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TMCM-1311
Trinamic TMCM-1311 Stepper Control Unit Manuals
Manuals and User Guides for Trinamic TMCM-1311 Stepper Control Unit. We have
1
Trinamic TMCM-1311 Stepper Control Unit manual available for free PDF download: Firmware Manual
Trinamic TMCM-1311 Firmware Manual (109 pages)
Brand:
Trinamic
| Category:
Controller
| Size: 1 MB
Table of Contents
Table of Contents
2
Features
4
Putting the TMCM-1311 into Operation
6
Connecting the TMCM-1311
6
Finding Optimum Settings with Parameterization Tool
9
Using the TMCL-IDE to Develop Programs
11
Using TMCL Direct Mode
12
Testing with a Simple TMCL Program
13
Important Motor Settings
14
TMCL and the TMCL-IDE: Introduction
15
Binary Command Format
15
Checksum Calculation
16
Reply Format
16
Status Codes
17
Standalone Applications
17
The ASCII Interface
18
Format of the Command Line
18
Format of a Reply
18
Commands Used in ASCII Mode
18
Configuring the ASCII Interface
19
TMCL Commands
20
Motion Commands
20
Parameter Commands
20
Control Commands
20
I/O Port Commands
20
Calculation Commands
21
Interrupt Commands
21
Interrupt Types
21
Interrupt Processing
21
Interrupt Vectors
22
Further Configuration of Interrupts
22
Using Interrupts in TMCL
22
ASCII Commands
23
Commands
24
ROR (Rotate Right)
24
ROL (Rotate Left)
25
MST (Motor Stop)
26
MVP (Move to Position)
27
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 Input / Output)
38
GIO (Get Input /Output)
40
CALC (Calculate)
43
COMP (Compare)
44
JC (Jump Conditional)
45
JA (Jump Always)
46
CSUB (Call Subroutine)
47
RSUB (Return from Subroutine)
48
WAIT (Wait for an Event to Occur)
49
STOP (Stop TMCL Program Execution)
49
SCO (Set Coordinate)
51
GCO (Get Coordinate)
52
CCO (Capture Coordinate)
53
ACO (Accu to Coordinate)
54
CALCX (Calculate Using the X Register)
55
AAP (Accumulator to Axis Parameter)
56
AGP (Accumulator to Global Parameter)
57
CLE (Clear Error Flags)
58
VECT (Set Interrupt Vector)
59
EI (Enable Interrupt)
60
DI (Disable Interrupt)
61
RETI (Return from Interrupt)
62
Customer Specific TMCL Command Extension (User Function)
63
Request Target Position Reached Event
64
BIN (Return to Binary Mode)
64
Control Functions: Firmware Version and Reset to Factory Defaults
65
Axis Parameters
66
Velocity Calculation
78
Stallguard2 Related Parameters
79
Closed-Loop Operation Related Axis Parameter
80
General Closed Loop Axis Parameters
80
General Structure of the Closed Loop System
81
Setting Encoder Resolution and Motor Resolution
82
Positioning Mode
83
Position Maintenance and Standstill Mode
86
Velocity Mode
88
Torque Mode
89
Current Regulation
90
Field Weakening
94
Status and Feedback Information
95
Example Programs: Closed Loop Operation
96
Example Program 1
96
Example Program 2
97
Reference Search
98
Reference Search Modes (Axis Parameter 193)
99
Global Parameters
101
Bank 0
101
Bank 1
103
Bank 2
103
Bank 3
103
TMCL Programming Techniques and Structure
104
Initialization
104
Main Loop
104
Using Symbolic Constants
104
Using Variables
105
Using Subroutines
105
Mixing Direct Mode and Standalone Mode
106
Life Support Policy
107
Revision History
108
Firmware Revision
108
Document Revision
108
References
109
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