Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Data Sheet
Product codes
11-0011
TMCL Reference Manual
3
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
3.16
CALC – Calculate ................................................................................................................................................ 30
3.17
COMP – Compare ............................................................................................................................................... 31
3.18
JC – Jump Conditional ..................................................................................................................................... 32
3.19
JA – Jump Always.............................................................................................................................................. 33
3.20
CSUB – Call Subroutine ................................................................................................................................... 34
3.21
RSUB – Return from Subroutine ................................................................................................................... 35
3.22
WAIT – Wait for an event to occur ............................................................................................................. 36
3.23
STOP – Stop TMCL program execution ....................................................................................................... 38
3.24
SAC – SPI Bus Access....................................................................................................................................... 39
3.25
SCO – Set Coordinate ....................................................................................................................................... 40
3.26
GCO – Get Coordinate ...................................................................................................................................... 41
3.27
CCO – Capture Coordinate .............................................................................................................................. 42
3.28
CALCX – Calculate using the X register ...................................................................................................... 43
3.29
AAP – Accumulator to Axis Parameter ........................................................................................................ 44
3.30
AGP – Accumulator to Global Parameter ................................................................................................... 45
3.31
CLE – Clear Error Flags ..................................................................................................................................... 46
3.32
User definable commands (UF0..UF7) .......................................................................................................... 47
3.33
Request target position reached event ...................................................................................................... 48
3.34
BIN – Return to Binary Mode ........................................................................................................................ 49
3.35
TMCL Control Functions ................................................................................................................................... 50
4
Axis Parameters .......................................................................................................................................................... 52
4.1
Basic axis parameters (all TMCL stepper motor modules except the TMCM-100 module and the Monopack
2) ............................................................................................................................................................................ 52
2) ............................................................................................................................................................................ 52
4.2
Advanced axis parameters (all TMCL stepper motor modules except the TMCM-100) .................. 53
4.3
Axis parameters on the TMCM-100 and on the Monopack 2................................................................ 56
5
Global Parameters ...................................................................................................................................................... 59
5.1
Bank 0 ................................................................................................................................................................... 59
5.2
Bank 1 ................................................................................................................................................................... 62
5.3
Bank 2 ................................................................................................................................................................... 63
6
Hints and Tips ............................................................................................................................................................. 64
6.1
Reference search with TMCM-3xx / 10x / 11x / 61x modules ................................................................ 64
6.2
Reference search with TMCM-100 modules ............................................................................................... 65
6.3
Using an incremental encoder with TMCM-100 modules ...................................................................... 65
6.3.1
Setting the resolution ........................................................................................................................... 65
6.3.2
Deviation detection ................................................................................................................................ 66
6.3.3
Position correction ................................................................................................................................. 66
6.4
Stall Detection (TMCL Version 3.06 or higher) .......................................................................................... 66
6.5
Fixing microstep errors (TMCL V3.13 or higher) ....................................................................................... 67
6.6
Using the RS485 interface ............................................................................................................................... 67
7
The TMCL IDE ............................................................................................................................................................... 68
7.1
Installation .......................................................................................................................................................... 68
7.2
Getting started ................................................................................................................................................... 69
7.3
The integrated editor ....................................................................................................................................... 69
7.4
The “File” menu ................................................................................................................................................. 69
7.4.1
New ............................................................................................................................................................. 69
7.4.2
Open ........................................................................................................................................................... 69
7.4.3
Save, Save as ........................................................................................................................................... 69
7.4.4
Save all ...................................................................................................................................................... 69
7.4.5
Close ........................................................................................................................................................... 69
7.4.6
Exit .............................................................................................................................................................. 69
7.5
The “TMCL” menu .............................................................................................................................................. 69
7.5.1
Basics.......................................................................................................................................................... 69
7.5.2
Direct mode .............................................................................................................................................. 70
7.5.3
Assemble a TMCL program .................................................................................................................. 70
7.5.4
Downloading the program .................................................................................................................. 71