Ethercat TMCL Manuals

Manuals and User Guides for Ethercat TMCL. We have 1 Ethercat TMCL manual available for free PDF download: Firmware Manual

Ethercat TMCL Firmware Manual

Ethercat TMCL Firmware Manual (107 pages)

Brand: Ethercat | Category: Controller | Size: 2 MB

Table of Contents

Table of Contents
2
1 Features

4
2 Overview

6
3 Communication Via Ethercat

7
- Syncmanager
  7
  - Buffered Mode
    7
  - Mailbox Mode, Used for TMCL-Applications
    8
- Ethercat Slave State Machine
  9
- Ethercat Firmware Update
  11
- Process Data
  11
- TMCL Mailbox
  13
- Binary Command Format
  13
- Status Codes
  13
4 Operation with USB Interface

14
- Binary Command Format for USB Interface
  14
- Reply Format
  15
  - Status Codes
    15
- Standalone Applications
  15
5 The ASCII Interface

16
- Format of the Command Line
  16
- Format of a Reply
  16
- Commands Used in ASCII Mode
  16
- Configuring the ASCII Interface
  17
6 TMCL Commands

18
- Motion Commands
  18
- Parameter Commands
  18
- Control Commands
  18
- I/O Port Commands
  18
- Calculation Commands
  19
- Interrupt Commands
  19
- ASCII Commands
  21
- Commands
  22
  - ROR (Rotate Right)
    22
  - ROL (Rotate Left)
    23
  - MST (Motor Stop)
    24
  - MVP (Move to Position)
    25
  - SAP (Set Axis Parameter)
    27
  - GAP (Get Axis Parameter)
    28
  - STAP (Store Axis Parameter)
    29
  - RSAP (Restore Axis Parameter)
    30
  - SGP (Set Global Parameter)
    31
  - GGP (Get Global Parameter)
    32
  - STGP (Store Global Parameter)
    33
  - RSGP (Restore Global Parameter)
    34
  - RFS (Reference Search)
    35
  - SIO (Set Input / Output)
    36
  - GIO (Get Input /Output)
    38
  - CALC (Calculate)
    41
  - COMP (Compare)
    42
  - JC (Jump Conditional)
    43
  - JA (Jump Always)
    44
  - CSUB (Call Subroutine)
    45
  - RSUB (Return from Subroutine)
    46
  - WAIT (Wait for an Event to Occur)
    47
  - STOP (Stop TMCL Program Execution)
    48
  - SCO (Set Coordinate)
    49
  - GCO (Get Coordinate)
    50
  - CCO (Capture Coordinate)
    51
  - ACO (Accu to Coordinate)
    52
  - CALCX (Calculate Using the X Register)
    53
  - AAP (Accumulator to Axis Parameter)
    54
  - AGP (Accumulator to Global Parameter)
    55
  - CLE (Clear Error Flags)
    56
  - VECT (Set Interrupt Vector)
    57
  - EI (Enable Interrupt)
    58
  - DI (Disable Interrupt)
    59
  - RETI (Return from Interrupt)
    60
  - Customer Specific TMCL Command Extension (User Function)
    61
  - Request Target Position Reached Event
    62
  - BIN (Return to Binary Mode)
    62
  - TMCL Control Functions
    63
7 Axis Parameters

64
- Velocity Calculation
  76
8 Stallguard2 Related Parameters

77
9 Closed-Loop Operation Related Axis Parameter

78
- General Closed Loop Axis Parameters
  78
- General Structure of the Closed Loop System
  79
- Setting Encoder Resolution and Motor Resolution
  80
- Positioning Mode
  81
- Position Maintenance and Standstill Mode
  84
- Velocity Mode
  86
- Torque Mode
  87
- Current Regulation
  88
- Field Weakening
  92
- Status and Feedback Information
  93
- Example Programs: Closed Loop Operation
  94
  - Example Program 1
    94
  - Example Program 2
    95
10 Reference Search

96
- Reference Search Modes (Axis Parameter 193)
  97
11 Global Parameters

99
- Bank 0
  99
- Bank 1
  100
- Bank 2
  101
- Bank 3
  101
12 TMCL Programming Techniques and Structure

102
- Initialization
  102
- Main Loop
  102
- Using Symbolic Constants
  102
- Using Variables
  103
- Using Subroutines
  103
- Mixing Direct Mode and Standalone Mode
  104
13 Life Support Policy

105
14 Revision History

106
- Firmware Revision
  106
- Document Revision
  106
15 References

107

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