Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Scheda Tecnica
Codici prodotto
11-0011
TMCL Reference Manual
7
Trinamic Motion Control GmbH & Co KG
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D – 20357 Hamburg, Germany
http://www.trinamic.com
2.2 The reply format
Every time a command has been sent to a module, the module sends a reply. When using RS232 or RS485 the
format of the reply is as follows:
format of the reply is as follows:
Bytes Meaning
1
Reply address
1
Module address
1
Status (e.g. 100 means “no error”)
1
Command number
4
Value (MSB first!)
1
Checksum
The checksum is also calculated by adding up all the other bytes using an 8-bit addition. When using CAN bus, the
first byte (reply address) and the last byte (checksum) are left out. When using IIC bus the first byte (reply address)
is left out. Do not send the next command before you have received the reply!
first byte (reply address) and the last byte (checksum) are left out. When using IIC bus the first byte (reply address)
is left out. Do not send the next command before you have received the reply!
2.2.1 Status codes
The reply contains a status code. This status code can have one of the following values:
Code
Meaning
100
Successfully executed, no error
101
Command loaded into TMCL
program EEPROM
program EEPROM
1
Wrong checksum
2
Invalid command
3
Wrong type
4
Invalid value
5
Configuration EEPROM locked
6
Command not available
2.3 Stand-alone applications
When the module which is used is equipped with an EEPROM to store TMCL applications, the TMCL-IDE can be
used to develop stand-alone TMCL applications that can be downloaded into the EEPROM of the module and then
run on the module. The TMCL IDE contains an editor and a “TMCL assembler” where the commands can be entered
using their mnemonic format and then assembled to their binary representations. This code can then be
downloaded into the module to be executed there. The TMCL IDE is described in detail in chapter 7 of this manual.
used to develop stand-alone TMCL applications that can be downloaded into the EEPROM of the module and then
run on the module. The TMCL IDE contains an editor and a “TMCL assembler” where the commands can be entered
using their mnemonic format and then assembled to their binary representations. This code can then be
downloaded into the module to be executed there. The TMCL IDE is described in detail in chapter 7 of this manual.
2.4 TMCL command overview
In this section an overview of the TMCL commands is given. All commands are described in detail in chapter 3.
Some TMCL programming techniques are given in chapter 8.
Some TMCL programming techniques are given in chapter 8.
2.4.1 Motion commands
These commands control the motion of the motors. They are the most important commands and can be used in
direct mode or in stand-alone mode.
direct mode or in stand-alone mode.