295

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6 Global Parameter Overview (SGP, GGP, STGP, RSGP)

The following section describes all global parameters that can be used with the SGP, GGP, STGP and RSGP

commands.

TWO BANKS ARE USED FOR GLOBAL PARAMETERS:

- Bank 0 (global configuration of the module)

- Bank 2 (user TMCL variables)

6.1 Bank 0

PARAMETERS 64… 255

Parameters below 63 configure stuff like the serial address of the module RS485 baud rate or the telegram

pause time. Change these parameters to meet your needs. The best and easiest way to do this is to use the

appropriate functions of the TMCL-IDE. The parameters between 64 and 85 are stored in EEPROM only. A SGP

command on such a parameter will always store it permanently and no extra STGP command is needed.

Take care when changing these parameters, and use the appropriate functions of the TMCL-IDE to do it in an

interactive way.

MEANING OF THE LETTERS IN COLUMN ACCESS:

Access

type

command(s)

Description

GGP

Parameter readable

SGP, AGP

Parameter writable

STGP, RSGP

Parameter automatically restored from EEPROM after reset or power-on.

GLOBAL PARAMETERS OF BANK 0

Number

Global

parameter

Description

Range

Access

EEPROM magic

Setting this parameter to a different value as $E4 will cause

re-initialization of the axis and global parameters (to

factory defaults) after the next power up. This is useful in

case of miss-configuration.

0… 255

RWE

RS485 baud rate

9600 baud

Default

14400 baud

19200 baud

28800 baud

38400 baud

57600 baud

76800 baud

Not supported by Windows!

115200 baud

0… 7

RWE

Serial address

The module (target) address for RS485 and virtual COM

port

0… 255

RWE

Configuration

EEPROM lock

flag

Write: 1234 to lock the EEPROM, 4321 to unlock it.

Read: 1=EEPROM locked, 0=EEPROM unlocked.

0/1

RWE

Telegram pause

time

Pause time before the reply via RS485 is sent.

0… 255

RWE

Serial host

address

Host address used in the reply telegrams sent back via

RS485.

0… 255

RWE

Auto start

mode

0: Do not start TMCL application after power up (default).

1: Start TMCL application automatically after power up.

Note: the current initialization has to be finished first.

0/1

RWE

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 48

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Number

Global

parameter

Description

Range

Access

TMCL code

protection

Protect a TMCL program against disassembling or

overwriting.

0 – no protection

1 – protection against disassembling

2 – protection against overwriting

3 – protection against disassembling and overwriting

If you switch off the protection against disassembling, the

program will be erased first!

Changing this value from 1 or 3 to 0 or 2, the TMCL

program will be wiped off.

0, 1, 2, 3

RWE

Do not restore

user variables

0 – user variables are restored (default)

1 – user variables are not restored

0/1

RWE

128

TMCL

application

status

0 –stop

1 – run

2 – step

3 – reset

0… 3

129

Download

mode

0 – normal mode

1 – download mode

Attention:

Download mode can only be used if the motor has been

stopped first. Otherwise the download mode setting will

be disallowed.

During download mode the motor driver will be

deactivated and the actuator will be turned off.

0/1

130

TMCL program

counter

The index of the currently executed TMCL instruction.

o… 2047

132

Tick timer

A 32 bit counter that gets incremented by one every

millisecond. It can also be reset to any start value.

0…

+4294967295

255

Suppress reply

0 – reply (default)

1 – no reply

0/1

6.2 Bank 2

Bank 2 contains general purpose 32 bit variables for the use in TMCL applications. They are located in RAM

and can be stored to EEPROM. After booting, their values are automatically restored to the RAM.

Up to 256 user variables are available.

MEANING OF THE LETTERS IN COLUMN ACCESS:

Access

type

command(s)

Description

GGP

Parameter readable

SGP, AGP

Parameter writable

STGP, RSGP

Parameter automatically restored from EEPROM after reset or power-on.

GLOBAL PARAMETERS OF BANK 2

Number

Global parameter

Description

Range

Access

0… 55

General purpose variable #0… 55

for use in TMCL applications

-231…+231

(int32)

RWE

56… 255

General purpose variables #56… #255

for use in TMCL applications

-231…+231

(int32)

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 49

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7 Motor Regulation

7.1 Structure of the Cascaded Motor Regulation Modes

The TMCM-1630 supports a current, velocity, and position PID regulation mode for motor control in different

application areas. These regulation modes are cascaded as shown in figure 12.1. The individual modes are

explained in the following sections.

motor

current

measurement

hall sensor

or encoder

FOC based

current PID

current

PID

values

max

target

current

(SAP 6)

target

current

target

current

(SAP 155)

target

position

(SAP 0)

actual current

velocity

PID

actual velocity

velocity

PID

values

max

target

velocity

(SAP 4)

ramp generator

velocity

ramp

generator

accelerat.

(SAP 11)

enable/

disable

ramp

(SAP 146)

position

PID

target

velocity

target

velocity

(SAP 2)

position

PID

values

actual position

current regulation mode

velocity regulation mode

position regulation mode

actual commutation angle

7.1 Cascaded regulation

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 50

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7.2 Current Regulation

The current regulation mode uses a PID regulator to adjust a desired motor current. This target current can

be set by axis parameter 155. The maximal target current is limited by axis parameter 6.

The PID regulation uses three basic parameters: The P and I value as well as the timing control value.

TIMING CONTROL VALUE

The timing control value (current regulation loop multiplier, axis parameter 134) determines how often the

current regulation is invoked. It is given in multiple of 50µs:

    

 = resulting delay between two current regulation loops

 = current regulation loop multiplier parameter

For most applications it is recommended to leave this parameter unchanged at its default of 2*50µs. Higher

values may be necessary for very slow and less dynamic drives.

STRUCTURE OF THE CURRENT REGULATOR

IACTUAL

ITARGET +

PPARAM/256

IPARAM/65536

X+Clip

-32768..

+32767

SVPWM

Clip

IMax

Clip

ICLIP

eSUM

Figure 7.2 Current regulation

Parameter

Description

IACTUAL

Actual motor current (GAP 150)

ITARGET

Target motor current (SAP 155)

IMax

Max. motor current (SAP 6)

eSUM

Error sum for integral calculation (GAP 201)

PPARAM

Current P parameter (SAP 172)

IPARAM

Current I parameter (SAP 173)

PARAMETERIZING THE CURRENT REGULATOR SET

1. Set the P parameter and the I parameter to zero.

2. Start the motor by using a low target current (e.g. 1000 mA).

3. Modify the current P parameter. Start from a low value and go to a higher value, until the actual

current nearly reaches 50% of the desired target current.

4. Do the same with the current I parameter.

For all tests set the motor current limitation to a realistic value, so that your power supply does not become

overloaded during acceleration phases. If your power supply reaches current limitation, the unit may reset or

undetermined regulation results may occur.

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 51

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7.3 Velocity Regulation

Based on the current regulation the motor velocity can be controlled by the velocity PID regulator.

TIMING CONTROL VALUE

Also, the velocity PID regulator uses a timing control value (PID regulation loop delay, axis parameter 133)

which determines how often the PID regulator is invoked. It is given in multiple of 1ms:

   

 = resulting delay between two PID calculations

 = PID regulation loop delay parameter

For most applications it is recommended to leave this parameter unchanged at its default value of 1ms.

Higher values may be necessary for very slow and less dynamic drives.

STRUCTURE OF THE VELOCITY REGULATOR

vACTUAL

vRAMPGEN

IPARAM / 65536

PPARAM / 256

Clip

ICLIP

eSUM

Clip

IMax

ITARGET

Clip

VMax

Figure 7.3 Velocity regulation

Parameter

Description

vACTUAL

Actual motor velocity (GAP 3)

vRAMPGEN

Target velocity of ramp generator (SAP 2, GAP 13)

vMax

Max. target velocity (SAP 4)

eSUM

Error sum for integral calculation (GAP 229)

PPARAM

Velocity P parameter (SAP 234)

IPARAM

Velocity I parameter (SAP 235)

IMax

Max. target current (SAP 6)

ITarget

Target current for current PID regulator (GAP 155)

PARAMETERIZING THE VELOCITY REGULATOR SET

1. Set the velocity I parameter to zero.

2. Start the motor by using a medium target velocity (e.g. 2000 rpm).

3. Modify the velocity P parameter. Start from a low value and go to a higher value, until the actual

motor speed reaches 80 or 90% of the target velocity.

4. The lasting 10 or 20% speed difference can be reduced by slowly increasing the velocity I parameter.

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 52

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7.4 Velocity Ramp Generator

For a controlled start up of the motor's velocity a velocity ramp generator can be activated/deactivated by axis

parameter 146. The ramp generator uses the maximal allowed motor velocity (axis parameter 4), the acceleration

(axis parameter 11) und the desired target velocity (axis parameter 2) to calculate a ramp generator velocity for

the following velocity PID regulator.

7.5 Position Regulation

Based on current and velocity regulators the TMCM-1630 supports a positioning mode based on encoder or

hall sensor position. During positioning the velocity ramp generator can be activated to enable motor

positioning with controlled acceleration or it can be disabled to support motor positioning with max allowed

speed.

The PID regulation uses two basic parameters: the P regulation and a timing control value.

TIMING CONTROL VALUE

The timing control value (PID regulation loop parameter - axis parameter 133) determines how often the PID

regulator is invoked. It is given in multiple of 1ms:

   

 = the resulting delay between two position regulation loops

 = PID regulation loop multiplier parameter

For most applications it is recommended to leave the timing control value unchanged at its default of 1ms.

Higher values may be necessary for very slow and less dynamic drives.

STRUCTURE OF THE POSITION REGULATOR

nACTUAL

nTARGET PPARAM/256

Clip

VMAX

VTARGET

Clip

±65535

Figure 7.4 Positioning regulation

Parameter

Description

nACTUAL

Actual motor position (GAP 1)

nTARGET

Target motor position (SAP 0)

PPARAM

Position P parameter (SAP 130, SAP 230)

VMAX

Max. allowed velocity (SAP 4)

VTARGET

New target velocity for ramp generator (GAP 13)

PARAMETERIZING THE POSITION REGULATION

Based on the velocity regulator only the position regulator P has to be parameterized.

1. Disable the velocity ramp generator and set position P parameter to zero.

2. Choose a target position and increase the position P parameter until the motor reaches the target

position approximately.

3. Switch on the velocity ramp generator. Based on the max. positioning velocity (axis parameter 4) and

the acceleration value (axis parameter 11) the ramp generator automatically calculates the slow down

point, i.e. the point at which the velocity has to be reduced in order to stop at the desired target

position.

4. Reaching the target position is signaled by setting the position end flag.

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 53

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NOTE:

- In order to minimize the time until this flag becomes set, the positioning tolerance MVP target reached

distance can be chosen with axis parameter 10.

- Since the motor typically is assumed not to signal target reached when the target was just passed in a short

moment at a high velocity, additionally the maximum target reached velocity (MVP target reached velocity)

can be defined by axis parameter 7.

- A value of zero for axis parameter 7 is the most universal, since it implies that the motor stands still at the

target. But when a fast rising of the position end flag is desired, a higher value for the MVP target reached

velocity parameter will save a lot of time. The best value should be tried out in the actual application.

CORRELATION OF AXIS PARAMETERS 10 AND 7, THE TARGET POSITION, AND THE POSITION END FLAG

|Velocity|

Position

Target position

(set via MVP)

Max. positioning

velocity

MVP target reached distance

Slow-down-distance

Motor regulated by

Velocity PID

Motor regulated by

combination of

Velocity and Position

PID

Acceleration

MVP target

reached velocity

Target reached flag

only set when velocity

and position are in

this area.

Figure 7.5 Positioning algorithm

Depending on motor and mechanics a low oscillation is normal. This can be reduced to at least +/-1 encoder

steps. Without oscillation the regulation cannot keep the position!

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 54

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8 Temperature Calculation

Axis parameter 152 delivers the actual ADC value of the motor driver. This ADC value can be converted to a

temperature in °C as follows:

  

  

 

  

    

  

    °

Example 1: Example 2:

ADC = 1000 ADC = 1200

RNTC ≈ 6.81 RNTC ≈ 5.31

T ≈ 35° T ≈ 42°

9 I²t Monitoring

The I²t monitor determines the sum of the square of the motor current over a given time. The integrating

time is motor specific. In the datasheet of the motor this time is described as thermal winding time constant

and can be set for each module using axis parameter 25. The number of measurement values within this time

depends on how often the current regulation and thus the I²t monitoring is invoked. The value of the actual

I²t sum can be read by axis parameter 27. With axis parameter 26 the default value for the I²t limit can be

changed (default: 211200). If the actual I²t sum exceeds the I²t limit of the motor, flag 17 (in axis parameter

156) is set and the motor pwm is set to zero as long as the I²t exceed flag is set. The actual regulation mode

will not be changed. Furthermore, the I²t exceed counter is increased once every second as long as the actual

I²t sum exceeds the I²t limit. The I²t exceed flag can be cleared manually using parameter 29 but only after

the cool down time given by the thermal winding time constant has passed. The I²t exceed flag will not be

reset automatically. The I²t limit can be determined as follows:

  

  

  

 is the desired average current

 is the thermal winding time constant given by the motor datasheet

Example:

I²t limits for an average current of a) 1A, b) 2A, c) 3A and d) 4A over a thermal winding time of 13,2s.

a)   

  

  

b)   

  

  

c)   

  

  

d)   

  

  

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 55

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10 Life Support Policy

TRINAMIC Motion Control GmbH & Co. KG does not authorize or

warrant any of its products for use in life support systems, without

the specific written consent of TRINAMIC Motion Control GmbH &

Co. KG.

Life support systems are equipment intended to support or sustain

life, and whose failure to perform, when properly used in

accordance with instructions provided, can be reasonably expected

to result in personal injury or death.

Information given in this data sheet is believed to be accurate and

reliable. However neither responsibility is assumed for the

consequences of its use nor for any infringement of patents or

other rights of third parties, which may result from its use.

Specifications are subject to change without notice.

TMCM-1630 TMCL Firmware V2.08 Manual (Rev. 2.04 / 2017-JULY-10) 56

www.trinamic.com

11 Revision History

11.1 Firmware Revision

Version

Date

Author

Description

1.0

2011-MAY-16

First version

1.46

2011-SEP-27

New version including hallFX parameters

1.47

2012-JAN-26

hallFX parameters corrected

1.48

2012-DEC-12

Axis parameter 178 added.

2.05

2013-APR-14

New FOC version, several changes. (hallFX removed)

2.07

2014-Jun-04

- Axis parameter 238 deleted (Mass inertia constant)

- Axis parameter 239 deleted (BEMF constant)

- Axis parameter 240 deleted (Motor coil resistance)

- Bug during Encoder-initialization (mode 2) with inverted

encoder-signals fixed

- readability for encoder-, and hall-angle during controlled

mode added

2.08

2016-FEB-16

- removed motor noise when using telegram-pause-time

- added Block-Hall commutation mode

- added getter for Phase_A, Phase_B, Phase_C, VSupply, and

Temp adc values

- ignore module address when using USB connection

(module remains always accessible)

- allow encoder initialization in positioning mode

- updated USB-VID/-PID

11.2 Document Revision

Version

Date

Author

Description

2.00

2013-APR-02

Manual for new Field Orientated Control (FOC) firmware

- Commands SIO and GIO added.

- Axis parameters updated.

- Motor regulation updated.

- Axis parameter 209 deleted.

- Axis parameter 241 (sine initialization speed) added.

- Axis parameter 31 (BLDC re-initialization) added.

- Axis parameter 212 (actual controlled angle) new.

- Axis parameter 159 updated: new FOC controlled mode.

- Global parameter 77 (auto start mode) updated.

- Global parameter 129 (download mode) updated.

- Several axis parameter value ranges updated.

2.01

2014-JUN-04

- Axis parameter 238 deleted (Mass inertia constant)

- Axis parameter 239 deleted (BEMF constant)

- Axis parameter 240 deleted (Motor coil resistance)

2.02

2015-MAR-09

Removed more outputs option.

2.03

2016-FEB-16

Added Block-Hall to Axis parameter 159.

Updated GIO command table.

2.04

2017-JULY-10

Removed hallFX.

12 References

[TMCM-1630] TMCM-1630 Hardware Manual

[BB-1630] BB-1630 Hardware Manual

[TMCL-IDE] TMCL-IDE User Manual

[TMC603] TMC603 Datasheet

Please refer to our homepage http://www.trinamic.com.

TMCM 1630 TMCL Firmware Manual Rev2.04

TMCM-1630_TMCL_Firmware_Manual_Rev2.04

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