TMCM-341,342,343 Firmware Manual Datasheet by Trinamic Motion Control GmbH

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A TRINAMIC MOTION CONTROL
MODULES FOR STEPPER MOTORS MODULES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Firmware Update V4.36
TMCL™ FIRMWARE MANUAL
+ +
+ +
TMCM-341
TMCM-342
TMCM-343
3-axis stepper
3-axis stepper
3-axis stepper
controller module
controller module
controller / driver
with SPI out
with step/dir out
300mA up to 1.1A RMS
5V DC logic supply
5V DC logic supply
Nominal 8V… 34V DC
UART, CAN
USB optional
UART, CAN
USB optional
UART, CAN
USB optional
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 2
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Table of contents
1 Life support policy ....................................................................................................................................................... 4
2 Features of the TMCM-341/342/343 .......................................................................................................................... 5
2.1 Features of the TMCM-341 ................................................................................................................................. 5
2.2 Features of the TMCM-342 ................................................................................................................................. 6
2.3 Features of the TMCM-343 ................................................................................................................................. 7
3 Order codes .................................................................................................................................................................... 8
4 Overview ......................................................................................................................................................................... 9
5 Putting the TMCM-34x into operation................................................................................................................... 10
5.1 Starting up ........................................................................................................................................................... 10
5.2 Testing with a simple TMCLTM program ...................................................................................................... 11
5.3 Operating the module in direct mode ........................................................................................................ 12
6 TMCL™ and TMCL-IDE ................................................................................................................................................ 13
6.1 Binary command format .................................................................................................................................. 13
6.2 Reply format ........................................................................................................................................................ 14
6.2.1 Status codes .................................................................................................................................................. 15
6.3 Stand-alone applications ................................................................................................................................. 15
6.4 TMCL™ command overview ........................................................................................................................... 15
6.4.1 Motion commands ...................................................................................................................................... 15
6.4.2 Parameter commands ................................................................................................................................ 16
6.4.3 I/O port commands..................................................................................................................................... 16
6.4.4 Control commands ...................................................................................................................................... 16
6.4.5 Calculation commands ............................................................................................................................... 17
6.5 TMCL™ List of commands ............................................................................................................................... 18
6.6 The ASCII interface ........................................................................................................................................... 20
6.6.1 Format of the command line ................................................................................................................... 20
6.6.2 Format of a reply ......................................................................................................................................... 20
6.6.3 Commands that can be used in ASCII mode ..................................................................................... 20
6.6.4 Configuring the ASCII interface .............................................................................................................. 20
6.7 Commands ........................................................................................................................................................... 22
6.7.1 ROR (rotate right)......................................................................................................................................... 22
6.7.2 ROL (rotate left) ............................................................................................................................................ 23
6.7.3 MST (motor stop) ......................................................................................................................................... 24
6.7.4 MVP (move to position) ............................................................................................................................. 25
6.7.5 SAP (set axis parameter) ........................................................................................................................... 27
6.7.6 GAP (get axis parameter) ........................................................................................................................... 30
6.7.7 STAP (store axis parameter) ..................................................................................................................... 34
6.7.8 RSAP (restore axis parameter) ................................................................................................................. 37
6.7.9 SGP (set global parameter) ....................................................................................................................... 40
6.7.10 GGP (get global parameter) ...................................................................................................................... 43
6.7.11 STGP (store global parameter) ................................................................................................................. 47
6.7.12 RSGP (restore global parameter) ............................................................................................................. 49
6.7.13 RFS (reference search) ................................................................................................................................ 51
6.7.14 SIO (set output) ........................................................................................................................................... 52
6.7.15 GIO (get input/output) ............................................................................................................................... 54
6.7.16 CALC (calculate) ............................................................................................................................................ 56
6.7.17 COMP (compare) ........................................................................................................................................... 57
6.7.18 JC (jump conditional).................................................................................................................................. 58
6.7.19 JA (jump always).......................................................................................................................................... 59
6.7.20 CSUB (call subroutine) ................................................................................................................................ 60
6.7.21 RSUB (return from subroutine) ................................................................................................................ 61
6.7.22 WAIT (wait for an event to occur) ......................................................................................................... 62
6.7.23 STOP (stop TMCL™ program execution) ............................................................................................... 63
6.7.24 SAC SPI Bus Access ................................................................................................................................. 64
6.7.25 SCO (set coordinate) ................................................................................................................................... 65
6.7.26 GCO (get coordinate) .................................................................................................................................. 66
6.7.27 CCO (capture coordinate) ........................................................................................................................... 67
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 3
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.28 ACO (accu to coordinate)........................................................................................................................... 68
6.7.29 CALCX (calculate using the X register) .................................................................................................. 69
6.7.30 AAP (accumulator to axis parameter) .................................................................................................... 70
6.7.31 AGP (accumulator to global parameter) ............................................................................................... 73
6.7.32 CLE (clear error flags) ................................................................................................................................. 76
6.7.33 Customer specific TMCL™ command extension (UF0…UF7/user function) .................................. 77
6.7.34 Request target position reached event ................................................................................................. 78
6.7.35 BIN (return to binary mode) .................................................................................................................... 79
6.7.36 TMCL™ Control Functions ......................................................................................................................... 80
7 Axis parameters .......................................................................................................................................................... 82
7.1 Axis parameters .................................................................................................................................................. 82
8 Global parameters ...................................................................................................................................................... 85
8.1 Bank 0 ................................................................................................................................................................... 85
8.2 Bank 1 ................................................................................................................................................................... 87
8.3 Bank 2 ................................................................................................................................................................... 88
9 Hints and tips .............................................................................................................................................................. 89
9.1 Reference search ................................................................................................................................................ 89
9.2 Stall detection ..................................................................................................................................................... 90
9.3 Fixing microstep errors .................................................................................................................................... 90
9.4 Using the RS485 interface ............................................................................................................................... 90
10 Revision history .......................................................................................................................................................... 91
10.1 Firmware revision .............................................................................................................................................. 91
10.2 Document Revision ........................................................................................................................................... 91
11 References..................................................................................................................................................................... 91
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TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 4
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
1 Life support policy
TRINAMIC Motion Control GmbH & Co. KG does not
authorize or warrant any of its products for use in life
support systems, without the specific written consent of
TRINAMIC Motion Control GmbH & Co. KG.
Life support systems are equipment intended to support or
sustain life, and whose failure to perform, when properly
used in accordance with instructions provided, can be
reasonably expected to result in personal injury or death.
© TRINAMIC Motion Control GmbH & Co. KG 2012
Information given in this data sheet is believed to be
accurate and reliable. However neither responsibility is
assumed for the consequences of its use nor for any
infringement of patents or other rights of third parties,
which may result from its use.
Specifications are subject to change without notice.
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 5
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
2 Features of the TMCM-341/342/343
2.1 Features of the TMCM-341
The TMCM-341 is a triple axis stepper motor controller module for external power drivers with SPITM1
interface (e.g. Trinamic TMCM-035). With its very small size it is dedicated to embedded applications, where a
compact solution is required. The board can be connected to a baseboard or customized electronics with a
pin connector. The TMCM-341 comes with the PC based software development environment TMCL-IDE. Using
predefined TMCL (Trinamic Motion Control Language) high level commands like move to position or
constant rotation rapid and fast development of motion control applications is guaranteed. The TMCM-341
can be controlled via the serial UART interface (e.g. using a RS232 or RS485 level shifter) or via CAN. A user
TMCL™ program can be stored in the on board EEPROM for stand-alone applications. Communication traffic
is kept very low since all time critical operations, e.g. ramp calculation, are performed on board. The TMCL™
operations can be stored in the onboard EEPROM for stand-alone operation. The firmware of the module can
be updated via the serial interface as well as via the CAN interface.
Applications
Controller board for up to three two-phase bipolar motors using SPI drivers (e.g. TMCM-035)
Versatile possibilities of applications in stand-alone or host controlled mode
Electrical data
5V DC logic power supply
Interface
RS232, RS485 (max. 115200bps) or CAN 2.0b (max. 1MBit/s) host interface
Inputs for reference and stop switches, general purpose analog and digital I/Os
SPI outputs for three stepper motor drivers
Highlights
TMC428/TMC429 motion controller for up to 64 times microstepping
Automatic ramp generation in hardware
On the fly alteration of motion parameters (e.g. position, velocity, acceleration)
High dynamics: full step frequencies up to 90kHz, microstep frequency up to 460kHz
Supports StallGuardTM option for sensorless motor stall detection
Can be adapted to any SPI driver type
Software
Stand-alone operation using TMCL™ or remote controlled operation
TMCL™ program storage: 16 KByte EEPROM (2048 TMCL™ commands)
PC-based application development software TMCL-IDE included
Special three axes CANopen firmware available for CANopen protocol support
Other
68 pin connector carries all signals (2x34 pins, 2mm pitch)
RoHS compliant
Size: 80x50mm²
1 SPITM is a trademark of Motorola
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 6
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
2.2 Features of the TMCM-342
The TMCM-342 is a triple axis stepper motor controller module for external power drivers with step/direction
interface. With its very small size it is dedicated to embedded applications, where centralized or de-
centralized high power drivers are desired. The board can be connected to a baseboard or customized
electronics with a pin connector. The TMCM-342 comes with the PC based software development
environment TMCL-IDE. Using predefined TMCL™ (Trinamic Motion Control Language) high level commands
like move to position or constant rotation rapid and fast development of motion control applications is
guaranteed. The TMCM-342 can be controlled via the serial UART interface (e.g. using a RS232 or RS485 level
shifter) or via CAN. Communication traffic is kept very low since all time critical operations, e.g. ramp
calculation, are performed on board. The TMCL™ operations can be stored in the onboard EEPROM for stand-
alone operation. The firmware of the module can be updated via the serial interface as well as via the CAN
interface.
Applications
Controller board for control of up to 3 Step/Direction drivers e.g. TMCM-035, TMCM-023 (triple driver), IDX
or PD-013-42 mechatronic module or TMCM-078 step/direction driver
Versatile possibilities of applications in stand alone or host controlled mode
Electrical data
5V DC logic power supply
TTL/CMOS step/direction outputs
Interface
RS232, RS485 (max. 115200bps) or CAN 2.0b (max. 1MBit/s) host interface
Inputs for reference and stop switches, general purpose analog and digital I/Os
Step/direction outputs for three stepper motor drivers
Highlights
Three TMC428/TMC429 motion controllers for high step frequency
Automatic ramp generation in hardware
On the fly alteration of motion parameters (e.g. position, velocity, acceleration)
High dynamics: step frequencies up to 300kHz
1.8µs step pulse length and step to direction delay
Software
Stand-alone operation using TMCL™ or remote controlled operation
TMCL™ program storage: 16 KByte EEPROM (2048 TMCL™ commands)
PC-based application development software TMCL-IDE included
Special firmware for CANopen protocol support also available
Other
68 pin connector carries all signals (2x34 pins, 2mm pitch)
RoHS compliant
Size: 80x50mm²
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 7
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
2.3 Features of the TMCM-343
The TMCM-343 is a compact and versatile triple axis 2-phase stepper motor controller and driver module. It
provides a complete motion control solution at a very small size for embedded applications. Using the
integrated additional I/Os it even can do complete system control applications. The board can be connected
to a baseboard or customized electronics with a pin connector. The TMCM-343 comes with the PC based
software development environment TMCL-IDE. Using predefined TMCL™ (Trinamic Motion Control Language)
high level commands like move to position or constant rotation rapid and fast development of motion
control applications is guaranteed. Host communication is possible via the serial UART interface (e.g. using a
RS232 or RS485 level shifter) or via CAN. All time critical operations, e.g. ramp calculation are performed
onboard. A user TMCL™ program can be stored in the on board EEPROM for stand-alone operation. The
firmware of the module can be updated via the serial interface. With the optional StallGuardTM feature it is
possible to detect overload and stall of the motor.
Applications
Controller/driver board for control of up to 3 Axis
Versatile possibilities of applications in stand alone or pc controlled mode
Electrical data
5V DC logic power supply
Nominal motor supply voltage 8V… 34V
Motor type
Coil current from 300mA to 1.1A RMS (1.5A peak)
8V… 34V nominal supply voltage
Highlights
Automatic ramp generation in hardware
StallGuardTM option for sensorless motor stall detection
Full step frequencies up to 20kHz
On the fly alteration of motion parameters (e.g. position, velocity, acceleration)
Local reference move using sensorless StallGuardTM feature or reference switch
Coil current adjustable by software
TMC428/TMC429 motion controller for up to 64 times microstepping
TMC246 power driver: No heat sink required
Many adjustment possibilities make this module the solution for a great field of demands
Software
Stand-alone operation using TMCL™ or remote controlled operation
TMCL™ program storage: 16 KByte EEPROM (2048 TMCL™ commands)
PC-based application development software TMCL-IDE included
Special firmware for CANopen protocol support also available
Other
68 pin connector carries all signals
RoHS compliant latest from 1 July 2006
Size: 80x50mm²
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 8
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
3 Order codes
Order code
Description
Dimensions
TMCM-341 (-option)
3-axis controller module with SPITM
80 x 55 x 5 mm3
TMCM-342 (-option)
3-axis controller module with step/dir output
80 x 55 x 8 mm3
TMCM-343 (-option)
3-axis controller/driver module 1.1A, 34V
80 x 55 x 8 mm3
Products related to TMCM-341:
BB-301 (-option)
Baseboard for TMCM-341 and 3 x TMCM-035
90 x 87 x 60 mm3
BB-301S (-options)
Baseboard for TMCM-341 and 3 x TMCM-035
133 x 100 x 60 mm3
TMCM-035
1-axis driver 3.5A, 50V with stallGuardTM
80 x 50 x 9 mm3
TMCM-323
3-axis encoder
80 x 53 x 8 mm3
TMCM-EVAL
Evaluation baseboard
160 x 100 x 24 mm3
Products related to TMCM-342
BB-302 (-option)
Baseboard for TMCM-342
80 x 50 x 15 mm3
BB-323-02
Baseboard for TMCM-342
87 x 77 x 60 mm3
TMCM-023
3-axis step/direction driver module 2A, 28.5V
60 x 100 x 12 mm3
TMCM-323
3-axis encoder
80 x 53 x 8 mm3
TMCM-078
1-axis step/direction driver module 7A, 75V
145 x 96 x 33 mm3
TMCM-EVAL
Evaluation baseboard
160 x 100 x 24 mm3
PDx-013-42
PANdrive with step/dir
42.2 x 42.2 x 72/83/90
mm3
IDX-7505
1-axis step/direction driver module 5A, 75V
65 x 64 x 24 mm3
Products related to TMCM-343
BB-303 (-option)
Baseboard for TMCM-343
80 x 50 x 15 mm3
BB-323-03
Baseboard for TMCM-343
96.5 x 79 x 60 mm3
TMCM-323
3-axis encoder
80 x 53 x 8 mm3
TMCM-EVAL
Evaluation baseboard
160 x 100 x 24 mm3
Options for TMCM-341/-342/-343
-H
horizontal pin connector (standard)
-V
vertical pin connector (on request)
(httgzllwwwm na m Imam
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 9
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
4 Overview
As with most TRINAMIC modules the software running on the microprocessor of the TMCM-341/2/3 consists
of two parts, a boot loader and the firmware itself. Whereas the boot loader is installed during production
and testing at TRINAMIC and remains normally untouched throughout the whole lifetime, the firmware
can be updated by the user. New versions can be downloaded free of charge from the TRINAMIC website
(http://www.trinamic.com).
The firmware shipped with this module is related to the standard TMCL™ firmware [TMCL] shipped with
most of TRINAMIC modules with regard to protocol and commands. Corresponding, the modules are based
on the TMC428/TMC429 stepper motor controller and the TMC246 power driver (only TMCM-343) and support
the standard TMCL™ with a special range of values. All commands and parameters available with this unit
are explained on the following pages.
The lhmgs you need Pretaullons: www.m na m mtom
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 10
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
5 Putting the TMCM-34x into operation
Here you can find basic information for putting your module, drivers and motors into operation. The text
contains a simple example for a TMCLTM program and a short description of operating the module in direct
mode.
The things you need:
TMCM-34x
Interface (RS232, RS485 or CAN) suitable to your TMCM-34x version with cables
Power supply for 5V and supply for the motor drivers
Up to three SPI drivers (e.g. TMCM-035). This is valid for TMCM-341 and TMCM-342. The TMCM-343
includes already three TMC246 power driver chips and does not need any further SPI driver.
Up to three stepper motors which fit to your controller module and drivers. Please refer to the
hardware manual for information about adequate motors.
TMCL-IDE program and PC
Precautions:
Do not connect or disconnect the motor while powered!
Do not mix up connections or short-circuit pins.
Avoid bounding IO wires with motor power wires as this may cause noise picked up from the
motor supply.
Do not exceed the maximum power supply of 5.25V.
Start with power supply OFF!
5.1 Starting up
1. Connect the RS232 Interface as specified in your hardware manual.
2. Connect the motor drivers as specified in your hardware manual.
3. Connect the power supply:
+5 VDC to pins 1 or 3
Ground to pins 2, 4, 6, 8 or 10
4. Connect the motor supply voltage to your driver module.
5. Connect the stepper motors
5. Switch on the power supply and the motor supply. An on-board LED should start to flash. This
indicates the correct configuration of the microcontroller.
If this does not occur, switch power OFF and check your connections as well as the power
supply.
6. Start the TMCL-IDE software development environment (available on the TechLibCD and
www.trinamic.com).
Installing the TMCL-IDE:
Make sure the COM port you intend to use is not blocked by another program.
Open TMCL-IDE by clicking TMCL.exe.
Choose Setup and Options and thereafter the Connection tab.
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TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 11
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Choose COM port and type with the parameters shown below (baud rate 9600). Click OK.
5.2 Testing with a simple TMCLTM program
Open the file test2.tmc. The following source code appears on the screen:
A description for the TMCL commands can be found in Appendix A.
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TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 12
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Assemble
Download Run
Stop
7. Click on Icon Assemble to convert the TMCL into machine code.
8. Then download the program to the TMCM-34x module via the icon Download.
9. Press icon Run. The desired program will be executed.
10. Click Stop button to stop the program.
5.3 Operating the module in direct mode
1. Start TMCL Direct Mode.
Direct Mode
2. If the communication is established the TMCM-34x is automatically detected. If the module is not
detected, please check all points above (cables, interface, power supply, COM port, baud rate).
3. Issue a command by choosing instruction, type (if necessary), motor, and value and click Execute
to send it to the module.
4.
Examples:
ROR rotate right, motor 0, value 500 -> Click Execute. The first motor is rotating now.
MST motor stop, motor 0 -> Click Execute. The first motor stops now.
You will find a description of all TMCLTM commands in the following chapters.
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 13
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6 TMCL and TMCL-IDE
The TMCM-341/2/3 modules support TMCL™ direct mode (binary commands or ASCII interface) and stand-
alone TMCL™ program execution. You can store up to 2048 TMCL™ instructions on it.
In direct mode and most cases the TMCL™ communication over RS485, RS232, and CAN follows a strict
master/slave relationship. That is, a host computer (e.g. PC/PLC) acting as the interface bus master will send
a command to the module. The TMCL™ interpreter on it will then interpret this command, do the
initialization of the motion controller, read inputs and write outputs or whatever is necessary according to
the specified command. As soon as this step has been done, the module will send a reply back over
RS485/RS232 /CAN to the bus master. Only then should the master transfer the next command. Normally, the
module will just switch to transmission and occupy the bus for a reply, otherwise it will stay in receive
mode. It will not send any data over the interface without receiving a command first. This way, any collision
on the bus will be avoided when there are more than two nodes connected to a single bus.
The Trinamic Motion Control Language (TMCL) provides a set of structured motion control commands. Every
motion control command can be given by a host computer or can be stored in an EEPROM on the TMCM
module to form programs that run stand-alone on the module. For this purpose there are not only motion
control commands but also commands to control the program structure (like conditional jumps, compare
and calculating).
Every command has a binary representation and a mnemonic. The binary format is used to send commands
from the host to a module in direct mode, whereas the mnemonic format is used for easy usage of the
commands when developing stand-alone TMCL™ applications using the TMCL-IDE (IDE means “Integrated
Development Environment”).
There is also a set of configuration variables for the axis and for global parameters which allow individual
configuration of nearly every function of a module. This manual gives a detailed description of all TMCL™
commands and their usage.
6.1 Binary command format
Every command has a mnemonic and a binary representation. When commands are sent from a host to a
module, the binary format has to be used. Every command consists of a one-byte command field, a one-byte
type field, a one-byte motor/bank field and a four-byte value field. So the binary representation of a
command always has seven bytes. When a command is to be sent via RS232, RS485 or USB interface, it has
to be enclosed by an address byte at the beginning and a checksum byte at the end. In this case it consists
of nine bytes.
This is different when communicating takes place via the CAN bus. Address and checksum are included in
the CAN standard and do not have to be supplied by the user.
The binary command format for RS232 and RS485 is as follows:
Bytes
Meaning
1
Module address
1
Command number
1
Type number
1
Motor or Bank number
4
Value (MSB first!)
1
Checksum
The checksum is calculated by adding up all the other bytes using an 8-bit addition.
When using CAN bus, just leave out the first byte (module address) and the last byte (checksum).
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 14
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Checksum calculation
As mentioned above, the checksum is calculated by adding up all bytes (including the module address byte)
using 8-bit addition. Here are two examples to show how to do this:
in C:
unsigned char i, Checksum;
unsigned char Command[9];
//Set the “Command” array to the desired command
Checksum = Command[0];
for(i=1; i<8; i++)
Checksum+=Command[i];
Command[8]=Checksum; //insert checksum as last byte of the command
//Now, send it to the module
in Delphi:
var
i, Checksum: byte;
Command: array[0..8] of byte;
//Set the “Command” array to the desired command
//Calculate the Checksum:
Checksum:=Command[0];
for i:=1 to 7 do Checksum:=Checksum+Command[i];
Command[8]:=Checksum;
//Now, send the “Command” array (9 bytes) to the module
6.2 Reply format
Every time a command has been sent to a module, the module sends a reply.
The reply format for RS485 and RS232 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.
Do not send the next command before you have received the reply!
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 15
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6.2.1 Status codes
The reply contains a status code.
The status code can have one of the following values:
Code
Meaning
100
Successfully executed, no error
101
Command loaded into TMCL™
program EEPROM
1
Wrong checksum
2
Invalid command
3
Wrong type
4
Invalid value
5
Configuration EEPROM locked
6
Command not available
6.3 Stand-alone applications
The module is equipped with an EEPROM for storing TMCL™ applications. You can use the TMCL-IDE for
developing stand-alone TMCL™ applications. You can load them down into the EEPROM and then they will
run on the module. The TMCL-IDE contains an editor and a “TMCL™ assembler” where the commands can be
entered using their mnemonic format. They will be assembled automatically into their binary
representations. Afterwards this code can be downloaded into the module to be executed there.
6.4 TMCL™ command overview
In this section a short overview of the TMCL™ commands is given.
6.4.1 Motion commands
These commands control the motion of the motor. They are the most important commands and can be used
in direct mode or in stand-alone mode.
Mnemonic
Command
number
Meaning
ROL
2
Rotate left
ROR
1
Rotate right
MVP
4
Move to position
MST
3
Motor stop
RFS
13
Reference search
SCO
30
Store coordinate
CCO
32
Capture coordinate
GCO
31
Get coordinate
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 16
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6.4.2 Parameter commands
These commands are used to set, read and store axis parameters or global parameters. Axis parameters can
be set independently for the axis, whereas global parameters control the behavior of the module itself.
These commands can also be used in direct mode and in stand-alone mode.
Mnemonic
Command
number
Meaning
SAP
5
Set axis parameter
GAP
6
Get axis parameter
STAP
7
Store axis parameter into EEPROM
RSAP
8
Restore axis parameter from EEPROM
SGP
9
Set global parameter
GGP
10
Get global parameter
STGP
11
Store global parameter into EEPROM
RSGP
12
Restore global parameter from EEPROM
6.4.3 I/O port commands
These commands control the external I/O ports and can be used in direct mode and in stand-alone mode.
Mnemonic
Command
number
Meaning
SIO
14
Set output
GIO
15
Get input
SAC
29
Access to external SPI device
6.4.4 Control commands
These commands are used to control the program flow (loops, conditions, jumps etc.). It does not make
sense to use them in direct mode. They are intended for stand-alone mode only.
Mnemonic
Command
number
Meaning
JA
22
Jump always
JC
21
Jump conditional
COMP
20
Compare accumulator with constant
value
CLE
36
Clear error flags
CSUB
23
Call subroutine
RSUB
24
Return from subroutine
WAIT
27
Wait for a specified event
STOP
28
End of a TMCL™ program
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 17
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6.4.5 Calculation commands
These commands are intended to be used for calculations within TMCL™ applications. Although they could
also be used in direct mode it does not make much sense to do so.
Mnemonic
Command
number
Meaning
CALC
19
Calculate using the accumulator and a
constant value
CALCX
33
Calculate using the accumulator and the
X register
AAP
34
Copy accumulator to an axis parameter
AGP
35
Copy accumulator to a global parameter
ACO
39
Copy accu to coordinate
For calculating purposes there is an accumulator (or accu or A register) and an X register. When executed in
a TMCL™ program (in stand-alone mode), all TMCL™ commands that read a value store the result in the
accumulator. The X register can be used as an additional memory when doing calculations. It can be loaded
from the accumulator.
When a command that reads a value is executed in direct mode the accumulator will not be affected. This
means that while a TMCL™ program is running on the module (stand-alone mode), a host can still send
commands like GAP, GGP or GIO to the module (e.g. to query the actual position of the motor) without
affecting the flow of the TMCL™ program running on the module.
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6.5 TMCL™ List of commands
The following TMCL™ commands are currently supported:
Command
Number
Parameter
Description
ROR
1
<motor number>, <velocity>
Rotate right with specified velocity
ROL
2
<motor number>, <velocity>
Rotate left with specified velocity
MST
3
<motor number>
Stop motor movement
MVP
4
ABS|REL|COORD, <motor
number>, <position|offset>
Move to position (absolute or
relative)
SAP
5
<parameter>, <motor number>,
<value>
Set axis parameter (motion control
specific settings)
GAP
6
<parameter>, <motor number>
Get axis parameter (read out motion
control specific settings)
STAP
7
<parameter>, <motor number>
Store axis parameter permanently
(non volatile)
RSAP
8
<parameter>; <motor number>
Restore axis parameter
SGP
9
<parameter>, <bank number>,
<value>
Set global parameter (module specific
settings, e.g. communication settings,
or TMCL™ user variables)
GGP
10
<parameter>, <bank number>
Get global parameter (read out
module specific settings e.g.
communication settings, or TMCL™
user variables)
STGP
11
<parameter>, <bank number>
Store global parameter (TMCL™ user
variables only)
RSGP
12
<parameter>, <bank>
Restore global parameter (TMCL™
user variables only)
RFS
13
START|STOP|STATUS, <motor
number>
Reference search
SIO
14
<port number>, <bank number>,
<value>
Set digital output to specified value
GIO
15
<port number>, <bank number>
Get value of analogue / digital input
CALC
19
<operation>, <value>
Process accumulator & value
COMP
20
<value>
Compare accumulator <-> value
JC
21
<condition>, <jump address>
Jump conditional
JA
22
<jump address>
Jump absolute
CSUB
23
<subroutine address>
Call subroutine
RSUB
24
Return from subroutine
WAIT
27
<condition>, <motor number>,
<ticks>
Wait with further program execution
STOP
28
Stop program execution
SAC
29
<bus number>, <number of
bites>, <send data>
SPI bus access
SCO
30
<coordinate number>, <motor
number>, <position>
Set coordinate
to
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TMCL™ control commands:
Instruction
Description
Type
Mot/Bank
Value
128 stop application
a running TMCL™ standalone
application is stopped
(don't care)
(don't care)
(don't care)
129 run application
TMCL™ execution is started (or
continued)
0 - run from
current address
1 - run from
specified address
(don't care)
(don't care)
starting address
130 step application
only the next command of a
TMCL™ application is executed
(don't care)
(don't care)
(don't care)
131 reset application
the program counter is set to
zero, and the standalone
application is stopped (when
running or stepped)
(don't care)
(don't care)
(don't care)
132 start download
mode
target command execution is
stopped and all following
commands are transferred to
the TMCL™ memory
(don't care)
(don't care)
starting address
of the application
133 quit download
mode
target command execution is
resumed
(don't care)
(don't care)
(don't care)
134 read TMCL™
memory
the specified program memory
location is read
(don't care)
(don't care)
<memory
address>
135 get application
status
one of these values is
returned:
0 stop
1 run
2 step
3 reset
(don't care)
(don't care)
(don't care)
136 get firmware
version
return the module type and
firmware revision either as a
string or in binary format
0 string
1 binary
(don’t care)
(don’t care)
137 restore factory
settings
reset all settings stored in the
EEPROM to their factory
defaults
This command does not send
back a reply.
(don’t care)
(don’t care)
must be 1234
138 reserved
139 enter ASCII
mode
Enter ASCII command line (see
chapter 6.6)
(don’t care)
(don’t care)
(don’t care)
Command
Number
Parameter
Description
GCO
31
<coordinate number>, <motor
number>
Get coordinate
CCO
32
<coordinate number>, <motor
number>
Capture coordinate
CALCX
33
<operation>
Process accumulator & X-register
AAP
34
<parameter>, <motor number>
Accumulator to axis parameter
AGP
35
<parameter>, <bank>
Accumulator to global parameter
ACO
39
<coordinate number, <motor
number>
Accu to coordinate
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6.6 The ASCII interface
Since TMCL™ V3.21 there is also an ASCII interface that can be used to communicate with the module and
to send some commands as text strings.
The ASCII command line interface is entered by sending the binary command 139 (enter ASCII
mode).
Afterwards the commands are entered as in the TMCL-IDE. Please note that only those commands,
which can be used in direct mode, also can be entered in ASCII mode.
For leaving the ASCII mode and re-enter the binary mode enter the command “BIN”.
6.6.1 Format of the command line
As the first character, the address character has to be sent. The address character is “A” when the module
address is 1, “B” for modules with address 2 and so on. After the address character there may be spaces
(but this is not necessary). Then, send the command with its parameters. At the end of a command line a
<CR> character has to be sent.
Here are some examples for valid command lines:
AMVP ABS, 1, 50000
A MVP ABS, 1, 50000
AROL 2, 500
A MST 1
ABIN
These command lines would address the module with address 1. To address e.g. module 3, use address
character “C” instead of “A”. The last command line shown above will make the module return to binary
mode.
6.6.2 Format of a reply
After executing the command the module sends back a reply in ASCII format. This reply consists of:
the address character of the host (host address that can be set in the module)
the address character of the module
the status code as a decimal number
the return value of the command as a decimal number
a <CR> character
So, after sending AGAP 0, 1 the reply would be BA 100 5000 if the actual position of axis 1 is 5000,
the host address is set to 2 and the module address is 1. The value “100” is the status code 100 that means
“command successfully executed”.
6.6.3 Commands that can be used in ASCII mode
The following commands can be used in ASCII mode: ROL, ROR, MST, MVP, SAP, GAP, STAP, RSAP, SGP, GGP,
STGP, RSGP, RFS, SIO, GIO, SAC, SCO, GCO, CCO, UF0, UF1, UF2, UF3, UF4, UF5, UF6, UF7.
There are also special commands that are only available in ASCII mode:
BIN: This command quits ASCII mode and returns to binary TMCL™ mode.
RUN: This command can be used to start a TMCLprogram in memory.
STOP: Stops a running TMCL™ application.
6.6.4 Configuring the ASCII interface
The module can be configured so that it starts up either in binary mode or in ASCII mode. Global
parameter 67 is used for this purpose (please see also chapter 8.1). Bit 0 determines the startup mode: if
this bit is set, the module starts up in ASCII mode, else it will start up in binary mode (default). Bit 4 and
Bit 5 determine how the characters that are entered are echoed back. Normally, both bits are set to zero. In
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 21
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
this case every character that is entered is echoed back when the module is addressed. Character can also
be erased using the backspace character (press the backspace key in a terminal program). When bit 4 is set
and bit 5 is clear the characters that are entered are not echoed back immediately but the entire line will be
echoed back after the <CR> character has been sent. When bit 5 is set and bit 4 is clear there will be no
echo, only the reply will be sent. This may be useful in RS485 systems.
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Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7 Commands
The module specific commands are explained in more detail on the following pages. They are listed
according to their command number.
6.7.1 ROR (rotate right)
With this command the motor will be instructed to rotate with a specified velocity in “right” direction
(increasing the position counter).
Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter
#0 ("target velocity").
The modules are based on the TMC428/TMC429 stepper motor controller and the TMC246 (only TMCM-343)
power driver. This makes possible choosing a velocity between 0 and 2047.
[Stop motor movements before changing speed or direction as this might have undesired effects!]
Related commands: ROL, MST, SAP, GAP
Mnemonic: ROR <motor number>, <velocity>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
1
(don't care)
0*
<velocity>
0… 2047
*motor number is always O if only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 OK
(don't care)
Example:
Rotate right, motor #2, velocity = 350
Mnemonic: ROR 2, 350
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$01
$00
$02
$00
$00
$01
$5e
$62
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6.7.2 ROL (rotate left)
With this command the motor will be instructed to rotate with a specified velocity (opposite direction
compared to ROR, decreasing the position counter).
Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter
#0 ("target velocity").
The module is based on the TMC428/TMC429 stepper motor controller and the TMC246 (only TMCM-343)
power driver. This makes possible choosing a velocity between 0 and 2047.
[Stop motor movements before changing speed or direction as this might have undesired effects!]
Related commands: ROR, MST, SAP, GAP
Mnemonic: ROL <motor number>, <velocity>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
2
(don't care)
0*
<velocity>
0… 2047
*motor number is always O if only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 OK
(don't care)
Example:
Rotate left, motor #1, velocity = 1200
Mnemonic: ROL 1, 1200
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$02
$00
$01
$00
$00
$04
$b0
$b8
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 24
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.3 MST (motor stop)
With this command the motor will be instructed to stop either with deceleration ramp (soft stop) or without
(hard stop). Please note: depending on motor speed a hard stop might lead to step losses.
Internal function: The axis parameter "target velocity" is set to zero.
Related commands: ROL, ROR, SAP, GAP
Mnemonic: MST <motor number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
3
(don't care)
0*
(don't care)
*motor number is always O if only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 OK
(don't care)
Example:
Stop motor #1
Mnemonic: MST 1
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$03
$00
$01
$00
$00
$00
$00
$05
Three ogera an types are ava able:
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Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.4 MVP (move to position)
With this command the motor will be instructed to move to a specified relative or absolute position or a
pre-programmed coordinate. It will use the acceleration/deceleration ramp and the positioning speed
programmed into the unit. This command is non-blocking that is, a reply will be sent immediately after
command interpretation and initialization of the motion controller. Further commands may follow without
waiting for the motor reaching its end position. The maximum velocity and acceleration are defined by axis
parameters #4 and #5.
Three operation types are available:
Moving to an absolute position in the range from - 8388608 to +8388607 (-223 to+223-1).
Starting a relative movement by means of an offset to the actual position. In this case, the new
resulting position value must not exceed the above mentioned limits, too.
Moving the motor to a (previously stored) coordinate (refer to SCO for details).
Please note, that the distance between the actual position and the new one should not be more than
8388607 microsteps. Otherwise the motor will run in the wrong direction for taking a shorter way. If
the value is exactly 8388608 the motor maybe stops.
Internal function: A new position value is transferred to the axis parameter #2 target position”.
Related commands: SAP, GAP, SCO, CCO, GCO, ACO, MST
Mnemonic: MVP <ABS|REL|COORD>, <motor number>, <position|offset|coordinate number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
4
0 ABS absolute
<motor number>
<position>
1 REL relative
<motor number>
<offset>
2 COORD
coordinate
See below
<coordinate number
(0..20)
Reply in direct mode:
STATUS
VALUE
100 OK
(don't care)
Example MVP ABS:
Move motor #1 to (absolute) position 90000
Mnemonic: MVP ABS, 1, 9000
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$04
$00
$01
$00
$01
$5f
$90
$f6
Example MVP REL:
Move motor #0 from current position 1000 steps backward (move relative 1000)
Mnemonic: MVP REL, 0, -1000
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$04
$01
$00
$ff
$ff
$fc
$18
$18
Versatile ogtions for the MVP COORD command:
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Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Examples MVP COORD:
Move motors 0, 1 and 2 to coordinate 2 using interpolation
Mnemonic: MVP COORD, $47, 2
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$04
$02
$47
$00
$00
$00
$02
$50
Move motors 0, 1 and 2 to coordinate 5 without using interpolation
Mnemonic: MVP COORD, $87, 5
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$04
$02
$87
$00
$00
$00
$05
$93
When moving to a coordinate, the coordinate has to be set properly in advance with the help of the
SCO, CCO or ACO command.
Versatile options for the MVP COORD command:
Moving only one motor: Set the <motor> parameter to the motor number (0…2).
Moving multiple motors without interpolation: Set bit 7 of the <motor> parameter. Now the
bits 0…2 of the <motor> parameter define which motors are to be started. Each of these bits
stands for one motor.
Moving multiple motors using interpolation: Set bit 6 of the <motor> parameter. Now the
bits 0…2 of the <motor> parameter define which motors are to be moved using the
interpolation. Each of these bits stands for one motor.
List 0f parameters which can be used far SAP: H H H H
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6.7.5 SAP (set axis parameter)
With this command most of the motion control parameters of the module can be specified. The settings will
be stored in SRAM and therefore are volatile. That is, information will be lost after power off. Please use
command STAP (store axis parameter) in order to store any setting permanently.
Internal function: The parameter format is converted ignoring leading zeros (or ones for negative values).
The parameter is transferred to the correct position in the appropriate device.
Related commands: GAP, STAP, RSAP , AAP
Mnemonic: SAP <parameter number>, <motor number>, <value>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
5
<parameter
number>
<motor number>
<value>
Reply in direct mode:
STATUS
VALUE
100 OK
(don't care)
List of parameters, which can be used for SAP:
Please note, that for the binary representation <parameter number> has to be filled with the number
and the <value> has to be filled with a value from range.
Number
Axis Parameter
Description
Range
0
target (next) position
The desired position in position mode (see ramp mode,
no. 138).
223
1
actual position
The current position of the motor. Should only be
overwritten for reference point setting.
223
3
actual speed
The current rotation speed.
2047
2
target (next) speed
The desired speed in velocity mode (see ramp mode, no.
138). In position mode, this parameter is set by
hardware: to the maximum speed during acceleration,
and to zero during deceleration and rest.
2047
4
maximum positioning
speed
Should not exceed the physically highest possible value.
Adjust the pulse divisor (no. 154), if the speed value is
very low (<50) or above the upper limit. See TMC428 or
TMC429 datasheet for calculation of physical units.
0...2047
5
maximum acceleration
The limit for acceleration (and deceleration). Changing
this parameter requires re-calculation of the acceleration
factor (no. 146) and the acceleration divisor (no. 137),
which is done automatically. See TMC428 or
TMC429datasheet for calculation of physical units.
0... 2047
6
absolute max. current
The most important motor setting, since too high values
might cause motor damage! The maximum value is 255
(which mean 100% of the maximum current of the
module). This parameter belongs to the TMCM-341 and
TMCM-343 modules.
0..255
7
standby current
The current limit two seconds after the motor has
stopped.
This parameter belongs to the TMCM-341 and TMCM-343
modules.
0..255
12
right limit switch disable
If set, deactivates the stop function of the right switch
0/1
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Number
Axis Parameter
Description
Range
13
left limit switch disable
Deactivates the stop function of the left switch resp.
reference switch if set.
0/1
130
minimum speed
Should always be set 1 to ensure exact reaching of the
target position. Do not change!
0... 2047
138
ramp mode
Automatically set when using ROR, ROL, MST and MVP.
0: position mode. Steps are generated, when the
parameters actual position and target position differ.
Trapezoidal speed ramps are provided.
2: velocity mode. The motor will run continuously and
the speed will be changed with constant (maximum)
acceleration, if the parameter "target speed" is changed.
For special purposes, the soft mode (value 1) with
exponential decrease of speed can be selected.
0/1/2
140
microstep resolution
0 full step*)
1 half step*)
2 4 microsteps
3 8 microsteps
4 16 microsteps
5 32 microsteps**)
6 64 microsteps**)
Note that modifying this parameter will affect the
rotation speed in the same relation:
*) The full-step setting and the half-step setting are not
optimized for use without an adapted microstepping
table. These settings just step through the microstep
table in steps of 64 respectively 32. To get real full
stepping use axis parameter 211 or load an adapted
microstepping table.
**) If the module is specified for 16 microsteps only,
switching to 32 or 64 microsteps brings an enhancement
in resolution and smoothness. The position counter will
use the full resolution, but, however, the motor will
resolve a maximum of 24 different microsteps only for
the 32 or 64 microstep units.
0…6
149
soft stop flag
If cleared, the motor will stop immediately (disregarding
motor limits), when the reference or limit switch is hit.
0/1
153
ramp divisor
The exponent of the scaling factor for the ramp
generator- should be de/incremented carefully (in steps
of one).
0…13
154
pulse divisor
The exponent of the scaling factor for the pulse (step)
generator should be de/incremented carefully (in steps
of one).
0…13
193
referencing mode
1 Only the left reference switch is searched.
2 The right switch is searched and afterwards the left
switch is searched.
3 Three-switch-mode: the right switch is searched first
and afterwards the reference switch will be searched.
Please see chapter 6.7.13 for details on reference search.
1/2/3
194
referencing search speed
For the reference search this value directly specifies the
search speed.
0…2047
195
referencing switch speed
Similar to parameter no. 194, the speed for the switching
point calibration can be selected.
0..2047
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Number
Axis Parameter
Description
Range
203
mixed decay threshold
If the actual velocity is above this threshold, mixed decay
will be used. This can also be set to -1 which turns on
mixed decay permanently also in the rising part of the
microstep wave. This can be used to fix microstep errors.
This parameter is valid for the TMCM-341 and TMCM-343
modules.
0..2048
or -1
204
freewheeling
Time after which the power to the motor will be cut
when its velocity has reached zero. This parameter is
valid for the TMCM-341 and TMCM-343 modules.
0…65535
0 = never
205
stall detection threshold
Stall detection threshold. Set it to 0 for no stall detection
or to a value between 1 (low threshold) and 7 (high
threshold). The motor will be stopped if the load value
exceeds the stall detection threshold. Switch off mixed
decay to get usable results. This parameter is valid for
the TMCM-341 and TMCM-343 modules.
0..7
209
encoder position
The value of an encoder register of a TMCM-323 module
connected to a TMCM-34x module can be read out or
written. Please refer to the TMCM-323 module for details.
210
encoder prescaler
Prescaler for the encoder.
211
fullstep threshold
When exceeding this speed the driver will switch to real
full step mode. To disable this feature set this parameter
to zero or to a value greater than 2047.
Setting a full step threshold allows higher motor torque
of the motor at higher velocity. When experimenting
with this in a given application, try to reduce the motor
current in order to be able to reach a higher motor
velocity! This parameter is valid for the TMCM-341 and
TMCM-343 modules.
0..2048
212
maximum encoder
deviation
When the actual position (parameter 1) and the encoder
position (parameter 209) differ more than set here the
motor will be stopped. This function is switched off
when the maximum deviation is set to zero.
Please note, that you need an encoder for this
parameter (e.g. TMCM-323).
0..65535
213
group index
All motors on one module that have the same group
index will also get the same commands when a ROL,
ROR, MST, MVP or RFS is issued for one of these motors.
0…255
214
power down delay
Standstill period before the current is changed down to
standby current. The standard value is 200msec.
This parameter is valid for the TMCM-341 and TMCM-343
modules.
from
10msec
on
Example:
Set the absolute maximum current of motor #1 to 200mA
Mnemonic: SAP 6, 1, 200
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$05
$06
$01
$00
$00
$00
$c8
$d5
List 0f parameters which can be used far GAP: H H H H
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 30
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.6 GAP (get axis parameter)
Most parameters of the TMCM-34x can be adjusted individually for the axis. With this parameter they can be
read out. In stand-alone mode the requested value is also transferred to the accumulator register for further
processing purposes (such as conditioned jumps). In direct mode the value read is only output in the
“value” field of the reply (without affecting the accumulator).
Internal function: The parameter is read out of the correct position in the appropriate device. The parameter
format is converted adding leading zeros (or ones for negative values).
Related commands: SAP, STAP, AAP, RSAP
Mnemonic: GAP <parameter number>, <motor number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
6
<parameter number>
<motor number>
(don't care)
Reply in direct mode:
STATUS
VALUE
100 OK
(don't care)
List of parameters, which can be used for GAP:
Number
Axis Parameter
Description
Range
0
target (next) position
The desired position in position mode (see ramp mode,
no. 138).
223
1
actual position
The current position of the motor. Should only be
overwritten for reference point setting.
223
2
target (next) speed
The desired speed in velocity mode (see ramp mode, no.
138). In position mode, this parameter is set by
hardware: to the maximum speed during acceleration,
and to zero during deceleration and rest.
2047
3
actual speed
The current rotation speed.
2047
4
maximum positioning
speed
Should not exceed the physically highest possible value.
Adjust the pulse divisor (no. 154), if the speed value is
very low (<50) or above the upper limit. See TMC428 or
TMC429 datasheet for calculation of physical units.
0...2047
5
maximum acceleration
The limit for acceleration (and deceleration). Changing
this parameter requires re-calculation of the acceleration
factor (no. 146) and the acceleration divisor (no. 137),
which is done automatically. See TMC428 or TMC429
datasheet for calculation of physical units.
0... 2047
6
absolute max. current
The most important motor setting, since too high values
might cause motor damage! The maximum value is 255
(which mean 100% of the maximum current of the
module). This parameter belongs to the TMCM-341 and
TMCM-343 modules.
0..255
7
standby current
The current limit two seconds after the motor has
stopped.
This parameter belongs to the TMCM-341 and TMCM-343
modules.
0..255
8
target pos. reached
Indicates that the actual position equals the target
position.
0/1
m
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 31
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Number
Axis Parameter
Description
Range
9
ref. switch status
The logical state of the reference (left) switch.
See the TMC428 or TMC429 data sheet for the different
switch modes. The default has two switch modes: the
left switch as the reference switch, the right switch as a
limit (stop) switch.
0/1
10
right limit switch status
The logical state of the (right) limit switch.
0/1
11
left limit switch status
The logical state of the left limit switch (in three switch
mode)
0/1
12
right limit switch disable
If set, deactivates the stop function of the right switch
0/1
13
left limit switch disable
Deactivates the stop function of the left switch resp.
reference switch if set.
0/1
130
minimum speed
Should always be set 1 to ensure exact reaching of the
target position. Do not change!
0... 2047
135
actual acceleration
The current acceleration (read only).
0... 2047
138
ramp mode
Automatically set when using ROR, ROL, MST and MVP.
0: position mode. Steps are generated, when the
parameters actual position and target position differ.
Trapezoidal speed ramps are provided.
2: velocity mode. The motor will run continuously and
the speed will be changed with constant (maximum)
acceleration, if the parameter "target speed" is changed.
For special purposes, the soft mode (value 1) with
exponential decrease of speed can be selected.
0/1/2
140
microstep resolution
0 full step*)
1 half step*)
2 4 microsteps
3 8 microsteps
4 16 microsteps
5 32 microsteps**)
6 64 microsteps**)
Note that modifying this parameter will affect the
rotation speed in the same relation:
*) The full-step setting and the half-step setting are not
optimized for use without an adapted microstepping
table. These settings just step through the microstep
table in steps of 64 respectively 32. To get real full
stepping use axis parameter 211 or load an adapted
microstepping table.
**) If the module is specified for 16 microsteps only,
switching to 32 or 64 microsteps brings an enhancement
in resolution and smoothness. The position counter will
use the full resolution, but, however, the motor will
resolve a maximum of 24 different microsteps only for
the 32 or 64 microstep units.
0…6
149
soft stop flag
If cleared, the motor will stop immediately (disregarding
motor limits), when the reference or limit switch is hit.
0/1
153
ramp divisor
The exponent of the scaling factor for the ramp
generator- should be de/incremented carefully (in steps
of one).
0…13
154
pulse divisor
The exponent of the scaling factor for the pulse (step)
generator should be de/incremented carefully (in steps
of one).
0…13
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 32
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Number
Axis Parameter
Description
Range
193
referencing mode
1 Only the left reference switch is searched.
2 The right switch is searched and afterwards the left
switch is searched.
3 Three-switch-mode: the right switch is searched first
and afterwards the reference switch will be searched.
Please see chapter 6.7.13 for details on reference search.
1/2/3
194
referencing search speed
For the reference search this value directly specifies the
search speed.
0…2047
195
referencing switch speed
Similar to parameter no. 194, the speed for the switching
point calibration can be selected.
0..2047
196
distance end switches
This parameter provides the distance between the end
switches after executing the RFS command (mode 2 or 3).
0…838830
7
203
mixed decay threshold
If the actual velocity is above this threshold, mixed decay
will be used. This can also be set to -1 which turns on
mixed decay permanently also in the rising part of the
microstep wave. This can be used to fix microstep errors.
This parameter is valid for the TMCM-341 and TMCM-343
modules.
0..2048
or -1
204
freewheeling
Time after which the power to the motor will be cut
when its velocity has reached zero. This parameter is
valid for the TMCM-341 and TMCM-343 modules.
0…65535
0 = never
205
stall detection threshold
Stall detection threshold. Set it to 0 for no stall detection
or to a value between 1 (low threshold) and 7 (high
threshold). The motor will be stopped if the load value
exceeds the stall detection threshold. Switch off mixed
decay to get usable results. This parameter is valid for
the TMCM-341 and TMCM-343 modules.
0..7
206
actual load value
Readout of the actual load value used for stall detection.
This parameter is valid for the TMCM-341 and TMCM-343
modules.
0..7
208
driver error flags
TMC236 error flags. This parameter is valid for the TMCM-
341 and TMCM-343 modules. Read only!
209
encoder position
The value of an encoder register of a TMCM-323 module
connected to a TMCM-34x module can be read out or
written. Please refer to the TMCM-323 module for details.
210
encoder prescaler
Prescaler for the encoder.
211
fullstep threshold
When exceeding this speed the driver will switch to real
full step mode. To disable this feature set this parameter
to zero or to a value greater than 2047.
Setting a full step threshold allows higher motor torque
of the motor at higher velocity. When experimenting
with this in a given application, try to reduce the motor
current in order to be able to reach a higher motor
velocity! This parameter is valid for the TMCM-341 and
TMCM-343 modules.
0..2048
212
maximum encoder
deviation
When the actual position (parameter 1) and the encoder
position (parameter 209) differ more than set here the
motor will be stopped. This function is switched off
when the maximum deviation is set to zero.
Please note, that you need an encoder for this
parameter (e.g. TMCM-323).
0..65535
213
group index
All motors on one module that have the same group
index will also get the same commands when a ROL,
ROR, MST, MVP or RFS is issued for one of these motors.
0…255
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 33
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Number
Axis Parameter
Description
Range
214
power down delay
Standstill period before the current is changed down to
standby current. The standard value is 200msec.
This parameter is valid for the TMCM-341 and TMCM-343
modules.
from
10msec
on
Example:
Get the actual position of motor #2
Mnemonic: GAP 2, 1
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$06
$01
$02
$00
$00
$00
$00
$0a
Reply:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Host-
address
Target-
address
Status
Instruction
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$02
$01
$64
$06
$00
$00
$02
$c7
$36
status=no error, position=711
List 0f parameters which can be used far STAP:
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 34
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.7 STAP (store axis parameter)
An axis parameter previously set with a Set Axis Parameter command (SAP) will be stored permanent. Most
parameters are automatically restored after power up (refer to axis parameter list in chapter 7).
Internal function: An axis parameter value stored in SRAM will be transferred to EEPROM and loaded from
EEPORM after next power up.
Related commands: SAP, RSAP, GAP, AAP
Mnemonic: STAP <parameter number>, <motor number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
7
<parameter number>
<motor number>
(don't care)*
* The value operand of this function has no effect. Instead, the currently used value (e.g. selected by SAP) is saved.
Reply in direct mode:
STATUS
VALUE
100 OK
(don't care)
Parameter ranges:
Parameter number
Motor number
Value
s. chapter 7
0
s. chapter 7
List of parameters, which can be used for STAP:
Number
Axis Parameter
Description
4
maximum positioning
speed
Should not exceed the physically highest possible value.
Adjust the pulse divisor (no. 154), if the speed value is
very low (<50) or above the upper limit. See TMC428 or
TMC429 datasheet for calculation of physical units.
5
maximum acceleration
The limit for acceleration (and deceleration). Changing
this parameter requires re-calculation of the acceleration
factor (no. 146) and the acceleration divisor (no. 137),
which is done automatically. See TMC428 or TMC429
datasheet for calculation of physical units.
6
absolute max. current
The most important motor setting, since too high values
might cause motor damage! The maximum value is 255
(which mean 100% of the maximum current of the
module). This parameter belongs to the TMCM-341 and
TMCM-343 modules.
7
standby current
The current limit two seconds after the motor has
stopped.
This parameter belongs to the TMCM-341 and TMCM-343
modules.
12
right limit switch disable
If set, deactivates the stop function of the right switch
13
left limit switch disable
Deactivates the stop function of the left switch resp.
reference switch if set.
130
minimum speed
Should always be set 1 to ensure exact reaching of the
target position. Do not change!
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 35
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Number
Axis Parameter
Description
140
microstep resolution
0 full step*)
1 half step*)
2 4 microsteps
3 8 microsteps
4 16 microsteps
5 32 microsteps**)
6 64 microsteps**)
Note that modifying this parameter will affect the
rotation speed in the same relation:
*) The full-step setting and the half-step setting are not
optimized for use without an adapted microstepping
table. These settings just step through the microstep
table in steps of 64 respectively 32. To get real full
stepping use axis parameter 211 or load an adapted
microstepping table.
**) If the module is specified for 16 microsteps only,
switching to 32 or 64 microsteps brings an enhancement
in resolution and smoothness. The position counter will
use the full resolution, but, however, the motor will
resolve a maximum of 24 different microsteps only for
the 32 or 64 microstep units.
149
soft stop flag
If cleared, the motor will stop immediately (disregarding
motor limits), when the reference or limit switch is hit.
153
ramp divisor
The exponent of the scaling factor for the ramp
generator- should be de/incremented carefully (in steps
of one).
154
pulse divisor
The exponent of the scaling factor for the pulse (step)
generator should be de/incremented carefully (in steps
of one).
193
referencing mode
1 Only the left reference switch is searched.
2 The right switch is searched and afterwards the left
switch is searched.
3 Three-switch-mode: the right switch is searched first
and afterwards the reference switch will be searched.
Please see chapter 6.7.13 for details on reference search.
194
referencing search speed
For the reference search this value directly specifies the
search speed.
195
referencing switch speed
Similar to parameter no. 194, the speed for the switching
point calibration can be selected.
203
mixed decay threshold
If the actual velocity is above this threshold, mixed decay
will be used. This can also be set to -1 which turns on
mixed decay permanently also in the rising part of the
microstep wave. This can be used to fix microstep errors.
This parameter is valid for the TMCM-341 and TMCM-343
modules.
204
freewheeling
Time after which the power to the motor will be cut
when its velocity has reached zero. This parameter is
valid for the TMCM-341 and TMCM-343 modules.
205
stall detection threshold
Stall detection threshold. Set it to 0 for no stall detection
or to a value between 1 (low threshold) and 7 (high
threshold). The motor will be stopped if the load value
exceeds the stall detection threshold. Switch off mixed
decay to get usable results. This parameter is valid for
the TMCM-341 and TMCM-343 modules.
210
encoder prescaler
Prescaler for the encoder.
al
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 36
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Number
Axis Parameter
Description
211
fullstep threshold
When exceeding this speed the driver will switch to real
full step mode. To disable this feature set this parameter
to zero or to a value greater than 2047.
Setting a full step threshold allows higher motor torque
of the motor at higher velocity. When experimenting
with this in a given application, try to reduce the motor
current in order to be able to reach a higher motor
velocity! This parameter is valid for the TMCM-341 and
TMCM-343 modules.
212
maximum encoder
deviation
When the actual position (parameter 1) and the encoder
position (parameter 209) differ more than set here the
motor will be stopped. This function is switched off
when the maximum deviation is set to zero.
Please note, that you need an encoder for this
parameter (e.g. TMCM-323).
214
power down delay
Standstill period before the current is changed down to
standby current. The standard value is 200msec.
This parameter is valid for the TMCM-341 and TMCM-343
modules.
Example:
Store the maximum speed of motor #1
Mnemonic: STAP 4, 1
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$07
$04
$01
$00
$00
$00
$00
$0d
Note: The STAP command will not have any effect when the configuration EEPROM is locked (refer to
8.1). In direct mode, the error code 5 (configuration EEPROM locked, see also section 6.2.1) will be
returned in this case.
List 0f parameters w h can be used far RSAP:
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 37
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.8 RSAP (restore axis parameter)
For all configuration-related axis parameters non-volatile memory locations are provided. By default, most
parameters are automatically restored after power up (refer to axis parameter list in chapter 7). A single
parameter that has been changed before can be reset by this instruction also.
Internal function: The specified parameter is copied from the configuration EEPROM memory to its RAM
location.
Relate commands: SAP, STAP, GAP, AAP
Mnemonic: RSAP <parameter number>, <motor number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
8
<parameter number>
<motor number>
(don't care)
Reply structure in direct mode:
STATUS
VALUE
100 OK
(don't care)
List of parameters, which can be used for RSAP:
Number
Axis Parameter
Description
4
maximum positioning
speed
Should not exceed the physically highest possible value.
Adjust the pulse divisor (no. 154), if the speed value is
very low (<50) or above the upper limit. See TMC428 or
TMC429 datasheet for calculation of physical units.
5
maximum acceleration
The limit for acceleration (and deceleration). Changing
this parameter requires re-calculation of the acceleration
factor (no. 146) and the acceleration divisor (no. 137),
which is done automatically. See TMC428 or TMC429
datasheet for calculation of physical units.
6
absolute max. current
The most important motor setting, since too high values
might cause motor damage! The maximum value is 255
(which mean 100% of the maximum current of the
module). This parameter belongs to the TMCM-341 and
TMCM-343 modules.
7
standby current
The current limit two seconds after the motor has
stopped.
This parameter belongs to the TMCM-341 and TMCM-343
modules.
12
right limit switch disable
If set, deactivates the stop function of the right switch
13
left limit switch disable
Deactivates the stop function of the left switch resp.
reference switch if set.
130
minimum speed
Should always be set 1 to ensure exact reaching of the
target position. Do not change!
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 38
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Number
Axis Parameter
Description
140
microstep resolution
0 full step*)
1 half step*)
2 4 microsteps
3 8 microsteps
4 16 microsteps
5 32 microsteps**)
6 64 microsteps**)
Note that modifying this parameter will affect the
rotation speed in the same relation:
*) The full-step setting and the half-step setting are not
optimized for use without an adapted microstepping
table. These settings just step through the microstep
table in steps of 64 respectively 32. To get real full
stepping use axis parameter 211 or load an adapted
microstepping table.
**) If the module is specified for 16 microsteps only,
switching to 32 or 64 microsteps brings an enhancement
in resolution and smoothness. The position counter will
use the full resolution, but, however, the motor will
resolve a maximum of 24 different microsteps only for
the 32 or 64 microstep units.
149
soft stop flag
If cleared, the motor will stop immediately (disregarding
motor limits), when the reference or limit switch is hit.
153
ramp divisor
The exponent of the scaling factor for the ramp
generator- should be de/incremented carefully (in steps
of one).
154
pulse divisor
The exponent of the scaling factor for the pulse (step)
generator should be de/incremented carefully (in steps
of one).
193
referencing mode
1 Only the left reference switch is searched.
2 The right switch is searched and afterwards the left
switch is searched.
3 Three-switch-mode: the right switch is searched first
and afterwards the reference switch will be searched.
Please see chapter 6.7.13 for details on reference search.
194
referencing search speed
For the reference search this value directly specifies the
search speed.
195
referencing switch speed
Similar to parameter no. 194, the speed for the switching
point calibration can be selected.
203
mixed decay threshold
If the actual velocity is above this threshold, mixed decay
will be used. This can also be set to -1 which turns on
mixed decay permanently also in the rising part of the
microstep wave. This can be used to fix microstep errors.
This parameter is valid for the TMCM-341 and TMCM-343
modules.
204
freewheeling
Time after which the power to the motor will be cut
when its velocity has reached zero. This parameter is
valid for the TMCM-341 and TMCM-343 modules.
205
stall detection threshold
Stall detection threshold. Set it to 0 for no stall detection
or to a value between 1 (low threshold) and 7 (high
threshold). The motor will be stopped if the load value
exceeds the stall detection threshold. Switch off mixed
decay to get usable results. This parameter is valid for
the TMCM-341 and TMCM-343 modules.
210
encoder prescaler
Prescaler for the encoder.
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 39
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Number
Axis Parameter
Description
211
fullstep threshold
When exceeding this speed the driver will switch to real
full step mode. To disable this feature set this parameter
to zero or to a value greater than 2047.
Setting a full step threshold allows higher motor torque
of the motor at higher velocity. When experimenting
with this in a given application, try to reduce the motor
current in order to be able to reach a higher motor
velocity! This parameter is valid for the TMCM-341 and
TMCM-343 modules.
212
maximum encoder
deviation
When the actual position (parameter 1) and the encoder
position (parameter 209) differ more than set here the
motor will be stopped. This function is switched off
when the maximum deviation is set to zero.
Please note, that you need an encoder for this
parameter (e.g. TMCM-323).
214
power down delay
Standstill period before the current is changed down to
standby current. The standard value is 200msec.
This parameter is valid for the TMCM-341 and TMCM-343
modules.
Example:
Restore the maximum current of motor #1
Mnemonic: RSAP 6, 1
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$08
$06
$01
$00
$00
$00
$00
$10
Global parameters 0f bank 0 which can be used for SGP:
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 40
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.9 SGP (set global parameter)
With this command most of the module specific parameters not directly related to motion control can be
specified and the TMCL™ user variables can be changed. Global parameters are related to the host interface,
peripherals or application specific variables. The different groups of these parameters are organized in
"banks" to allow a larger total number for future products. Currently, only bank 0 and 1 are used for global
parameters, and bank 2 is used for user variables.
All module settings will automatically be stored non-volatile (internal EEPROM of the processor). The
TMCL™ user variables will not be stored in the EEPROM automatically, but this can be done by using
STGP commands.
Internal function: the parameter format is converted ignoring leading zeros (or ones for negative values).
The parameter is transferred to the correct position in the appropriate (on board) device.
Related commands: GGP, STGP, RSGP, AGP
Mnemonic: SGP <parameter number>, <bank number>, <value>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
9
<parameter
number>
<bank number>
<value>
Reply in direct mode:
STATUS
VALUE
100 OK
(don't care)
Global parameters of bank 0, which can be used for SGP:
Number
Global parameter
Description
Range
64
EEPROM magic
Setting this parameter to a different value as $E4 will
cause re-initialization of the axis and global parameters
(to factory defaults) after the next power up. This is
useful in case of miss-configuration.
0… 255
65
RS232/RS485 baud rate
0
9600 baud (default)
1
14400 baud
2
19200 baud
3
28800 baud
4
38400 baud
5
57600 baud
6
76800 baud
Not supported by Windows!
7
115200 baud
8
230400 baud
9
250000 baud
Not supported by Windows!
10
500000 baud
Not supported by Windows!
11
1000000 baud
Not supported by Windows!
0… 11
66
serial address
The module (target) address for RS232/RS485.
0… 255
67
ASCII mode
Configure the TMCLTM ASCII interface:
Bit 0: 0 start up in binary (normal) mode
1 start up in ASCII mode
Bits 4 and 5:
00 Echo back each character
01 Echo back complete command
10 Do not send echo, only send command reply
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 41
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Number
Global parameter
Description
Range
68
serial heartbeat
Serial heartbeat for the RS232 / RS485 interface. If this
time limit is up and no further command is noticed the
motor will be stopped.
0 parameter is disabled
[ms]
69
CAN bit rate
1
10kBit/s
2
20kBit/s
3
50kBit/s
4
100kBit/s
5
125kBit/s
6
250kBit/s
7
500kBit/s
8
1000kBit/s
Default
1… 8
70
CAN reply ID
The CAN ID for replies from the board (default: 2)
07ff
71
CAN ID
The module (target) address for CAN (default: 1)
07ff
73
configuration EEPROM
lock flag
Write: 1234 to lock the EEPROM, 4321 to unlock it.
Read: 1=EEPROM locked, 0=EEPROM unlocked.
0/1
74
Encoder interface
The parameter determines if and how a TMCM-323 has to
be connected to the external SPI interface:
0 No TMCM-323 connected (default)
1 Connected to SPI_SEL0
2 Connected to SPI_SEL1
3 Connected to SPI_SEL2
Please refer to the TMCM-323 manual for details.
0… 3
75
telegram pause time
Pause time before the reply via RS232 or RS485 is sent.
For RS232 set to 0.
For RS485 it is often necessary to set it to 15 (for RS485
adapters controlled by the RTS pin).
For CAN interface this parameter has no effect!
0… 255
76
serial host address
Host address used in the reply telegrams sent back via
RS232 or RS485.
0255
77
auto start mode
0: Do not start TMCLTM application after power up
(default).
1: Start TMCLTM application automatically after power up.
0/1
80
shutdown pin
functionality
Select the functionality of the SHUTDOWN pin
0 no function
1 high active
2 low active
02
81
TMCLTM code protection
Protect a TMCLTM program against disassembling or
overwriting.
0 no protection
1 protection against disassembling
2 protection against overwriting
3 protection against disassembling and overwriting
If you switch off the protection against
disassembling, the program will be erased first!
Changing this value from 1 or 3 to 0 or 2, the TMCLTM
program will be wiped off.
0,1,2,3
83
CAN secondary address
Second CAN ID for the module. Switched off when set to
zero.
0..7ff
84
coordinate storage
0 coordinates are stored in the RAM only (but can be
copied explicitly between RAM and EEPROM)
1 coordinates are always stored in the EEPROM only
0 or 1
85
do not restore user
variables
0 restore user variables
1 do not restore user variables
0/1
255
disable reply
0 do not disable reply
1 disable reply
0/1
Global parameters 0f bank 1 which can be used for SGP: Global parameters 0f bank 2 which can be used for SGP:
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 42
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Global parameters of bank 1, which can be used for SGP:
The global parameter bank 1 is normally not available. It may be used for customer specific extensions of
the firmware. Together with user definable commands (see section 7.3) these variables form the interface
between extensions of the firmware (written in C) and TMCLTM applications.
Global parameters of bank 2, which can be used for SGP:
Bank 2 contains general purpose 32 bit variables for the use in TMCLTM applications. They are located in RAM
and can be stored to EEPROM. After booting, their values are automatically restored to the RAM.
Number
Global parameter
Description
Range
0
general purpose variable #0
for use in TMCL™ applications
-231…+231
1
general purpose variable #1
for use in TMCL™ applications
-231…+231
2
general purpose variable #2
for use in TMCL™ applications
-231…+231
3
general purpose variable #3
for use in TMCL™ applications
-231…+231
4
general purpose variable #4
for use in TMCL™ applications
-231…+231
5
general purpose variable #5
for use in TMCL™ applications
-231…+231
6
general purpose variable #6
for use in TMCL™ applications
-231…+231
7
general purpose variable #7
for use in TMCL™ applications
-231…+231
8
general purpose variable #8
for use in TMCL™ applications
-231…+231
9
general purpose variable #9
for use in TMCL™ applications
-231…+231
10
general purpose variable #10
for use in TMCL™ applications
-231…+231
11
general purpose variable #11
for use in TMCL™ applications
-231…+231
12
general purpose variable #12
for use in TMCL™ applications
-231…+231
13
general purpose variable #13
for use in TMCL™ applications
-231…+231
14
general purpose variable #14
for use in TMCL™ applications
-231…+231
15
general purpose variable #15
for use in TMCL™ applications
-231…+231
16
general purpose variable #16
for use in TMCL™ applications
-231…+231
17
general purpose variable #17
for use in TMCL™ applications
-231…+231
18
general purpose variable #18
for use in TMCL™ applications
-231…+231
19
general purpose variable #19
for use in TMCL™ applications
-231…+231
20..55
general purpose variables
#20..#55
for use in TMCL™ applications
-231…+231
Example:
Set the serial address of the target device to 3
Mnemonic: SGP 66, 0, 3
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$09
$42
$00
$00
$00
$00
$03
$4f
Please refer to chapter 7 for more information about bank 0 to 2.
Global parameters 0f bank 0 which can be used for GGP:
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 43
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.10 GGP (get global parameter)
All global parameters can be read with this function. Global parameters are related to the host interface,
peripherals or application specific variables. The different groups of these parameters are organized in
"banks" to allow a larger total number for future products. Currently, only bank 0 and 1 are used for global
parameters, and bank 2 is used for user variables.
Internal function: The parameter is read out of the correct position in the appropriate device. The parameter
format is converted adding leading zeros (or ones for negative values).
Related commands: SGP, STGP, RSGP, AGP
Mnemonic: GGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
10
<parameter number>
<bank number>
(don't care)
Reply in direct mode:
STATUS
VALUE
100 OK
(don't care)
Global parameters of bank 0, which can be used for GGP:
Number
Global parameter
Description
Range
64
EEPROM magic
Setting this parameter to a different value as $E4 will
cause re-initialization of the axis and global parameters
(to factory defaults) after the next power up. This is
useful in case of miss-configuration.
0… 255
65
RS232/RS485 baud rate
0
9600 baud (default)
1
14400 baud
2
19200 baud
3
28800 baud
4
38400 baud
5
57600 baud
6
76800 baud
Not supported by Windows!
7
115200 baud
8
230400 baud
9
250000 baud
Not supported by Windows!
10
500000 baud
Not supported by Windows!
11
1000000 baud
Not supported by Windows!
0… 11
66
serial address
The module (target) address for RS232/RS485.
0… 255
67
ASCII mode
Configure the TMCLTM ASCII interface:
Bit 0: 0 start up in binary (normal) mode
1 start up in ASCII mode
Bits 4 and 5:
00 Echo back each character
01 Echo back complete command
10 Do not send echo, only send command reply
68
serial heartbeat
Serial heartbeat for the RS232 / RS485 interface. If this
time limit is up and no further command is noticed the
motor will be stopped.
0 parameter is disabled
[ms]
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 44
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Number
Global parameter
Description
Range
69
CAN bit rate
1
10kBit/s
2
20kBit/s
3
50kBit/s
4
100kBit/s
5
125kBit/s
6
250kBit/s
7
500kBit/s
8
1000kBit/s
Default
17
70
CAN reply ID
The CAN ID for replies from the board (default: 2)
07ff
71
CAN ID
The module (target) address for CAN (default: 1)
07ff
73
configuration EEPROM
lock flag
Write: 1234 to lock the EEPROM, 4321 to unlock it.
Read: 1=EEPROM locked, 0=EEPROM unlocked.
0/1
74
Encoder interface
The parameter determines if and how a TMCM-323 has to
be connected to the external SPI interface:
0 No TMCM-323 connected (default)
1 Connected to SPI_SEL0
2 Connected to SPI_SEL1
3 Connected to SPI_SEL2
Please refer to the TMCM-323 manual for details.
0… 3
75
telegram pause time
Pause time before the reply via RS232 or RS485 is sent.
For RS232 set to 0.
For RS485 it is often necessary to set it to 15 (for RS485
adapters controlled by the RTS pin).
For CAN interface this parameter has no effect!
0… 255
76
serial host address
Host address used in the reply telegrams sent back via
RS232 or RS485.
0..255
77
auto start mode
0: Do not start TMCLTM application after power up
(default).
1: Start TMCLTM application automatically after power up.
0/1
80
shutdown pin
functionality
Select the functionality of the SHUTDOWN pin
0 no function
1 high active
2 low active
02
81
TMCLTM code protection
Protect a TMCLTM program against disassembling or
overwriting.
0 no protection
1 protection against disassembling
2 protection against overwriting
3 protection against disassembling and overwriting
If you switch off the protection against
disassembling, the program will be erased first!
Changing this value from 1 or 3 to 0 or 2, the TMCLTM
program will be wiped off.
0,1,2,3
83
CAN secondary address
Second CAN ID for the module. Switched off when set to
zero.
0… 7ff
84
coordinate storage
0 coordinates are stored in the RAM only (but can be
copied explicitly between RAM and EEPROM)
1 coordinates are always stored in the EEPROM only
0 or 1
85
do not restore user
variables
0 restore user variables
1 do not restore user variables
0/1
128
TMCLTM application
status
0 stop
1 run
2 step
3 reset
03
129
download mode
0 normal mode
1 download mode
0/1
Global parameters 0f bank 1 which can be used for GGP: Global parameters 0f bank 2 which can be used for GGP:
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 45
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Number
Global parameter
Description
Range
130
TMCLTM program
counter
The index of the currently executed TMCLTM instruction.
132
tick timer
A 32 bit counter that gets incremented by one every
millisecond. It can also be reset to any start value.
133
random number
Choose a random number. Read only!
0…
2147483
647
255
disable reply
0 do not disable reply
1 disable reply
0/1
Global parameters of bank 1, which can be used for GGP:
The global parameter bank 1 is normally not available. It may be used for customer specific extensions of
the firmware. Together with user definable commands (see section 7.3) these variables form the interface
between extensions of the firmware (written in C) and TMCLTM applications.
Global parameters of bank 2, which can be used for GGP:
Bank 2 contains general purpose 32 bit variables for the use in TMCL™ applications. They are located in RAM
and can be stored to EEPROM. After booting, their values are automatically restored to the RAM.
Number
Global parameter
Description
Range
0
general purpose variable #0
for use in TMCL™ applications
-231…+231
1
general purpose variable #1
for use in TMCL™ applications
-231…+231
2
general purpose variable #2
for use in TMCL™ applications
-231…+231
3
general purpose variable #3
for use in TMCL™ applications
-231…+231
4
general purpose variable #4
for use in TMCLapplications
-231…+231
5
general purpose variable #5
for use in TMCL™ applications
-231…+231
6
general purpose variable #6
for use in TMCL™ applications
-231…+231
7
general purpose variable #7
for use in TMCL™ applications
-231…+231
8
general purpose variable #8
for use in TMCL™ applications
-231…+231
9
general purpose variable #9
for use in TMCL™ applications
-231…+231
10
general purpose variable #10
for use in TMCL™ applications
-231…+231
11
general purpose variable #11
for use in TMCL™ applications
-231…+231
12
general purpose variable #12
for use in TMCL™ applications
-231…+231
13
general purpose variable #13
for use in TMCL™ applications
-231…+231
14
general purpose variable #14
for use in TMCL™ applications
-231…+231
15
general purpose variable #15
for use in TMCL™ applications
-231…+231
16
general purpose variable #16
for use in TMCL™ applications
-231…+231
17
general purpose variable #17
for use in TMCL™ applications
-231…+231
18
general purpose variable #18
for use in TMCL™ applications
-231…+231
19
general purpose variable #19
for use in TMCL™ applications
-231…+231
20..55
general purpose variables
#20..#55
for use in TMCL™ applications
-231…+231
Example:
Get the serial address of the target device
Mnemonic: GGP 66, 0
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$0a
$42
$00
$00
$00
$00
$00
$4d
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 46
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Reply:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Host-
address
Target-
address
Status
Instruction
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$02
$01
$64
$0a
$00
$00
$00
$01
$72
Status=no error, Value=1
Please refer to chapter 7 for more information about bank 0 to 2.
Global parameters of bank 0 which can be used for STGP: Global parameters of bank 1 which can be used for STGP: Global parameters of bank 2 which can be used for STGP:
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 47
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.11 STGP (store global parameter)
This command is used to store TMCL™ user variables permanently in the EEPROM of the module. Some
global parameters are located in RAM memory, so without storing modifications are lost at power down.
This instruction enables enduring storing. Most parameters are automatically restored after power up.
Internal function: The specified parameter is copied from its RAM location to the configuration EEPROM.
Related commands: SGP, GGP, RSGP, AGP
Mnemonic: STGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
11
<parameter number>
<bank number>
(don't care)
Reply in direct mode:
STATUS
VALUE
100 OK
(don't care)
Global parameters of bank 0, which can be used for STGP:
The global parameter bank 0 is not required for the STGP command, because these parameters are
automatically stored with the SGP command in EEPROM.
Global parameters of bank 1, which can be used for STGP:
The global parameter bank 1 is normally not available, but can be used in customer specific extensions of
the firmware.
Global parameters of bank 2, which can be used for STGP:
Bank 2 contains general purpose 32 bit variables for the use in TMCL™ applications. They are located in RAM
and can be stored to EEPROM. After booting, their values are automatically restored to the RAM.
Number
Global parameter
Description
0
general purpose variable #0
for use in TMCL™ applications
1
general purpose variable #1
for use in TMCL™ applications
2
general purpose variable #2
for use in TMCL™ applications
3
general purpose variable #3
for use in TMCL™ applications
4
general purpose variable #4
for use in TMCL™ applications
5
general purpose variable #5
for use in TMCL™ applications
6
general purpose variable #6
for use in TMCL™ applications
7
general purpose variable #7
for use in TMCL™ applications
8
general purpose variable #8
for use in TMCL™ applications
9
general purpose variable #9
for use in TMCL™ applications
10
general purpose variable #10
for use in TMCL™ applications
11
general purpose variable #11
for use in TMCL™ applications
12
general purpose variable #12
for use in TMCL™ applications
13
general purpose variable #13
for use in TMCL™ applications
14
general purpose variable #14
for use in TMCL™ applications
15
general purpose variable #15
for use in TMCL™ applications
16
general purpose variable #16
for use in TMCL™ applications
17
general purpose variable #17
for use in TMCL™ applications
18
general purpose variable #18
for use in TMCL™ applications
19
general purpose variable #19
for use in TMCL™ applications
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 48
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
Number
Global parameter
Description
20..55
general purpose variables
#20..#55
for use in TMCL™ applications
Example:
Store the user variable 42 in EEPROM.
STGP 42, 2
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$0b
$2a
$02
$00
$00
$00
$00
$38
Note: The STAP command will not have any effect when the configuration EEPROM is locked (refer to
8.1). In direct mode, the error code 5 (configuration EEPROM locked, see also section 6.2.1) will be
returned in this case.
Please refer to chapter 7 for more information about bank 0 to 2.
Global parameters at bank 0 which can be used for STGP: Global parameters at bank 1 which can be used for STGP: Global parameters at bank 2 which can be used for RSGP:
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 49
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.12 RSGP (restore global parameter)
With this command the contents of a TMCL™ user variable can be restored from the EEPROM. For all
configuration-related axis parameters, non-volatile memory locations are provided. By default, most
parameters are automatically restored after power up (see global parameter list in chapter 8). A single
parameter that has been changed before can be reset by this instruction.
Internal function: The specified parameter is copied from the configuration EEPROM memory to its RAM
location.
Relate commands: SAP, STAP, GAP, AAP
Mnemonic: RSAP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
8
<parameter number>
<bank number>
(don't care)
Reply structure in direct mode:
STATUS
VALUE
100 OK
(don't care)
Global parameters of bank 0, which can be used for STGP:
The global parameter bank 0 is not required for the STGP command, because these parameters are
automatically stored with the SGP command in EEPROM.
Global parameters of bank 1, which can be used for STGP:
The global parameter bank 1 is normally not available, but can be used in customer specific extensions of
the firmware.
Global parameters of bank 2, which can be used for RSGP:
Bank 2 contains general purpose 32 bit variables for the use in TMCL™ applications. They are located in RAM
and can be stored to EEPROM. After booting, their values are automatically restored to the RAM.
Number
Global parameter
Description
0
general purpose variable #0
for use in TMCL™ applications
1
general purpose variable #1
for use in TMCL™ applications
2
general purpose variable #2
for use in TMCL™ applications
3
general purpose variable #3
for use in TMCL™ applications
4
general purpose variable #4
for use in TMCL™ applications
5
general purpose variable #5
for use in TMCL™ applications
6
general purpose variable #6
for use in TMCL™ applications
7
general purpose variable #7
for use in TMCL™ applications
8
general purpose variable #8
for use in TMCL™ applications
9
general purpose variable #9
for use in TMCL™ applications
10
general purpose variable #10
for use in TMCL™ applications
11
general purpose variable #11
for use in TMCL™ applications
12
general purpose variable #12
for use in TMCL™ applications
13
general purpose variable #13
for use in TMCL™ applications
14
general purpose variable #14
for use in TMCL™ applications
15
general purpose variable #15
for use in TMCLapplications
16
general purpose variable #16
for use in TMCL™ applications
17
general purpose variable #17
for use in TMCL™ applications
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 50
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Number
Global parameter
Description
18
general purpose variable #18
for use in TMCL™ applications
19
general purpose variable #19
for use in TMCL™ applications
20..55
general purpose variables
#20..#55
for use in TMCL™ applications
Example:
Restore the serial address of the device
Mnemonic: RSGP 66, 0
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$08
$06
$00
$00
$00
$00
$00
$10
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 51
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.13 RFS (reference search)
The TMCM-34x modules have a built-in reference search algorithm which can be used. The reference search
algorithm provides switching point calibration and three switch modes. The status of the reference search
can also be queried to see if it has already finished. (In a TMCL™ program it is better to use the WAIT
command to wait for the end of a reference search.) Please see the appropriate parameters in the axis
parameter table to configure the reference search algorithm to meet your needs. The reference search can
be started, stopped, and the actual status of the reference search can be checked.
Internal function: The reference search is implemented as a state machine, so interaction is possible during
execution.
Related commands: WAIT
Mnemonic: RFS <START|STOP|STATUS>, <motor number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
13
0 START start ref. search
1 STOP abort ref. search
2 STATUS get status
<motor number>
(don't care)
Reply in direct mode:
When using type 0 (START) or 1 (STOP):
STATUS
VALUE
100 OK
(don't care)
When using type 2 (STATUS):
STATUS
VALUE
100 OK
0 no ref. search active
other values ref.
search is active
Example:
Start reference search of motor #1
Mnemonic: RFS START, 1
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$0d
$00
$01
$00
$00
$00
$00
$0f
It is possible to use stall detection instead of a reference search. Please see section 8 for details.
Available IIO arts: sum (nun-am Addressin all om ul lines wkh one 510 :ommand:
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 52
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.14 SIO (set output)
This command sets the status of the general digital output either to low (0) or to high (1).
Internal function: The passed value is transferred to the specified output line.
Related commands: GIO, WAIT
Mnemonic: SIO <port number>, <bank number>, <value>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
14
<port number>
<bank number>
<value>
Reply structure:
STATUS
VALUE
100 OK
(don't care)
Example:
Set OUT_7 to high (bank 2, output 7; general purpose output)
Mnemonic: SIO 7, 2, 1
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$0e
$07
$02
$00
$00
$00
$01
$19
Available I/O ports:
Addressing all output lines with one SIO command:
Set the type parameter to 255 and the bank parameter to 2.
The value parameter must then be set to a value between 0…255, where every bit represents one
output line.
Furthermore, the value can also be set to -1. In this special case, the contents of the lower 8 bits of
the accumulator are copied to the output pins.
Example:
Set all output pins high.
Mnemonic: SIO 255, 2, 255
Pin
I/O port
Command
Range
46
OUT_0
SIO 0, 2, <n>, (n=0/1)
1/0
48
OUT_1
SIO 1, 2, <n>, (n=0/1)
1/0
50
OUT_2
SIO 2, 2 ,<n>, (n=0/1)
1/0
52
OUT_3
SIO 3, 2, <n>, (n=0/1)
1/0
54
OUT_4
SIO 4, 2, <n>, (n=0/1)
1/0
56
OUT_5
SIO 5, 2, <n>, (n=0/1)
1/0
58
OUT_6
SIO 6, 2, <n>, (n=0/1)
1/0
60
OUT_7
SIO 7, 2, <n>, (n=0/1)
1/0
The following program will shaw the states of the input es on the output line
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 53
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
The following program will show the states of the input lines on the output lines:
Loop: GIO 255, 0
SIO 255, 2,-1
JA Loop
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 54
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.15 GIO (get input/output)
With this command the status of the two available general purpose inputs of the module can be read out.
The function reads a digital or analogue input port. Digital lines will read 0 and 1, while the ADC channels
deliver their 10 bit result in the range of 0…1023. In stand-alone mode the requested value is copied to the
"accumulator" (accu) for further processing purposes such as conditioned jumps. In direct mode the value is
only output in the “value” field of the reply, without affecting the accumulator. The actual status of a digital
output line can also be read.
Internal function: The specified line is read.
Related commands: SIO, WAIT
Mnemonic: GIO <port number>, <bank number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
15
<port number>
<bank number>
(don't care)
Reply in direct mode:
STATUS
VALUE
100 OK
<status of the
port>
Example:
Get the analogue value of ADC channel 3
Mnemonic: GIO 3, 1
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$0f
$03
$01
$00
$00
$00
$00
$14
Reply:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Host-
address
Target-
address
Status
Instruction
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$02
$01
$64
$0f
$00
$00
$01
$fa
$72
value: 506
Use fallowinu uroaram tn represent the states at the input lines on the output lines:
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 55
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6.7.15.1 I/O bank 0 - digital inputs
The ADIN lines can be read as digital or analogue inputs at the same time. The digital states can be
accessed in bank 0.
Reading all digital inputs with one GIO command:
Set the type parameter to 255 and the bank parameter to 0.
In this case the status of all digital input lines will be read to the lower eight bits of the
accumulator.
Use following program to represent the states of the input lines on the output lines:
Loop: GIO 255, 0
SIO 255, 2,-1
JA Loop
6.7.15.2 I/O bank 1 analogue inputs
The ADIN lines can be read as digital or analogue inputs at the same time. The analogue values can
be accessed in bank 1.
6.7.15.3 I/O bank 2 status information
The states of the OUT lines (that have been set by SIO commands) can be read back using bank 2.
Pin
I/O port
Command
Range
45
IN_0
GIO 0, 0
0/1
47
IN_1
GIO 1, 0
0/1
49
IN_2
GIO 2, 0
0/1
51
IN_3
GIO 3, 0
0/1
53
IN_4
GIO 4, 0
0/1
55
IN_5
GIO 5, 0
0/1
57
IN_6
GIO 6, 0
0/1
59
IN_7
GIO 7, 0
0/1
32 (TMCM-341)
43 (TMCM-342)
44 (TMCM-343)
SHUTDOWN
GIO 10, 0
0/1
Pin
I/O port
Command
Range
45
IN_0
GIO 0, 1
0…1023
47
IN_1
GIO 1, 1
0…1023
49
IN_2
GIO 2, 1
0…1023
51
IN_3
GIO 3, 1
0…1023
53
IN_4
GIO 4. 1
0…1023
55
IN_5
GIO 5, 1
0…1023
57
IN_6
GIO 6, 1
0…1023
59
IN_7
GIO 7, 1
0…1023
Pin
I/O port
Command
Range
46
OUT_0
GIO 0, 2, <n>
1/0
48
OUT_1
GIO 1, 2, <n>
1/0
50
OUT_2
GIO 2, 2, <n>
1/0
52
OUT_3
GIO 3, 2, <n>
1/0
54
OUT_4
GIO 4, 2, <n>
1/0
56
OUT_5
GIO 5, 2, <n>
1/0
58
OUT_6
GIO 6, 2, <n>
1/0
60
OUT_7
GIO 7, 2, <n>
1/0
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 56
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6.7.16 CALC (calculate)
A value in the accumulator variable, previously read by a function such as GAP (get axis parameter), can be
modified with this instruction. Nine different arithmetic functions can be chosen and one constant operand
value must be specified. The result is written back to the accumulator, for further processing like
comparisons or data transfer.
Related commands: CALCX, COMP, JC, AAP, AGP, GAP, GGP, GIO
Mnemonic: CALC <op>, <value>
where <op> is ADD, SUB, MUL, DIV, MOD, AND, OR, XOR, NOT or LOAD
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
19
0 ADD add to accu
1 SUB subtract from accu
2 MUL multiply accu by
3 DIV divide accu by
4 MOD modulo divide by
5 AND logical and accu with
6 OR logical or accu with
7 XOR logical exor accu with
8 NOT logical invert accu
9 LOAD load operand to accu
(don't care)
<operand>
Example:
Multiply accu by -5000
Mnemonic: CALC MUL, -5000
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$13
$02
$00
$FF
$FF
$EC
$78
$78
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 57
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6.7.17 COMP (compare)
The specified number is compared to the value in the accumulator register. The result of the comparison can
for example be used by the conditional jump (JC) instruction. This command is intended for use in stand-
alone operation only.
The host address and the reply are only used to take the instruction to the TMCL™ program memory
while the TMCL™ program loads down. It does not make sense to use this command in direct mode.
Internal function: The specified value is compared to the internal accumulator, which holds the value of a
preceding get or calculate instruction (see GAP/GGP/GIO/CALC/CALCX). The internal arithmetic status flags are
set according to the comparison result.
Related commands: JC (jump conditional), GAP, GGP,GIO, CALC, CALCX
Mnemonic: COMP <value>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
20
(don't care)
(don't care)
<comparison value>
Example:
Jump to the address given by the label when the position of motor #2 is greater than or equal to
1000.
GAP 1, 2, 0 //get axis parameter, type: no. 1 (actual position), motor: 2, value: 0 (don't care)
COMP 1000 //compare actual value to 1000
JC GE, Label //jump, type: 5 greater/equal, the label must be defined somewhere else in the
program
Binary format of the COMP 1000 command:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$14
$00
$00
$00
$00
$03
$e8
$00
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 58
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6.7.18 JC (jump conditional)
The JC instruction enables a conditional jump to a fixed address in the TMCL™ program memory, if the
specified condition is met. The conditions refer to the result of a preceding comparison. This function is for
stand-alone operation only.
The host address and the reply are only used to take the instruction to the TMCL™ program memory
while the TMCL™ program loads down. See the host-only control functions for details. It is not
possible to use this command in direct mode.
Internal function: The TMCL™ program counter is set to the passed value if the arithmetic status flags are
in the appropriate state(s).
Related commands: JA, COMP, WAIT, CLE
Mnemonic: JC <condition>, <label>
where <condition>=ZE|NZ|EQ|NE|GT|GE|LT|LE|ETO|EAL|EDV|EPO
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
21
0 ZE - zero
1 NZ - not zero
2 EQ - equal
3 NE - not equal
4 GT - greater
5 GE - greater/equal
6 LT - lower
7 LE - lower/equal
8 ETO - time out error
9 EAL external alarm
12 ESD shutdown error
(don't care)
<jump address>
Example:
Jump to address given by the label when the position of motor #2 is greater than or equal to 1000.
GAP 1, 2, 0 //get axis parameter, type: no. 1 (actual position), motor: 2, value: 0 (don't care)
COMP 1000 //compare actual value to 1000
JC GE, Label //jump, type: 5 greater/equal
...
...
Label: ROL 0, 1000
Binary format of “JC GE, Label” when Label is at address 10:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$15
$05
$00
$00
$00
$00
$0a
$25
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 59
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6.7.19 JA (jump always)
Jump to a fixed address in the TMCL program memory. This command is intended for stand-alone
operation only.
The host address and the reply are only used to take the instruction to the TMCL™ program memory
while the TMCL™ program loads down. This command cannot be used in direct mode.
Internal function: The TMCL™ program counter is set to the passed value.
Related commands: JC, WAIT, CSUB
Mnemonic: JA <Label>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
22
(don't care)
(don't care)
<jump address>
Example: An infinite loop in TMCL
Loop: MVP ABS, 0, 10000
WAIT POS, 0, 0
MVP ABS, 0, 0
WAIT POS, 0, 0
JA Loop //Jump to the label “Loop”
Binary format of “JA Loop” assuming that the label “Loop” is at address 20:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$16
$00
$00
$00
$00
$00
$14
$2b
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 60
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6.7.20 CSUB (call subroutine)
This function calls a subroutine in the TMCL™ program memory. It is intended for stand-alone operation
only.
The host address and the reply are only used to take the instruction to the TMCL™ program memory
while the TMCL™ program loads down. This command cannot be used in direct mode.
Internal function: The actual TMCL™ program counter value is saved to an internal stack, afterwards
overwritten with the passed value. The number of entries in the internal stack is limited to 8. This also
limits nesting of subroutine calls to 8. The command will be ignored if there is no more stack space left.
Related commands: RSUB, JA
Mnemonic: CSUB <Label>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
23
(don't care)
(don't care)
<subroutine address>
Example: Call a subroutine
Loop: MVP ABS, 0, 10000
CSUB SubW //Save program counter and jump to label “SubW”
MVP ABS, 0, 0
JA Loop
SubW: WAIT POS, 0, 0
WAIT TICKS, 0, 50
RSUB //Continue with the command following the CSUB command
Binary format of the “CSUB SubW” command assuming that the label “SubW” is at address 100:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$17
$00
$00
$00
$00
$00
$64
$7c
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 61
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6.7.21 RSUB (return from subroutine)
Return from a subroutine to the command after the CSUB command. This command is intended for use in
stand-alone mode only.
The host address and the reply are only used to take the instruction to the TMCL™ program memory
while the TMCL™ program loads down. This command cannot be used in direct mode.
Internal function: The TMCL™ program counter is set to the last value of the stack. The command will be
ignored if the stack is empty.
Related command: CSUB
Mnemonic: RSUB
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
24
(don't care)
(don't care)
(don't care)
Example: Please have a look at the CSUB example below.
Binary format of RSUB:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$18
$00
$00
$00
$00
$00
$00
$19
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 62
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.22 WAIT (wait for an event to occur)
This instruction interrupts the execution of the TMCL™ program until the specified condition is met. This
command is intended for stand-alone operation only.
The host address and the reply are only used to take the instruction to the TMCL™ program memory
while the TMCL™ program loads down. This command is not to be used in direct mode.
There are five different wait conditions that can be used:
TICKS: Wait until the number of timer ticks specified by the <ticks> parameter has been reached.
POS: Wait until the target position of the motor specified by the <motor> parameter has been
reached. An optional timeout value (0 for no timeout) must be specified by the <ticks>
parameter.
REFSW: Wait until the reference switch of the motor specified by the <motor> parameter has
been triggered. An optional timeout value (0 for no timeout) must be specified by the <ticks>
parameter.
LIMSW: Wait until a limit switch of the motor specified by the <motor> parameter has been
triggered. An optional timeout value (0 for no timeout) must be specified by the <ticks>
parameter.
RFS: Wait until the reference search of the motor specified by the <motor> field has been
reached. An optional timeout value (0 for no timeout) must be specified by the <ticks>
parameter.
The timeout flag (ETO) will be set after a timeout limit has been reached. You can then use a JC ETO
command to check for such errors or clear the error using the CLE command.
Internal function: The TMCL™ program counter is held until the specified condition is met.
Related commands: JC, CLE
Mnemonic: WAIT <condition>, <motor number>, <ticks>
where <condition> is TICKS|POS|REFSW|LIMSW|RFS
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
27
0 TICKS - timer ticks*1
(don't care)
<no. of ticks*>
1 POS - target position reached
<motor number>
0..2 resp. 0..5
<no. of ticks* for timeout>,
0 for no timeout
2 REFSW reference switch
<motor number>
0..2 resp. 0..5
<no. of ticks* for timeout>,
0 for no timeout
3 LIMSW limit switch
<motor number>
0..2 resp. 0..5
<no. of ticks* for timeout>,
0 for no timeout
4 RFS reference search
completed
<motor number>
0..2 resp. 0..5
<no. of ticks* for timeout>,
0 for no timeout
*1 one tick is 10 milliseconds (in standard firmware)
Parameter range for a three axis module: <motor number> can be 0…2.
Example:
Wait for motor #1 to reach its target position, without timeout
Mnemonic: WAIT POS, 1, 0
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$1b
$01
$01
$00
$00
$00
$00
$1e
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 63
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.23 STOP (stop TMCL™ program execution)
This function stops executing a TMCLprogram. The host address and the reply are only used to transfer
the instruction to the TMCL™ program memory.
Every stand-alone TMCL™ program needs the STOP command at its end. It is not to be used in direct
mode.
Internal function: TMCL™ instruction fetching is stopped.
Related commands: none
Mnemonic: STOP
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
28
(don't care)
(don't care)
(don't care)
Example:
Mnemonic: STOP
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$1c
$00
$00
$00
$00
$00
$00
$1d
The bus numbers are as follows:
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 64
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6.7.24 SAC SPI Bus Access
Description: Allows access to external SPI devices connected to the SPI bus of the module. Connection of
external SPI devices differs between the different module types. Please contact TRINAMIC for further details
and see also the hardware manual of your module.
Related commands: SIO, GIO
Mnemonic: SAC <bus number>, <number of bytes>, <send data>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
29
<bus number>
<number of bytes>
<send data>
Reply in direct mode:
STATUS
VALUE
100 Success
<received data>
In version 3.23 of TMCL this command has been extended so that not only direct values but also the
contents of the accumulator register can be sent. In stand-alone mode the received data is also stored in
the accumulator. Most modules have three chip select outputs (SPI_SEL0, SPI_SEL1, and SPI_SEL2). The “type”
parameter (bus number) determines the chip select output that is to be used. The “motor/bank” parameter
determines the number of bytes to be sent (1, 2, 3, or 4). The value parameter contains the data to be sent.
When bit 7 of the bus number is set, this value is ignored and the contents of the accumulator are sent
instead. Please note that in the TMCL-IDE always all three values have to be specified (when sending the
contents of the accumulator the value parameter is a dummy parameter).
The bus numbers are as follows:
Bus number
Chip select output
0
SPI_SEL0, output direct value
1
Do not use
2
SPI_SEL1, output direct value
3
SPI_SEL2, output direct value
128
SPI_SEL0, output contents of accumulator
129
Do not use
130
SPI_SLE1, output contents of accumulator
131
SPI_SEL2, output contents of accumulator
Please note the gap in the bus numbers; do not use 1 or 129!
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 65
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6.7.25 SCO (set coordinate)
Up to 20 position values (coordinates) can be stored for every axis for use with the MVP COORD command.
This command sets a coordinate to a specified value. Depending on the global parameter 84, the
coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup (with the
default setting the coordinates are stored in RAM only).
Please note that the coordinate number 0 is only stored in RAM, all others are also stored in the
EEPROM.
Internal function: The passed value is stored in the internal position array.
Related commands: GCO, CCO, MVP, ACO
Mnemonic: SCO <coordinate number>, <motor number>, <position>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
30
<coordinate number>
(0…20)
<motor number>
<position>
(-223…+223)
Reply in direct mode:
STATUS
VALUE
100 OK
(don't care)
Example:
Set coordinate #1 of motor #2 to 1000
Mnemonic: SCO 1, 2, 1000
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$1e
$01
$02
$00
$00
$03
$e8
$0d
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 66
Copyright © 2012, TRINAMIC Motion Control GmbH & Co. KG
6.7.26 GCO (get coordinate)
This command makes possible to read out a previously stored coordinate. In stand-alone mode the
requested value is copied to the accumulator register for further processing purposes such as conditioned
jumps. In direct mode, the value is only output in the value field of the reply, without affecting the
accumulator. Depending on the global parameter 84, the coordinates are only stored in RAM or also stored
in the EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only).
Please note that the coordinate number 0 is stored in RAM only, all others are also stored in the
EEPROM.
Internal function: The desired value is read out of the internal coordinate array, copied to the accumulator
register and -in direct mode- returned in the value field of the reply.
Related commands: SCO, CCO, MVP, ACO
Mnemonic: GCO <coordinate number>, <motor number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
31
<coordinate number>
(0…20)
<motor number>
(don't care)
Reply in direct mode:
STATUS
VALUE
100 OK
(don't care)
Example:
Get value coordinate 1 of motor #2
Mnemonic: GCO 1, 2
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$1f
$01
$02
$00
$00
$00
$00
$23
Reply:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Target-
address
Status
Instruction
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$02
$01
$64
$0a
$00
$00
$00
$00
$86
Value: 0
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 67
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6.7.27 CCO (capture coordinate)
The actual position of the axis is copied to the selected coordinate variable. Depending on the global
parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM and copied back on
startup (with the default setting the coordinates are stored in RAM only). Please see the SCO and GCO
commands on how to copy coordinates between RAM and EEPROM.
Internal function: The selected (24 bit) position values are written to the 20 by 3 bytes wide coordinate
array.
Related commands: SCO, GCO, MVP, ACO
Mnemonic: CCO <coordinate number>, <motor number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
32
<coordinate number>
(0…20)
<motor number> (0..2)
7*
(don't care)
* Choose 7 if you want to save the positions of all connected axes. Now the bits 0…2 of the <motor
number> parameter define the motors you want to work with. Each of these bits stands for one motor.
Reply in direct mode:
STATUS
VALUE
100 OK
(don't care)
Example:
Store current position of all axes to coordinate 3
Mnemonic: CCO 3, 7
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$20
$03
$07
$00
$00
$00
$00
$2b
TMCM-341/342/343 TMCL Firmware Manual (V1.06 / 2012-JAN-09) 68
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6.7.28 ACO (accu to coordinate)
With the ACO command the actual value of the accumulator is copied to a selected coordinate of the motor.
Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM
and copied back on startup (with the default setting the coordinates are stored in RAM only).
Please note, that this command is valid from TMCLTM version 4.18 and TMCL-IDE ve