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ManualsBrandsTRINAMIC ManualsDrive EngineeringTMCM-1180-TMCL Stepper Motor Controller

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 2

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Table of contents

1 Life support policy ....................................................................................................................................................... 4

2 Features ........................................................................................................................................................................... 5

3 Overview ......................................................................................................................................................................... 6

4 Putting the PD86-1180 into operation ................................................................................................................... 7

4.1 Starting up ............................................................................................................................................................. 7

4.2 Testing with a simple TMCL™ program ..................................................................................................... 10

4.3 Operating the module in direct mode ........................................................................................................ 11

5 TMCL™ and TMCL-IDE ............................................................................................................................................... 12

5.1 Binary command format.................................................................................................................................. 12

5.2 Reply format........................................................................................................................................................ 13

5.2.1 Status codes .................................................................................................................................................. 14

5.3 Standalone applications .................................................................................................................................. 14

5.4 TMCL™ command overview ........................................................................................................................... 14

5.4.1 Motion commands ...................................................................................................................................... 14

5.4.2 Parameter commands ................................................................................................................................ 15

5.4.3 I/O port commands .................................................................................................................................... 15

5.4.4 Control commands ...................................................................................................................................... 15

5.4.5 Calculation commands ............................................................................................................................... 15

5.4.6 Interrupt commands................................................................................................................................... 16

5.5 TMCL™ list of commands ............................................................................................................................... 18

5.6 The ASCII interface ........................................................................................................................................... 20

5.6.1 Format of the command line .................................................................................................................. 20

5.6.2 Format of a reply ........................................................................................................................................ 20

5.6.3 Commands that can be used in ASCII mode ..................................................................................... 20

5.6.4 Configuring the ASCII interface .............................................................................................................. 21

5.7 Commands ........................................................................................................................................................... 22

5.7.1 ROR (rotate right) ........................................................................................................................................ 22

5.7.2 ROL (rotate left) ............................................................................................................................................ 23

5.7.3 MST (motor stop) ......................................................................................................................................... 24

5.7.4 MVP (move to position) ............................................................................................................................. 25

5.7.5 SAP (set axis parameter) ........................................................................................................................... 27

5.7.6 GAP (get axis parameter) .......................................................................................................................... 32

5.7.7 STAP (store axis parameter) ..................................................................................................................... 38

5.7.8 RSAP (restore axis parameter) ................................................................................................................. 41

5.7.9 SGP (set global parameter) ....................................................................................................................... 44

5.7.10 GGP (get global parameter) ...................................................................................................................... 47

5.7.11 STGP (store global parameter) ................................................................................................................ 51

5.7.12 RSGP (restore global parameter) ............................................................................................................ 53

5.7.13 RFS (reference search) ................................................................................................................................ 55

5.7.14 SIO (set output) ........................................................................................................................................... 56

5.7.15 GIO (get input/output) ............................................................................................................................... 57

5.7.16 CALC (calculate) ............................................................................................................................................ 59

5.7.17 COMP (compare) ........................................................................................................................................... 60

5.7.18 JC (jump conditional) ................................................................................................................................. 61

5.7.19 JA (jump always) ......................................................................................................................................... 62

5.7.20 CSUB (call subroutine)................................................................................................................................ 63

5.7.21 RSUB (return from subroutine) ................................................................................................................ 64

5.7.22 WAIT (wait for an event to occur) ......................................................................................................... 65

5.7.23 STOP (stop TMCL™ program execution) ............................................................................................... 66

5.7.24 SCO (set coordinate) ................................................................................................................................... 67

5.7.25 GCO (get coordinate) .................................................................................................................................. 68

5.7.26 CCO (capture coordinate) .......................................................................................................................... 69

5.7.27 ACO (accu to coordinate; valid from TMCL™ version 4.18 on) ...................................................... 70

5.7.28 CALCX (calculate using the X register) .................................................................................................. 71

5.7.29 AAP (accumulator to axis parameter) .................................................................................................... 72

5.7.30 AGP (accumulator to global parameter) ............................................................................................... 77