Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 数据表
产品代码
11-0011
TMCL Reference Manual
2
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
Version
Version
Date
Author
Comment
2.11
22-Dec-04
OK
Corrections for SCO/GCO/CCO, Code protection feature
2.12
21-Feb-05
OK
ASCII interface included
2.13
22-Mar-05
OK
Minor error corrections
2.14
3-Jun-05
OK
New features of TMCL V3.23 included
2.15
11-Nov-05 OK
TMCM-109 and TMCM-111 added
2.16
20-Dec-05
OK
Features of version TMCL V3.26 and V3.27 included
2.17
22-Jun-06
OK
Error with CCO command corrected
2.18
20-Nov-06 OK
GAP/GGP/GIO/SIO command descriptions extended
2.20
23-Aug-07 OK
Command 138 added, Chapter 8 added
2.21
5-Dec-07
OK
TMCL Debugger added
2.22
5-Jun-08
OK
MVP COORD with TMCM-61x and TMCM-34x added
Contents
1
Introduction ................................................................................................................................................................... 5
2
Basic TMCL Concepts ................................................................................................................................................... 6
2.1
Binary command format ................................................................................................................................... 6
2.1.1
Checksum calculation .............................................................................................................................. 6
2.2
The reply format .................................................................................................................................................. 7
2.2.1
Status codes ............................................................................................................................................... 7
2.3
Stand-alone applications ................................................................................................................................... 7
2.4
TMCL command overview ................................................................................................................................. 7
2.4.1
Motion commands ................................................................................................................................... 7
2.4.2
Parameter commands.............................................................................................................................. 8
2.4.3
I/O port commands .................................................................................................................................. 8
2.4.4
Control commands ................................................................................................................................... 8
2.4.5
Calculation commands ............................................................................................................................ 9
2.5
The ASCII interface ............................................................................................................................................. 9
2.5.1
Format of the command line ................................................................................................................ 9
2.5.2
Format of a reply ...................................................................................................................................... 9
2.5.3
Commands that can be used in ASCII mode ................................................................................ 10
2.5.4
Configuring the ASCII interface ......................................................................................................... 10
3
TMCL Command Dictionary ...................................................................................................................................... 11
3.1
ROR – Rotate Right ........................................................................................................................................... 12
3.2
ROL – Rotate Left ............................................................................................................................................... 13
3.3
MST – Motor Stop ............................................................................................................................................. 14
3.4
MVP – Move to Position .................................................................................................................................. 15
3.5
SAP – Set Axis Parameter ............................................................................................................................... 17
3.6
GAP – Get Axis Parameter .............................................................................................................................. 18
3.7
STAP – Store Axis Parameter ......................................................................................................................... 19
3.8
RSAP – Restore Axis Parameter ..................................................................................................................... 20
3.9
SGP – Set Global Parameter ........................................................................................................................... 21
3.10
GGP – Get Global Parameter .......................................................................................................................... 22
3.11
STGP – Store Global Parameter ..................................................................................................................... 23
3.12
RSGP – Restore Global Parameter ................................................................................................................ 24
3.13
RFS – Reference Search ................................................................................................................................... 25
3.14
SIO – Set Output ............................................................................................................................................... 26
3.15
GIO – Get Input / Output ................................................................................................................................ 28