Trinamic TMCM-6110 Manuals

Trinamic TMCM-6110 Manuals

Manuals and User Guides for Trinamic TMCM-6110. We have 2 Trinamic TMCM-6110 manuals available for free PDF download: Firmware User Manual, Hardware Manual

Trinamic TMCM-6110 Firmware User Manual

Trinamic TMCM-6110 Firmware User Manual (99 pages)

6 Axes Stepper Controller / Driver 1.1A RMS / 24V DC USB, CAN, RS485 [or RS232]

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

Table of Contents

Table of Contents
2
1 Features

4
2 Overview

5
3 Putting the Module into Operation

6
- Basic Set-Up
  6
4 TMCL and TMCL-IDE

15
- Binary Command Format
  15
- Reply Format
  16
  - Status Codes
    16
- Standalone Applications
  16
- TMCL Command Overview
  17
  - TMCL Commands
    17
  - Commands Listed According to Subject Area
    18
- The ASCII Interface
  22
  - Command Line Format
    22
  - Format of a Reply
    22
  - Commands Used in ASCII Mode
    22
  - Configuring the ASCII Interface
    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)
    41
  - CALC (Calculate)
    44
  - COMP (Compare)
    45
  - JC (Jump Conditional)
    46
  - JA (Jump Always)
    47
  - CSUB (Call Subroutine)
    48
  - RSUB (Return from Subroutine)
    49
  - WAIT (Wait for an Event to Occur)
    50
  - STOP (Stop TMCL Program Execution)
    51
  - SCO (Set Coordinate)
    52
  - GCO (Get Coordinate)
    53
  - CCO (Capture Coordinate)
    54
  - ACO (Accu to Coordinate)
    55
  - CALCX (Calculate Using the X Register)
    56
  - AAP (Accumulator to Axis Parameter)
    57
  - AGP (Accumulator to Global Parameter)
    58
  - CLE (Clear Error Flags)
    59
  - VECT (Set Interrupt Vector)
    60
  - EI (Enable Interrupt)
    62
  - DI (Disable Interrupt)
    64
  - RETI (Return from Interrupt)
    66
  - Customer Specific TMCL Command Extension (User Function)
    67
  - Request Target Position Reached Event
    68
  - BIN (Return to Binary Mode)
    69
  - TMCL Control Functions
    70
5 Axis Parameters

71
6 Global Parameters

89
- Bank 0
  89
- Bank 1
  92
- Bank 2
  92
- Bank 3
  93
7 TMCL Programming Techniques and Structure

94
- Initialization
  94
- Main Loop
  94
- Using Symbolic Constants
  94
- Using Variables
  95
- Using Subroutines
  95
- Mixing Direct Mode and Standalone Mode
  95
8 Life Support Policy

97
9 Revision History

98
- Firmware Revision
  98
- Document Revision
  98
10 References

99

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Trinamic TMCM-6110 Hardware Manual

Trinamic TMCM-6110 Hardware Manual (27 pages)

Brand: Trinamic | Category: Controller | Size: 1 MB

Table of Contents

Table of Contents
2
1 Features

3
2 Order Codes

4
3 Mechanical and Electrical Interfacing

5
- Size of Board
  5
- Board Mounting Considerations
  5
  - DIN Rail Mounting
    6
- Connectors
  6
  - Power Connector
    8
  - I/O Connector 0
    8
  - I/O Connector 1
    9
  - Motor Connector 0-5
    9
  - Reference Switch Connector 0-5
    9
  - CAN Connector
    10
  - RS485 Connector
    10
  - USB Connector
    10
- Power Supply
  11
- Communication
  11
  - Rs485
    11
  - Can
    13
  - Usb
    13
- Inputs and Outputs
  15
  - Reference Switch Inputs
    15
  - General Purpose Inputs
    15
  - General Purpose Outputs
    16
4 Motor Driver Current

17
5 On-Board Leds

19
6 Reset to Factory Defaults

20
7 Functional Description

21
8 Using the RS232 Assembly Option Instead of RS485

22
9 Position of Connectors

23
10 Operational Ratings

24
11 Life Support Policy

26
12 Revision History

27
- Document Revision
  27
- Hardware Revision
  27
13 References

27

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