Trinamic TMCM-1021 TMCL Manuals

Trinamic TMCM-1021 TMCL Manuals

Manuals and User Guides for Trinamic TMCM-1021 TMCL. We have 1 Trinamic TMCM-1021 TMCL manual available for free PDF download: Manual

Trinamic TMCM-1021 TMCL Manual

Trinamic TMCM-1021 TMCL Manual (109 pages)

Brand: Trinamic | Category: Control Unit | Size: 1 MB

Table of Contents

Table of Contents
2
1 Features

5
- Stallguard2
  6
- Coolstep
  6
2 First Steps with TMCL

7
3 TMCL and the TMCL-IDE an Introduction

10
- Binary Command Format
  10
  - Checksum Calculation
    11
- Reply Format
  12
  - Status Codes
    12
- Standalone Applications
  13
- The ASCII Interface
  14
- TMCL Command Overview
  16
  - TMCL Commands
    16
- TMCL Commands by Subject
  17
  - Motion Commands
    17
  - Parameter Commands
    18
  - Branch Commands
    18
  - I/O Port Commands
    19
  - Calculation Commands
    19
  - Interrupt Processing Commands
    20
- Detailed TMCL Command Descriptions
  23
  - ROR (Rotate Right)
    23
  - ROL (Rotate Left)
    24
  - MST (Motor Stop)
    25
  - MVP (Move to Position)
    26
  - SAP (Set Axis Parameter)
    29
  - GAP (Get Axis Parameter)
    30
  - STAP (Store Axis Parameter)
    31
  - RSAP (Restore Axis Parameter)
    32
  - SGP (Set Global Parameter)
    33
  - GGP (Get Global Parameter)
    34
  - STGP (Store Global Parameter)
    35
  - RSGP (Restore Global Parameter)
    36
  - RFS (Reference Search)
    37
  - SIO (Set Output)
    39
  - GIO (Get Input)
    41
  - CALC (Calculate)
    44
  - COMP (Compare)
    46
  - JC (Jump Conditional)
    47
  - JA (Jump Always)
    49
  - CSUB (Call Subroutine)
    50
  - RSUB (Return from Subroutine)
    51
  - WAIT (Wait for an Event to Occur)
    52
  - STOP (Stop TMCL Program Execution - End of TMCL Program)
    54
  - SCO (Set Coordinate)
    55
  - GCO (Get Coordinate)
    56
  - CCO (Capture Coordinate)
    58
  - ACO (Accu to Coordinate)
    59
  - CALCX (Calculate Using the X Register)
    60
  - AAP (Accu to Axis Parameter)
    62
  - AGP (Accu to Global Parameter)
    63
  - CLE (Clear Error Flags)
    64
  - EI (Enable Interrupt)
    66
  - DI (Disable Interrupt)
    67
  - VECT (de Ne Interrupt Vector)
    68
  - RETI (Return from Interrupt)
    70
  - Customer Speci C Command Extensions (UF0
    71
  - Request Target Position Reached Event
    72
  - TMCL Control Commands
    74
4 Axis Parameters

76
5 Global Parameters

85
- Bank 0
  85
- Bank 1
  88
- Bank 2
  88
- Bank 3
  88
6 Module Speci C Hints

90
- Conversion between PPS, RPM and RPS
  90
- The Sensostep™ Encoder
  90
  - Matching Encoder Resolution and Motor Resolution
    91
  - Special Encoder Functions
    91
7 Hints and Tips

92
- Reference Search
  92
  - Mode 1
    93
  - Mode 2
    93
  - Mode 3
    93
  - Mode 4
    94
  - Mode 5
    94
  - Mode 6
    95
  - Mode 7
    95
  - Mode 8
    96
- Stallguard2
  97
- Coolstep
  98
8 TMCL Programming Techniques and Structure

100
- Initialization
  100
- Main Loop
  100
- Using Symbolic Constants
  100
- Using Variables
  101
- Using Subroutines
  102
- Combining Direct Mode and Standalone Mode
  102
- Make the TMCL Program Start Automatically
  103
9 Figures Index

104
10 Tables Index

105
11 Supplemental Directives

106
- Producer Information
  106
- Copyright
  106
- Trademark Designations and Symbols
  106
- Target User
  106
- Disclaimer: Life Support Systems
  106
- Disclaimer: Intended Use
  106
- Collateral Documents & Tools
  107
12 Revision History

108

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