Datasheet

PD57/60-1076 TMCL

™

Firmware Manual • Firmware Version V1.02 | Document Revision V1.00 • 2018-MAR-26

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2 First Steps with TMCL

In this chapter you can ﬁnd some hints for your ﬁrst steps with the PD57/60-1076 and TMCL. You may skip

this chapter if you are already familiar with TMCL and the TMCL-IDE.

Things that you will need

• Your PD57/60-1076 PANdrive™.

• A 5V TTL-UART cable.

• A power supply (24V DC) for your PD57/60-1076 module.

• The TMCL-IDE 3.x already installed on your PC

2.1 Basic Setup

First of all, you will need a PC with Windows (at least Windows 7) and the TMCL-IDE 3.x installed on it. If

you do not have the TMCL-IDE installed on your PC then please download it from the TMCL-IDE product

page of Trinamic’s website (http://www.trinamic.com) and install it on your PC.

Please also ensure that your PD57/60-1076 is properly connected to your power supply and that the

stepper motor is properly connected to the module. Please see the PD57/60-1076 hardware manual for

instructions on how to do this.

Do not connect or disconnect a stepper motor to or from the module

while the module is powered!

Then, please start up the TMCL-IDE. After that you can connect your PD57/60-1076 via UART and switch

on the power supply for the module (while the TMCL-IDE is running on your PC). The module will be

recognized by the TMCL-IDE.

2.2 Using the TMCL Direct Mode

At ﬁrst try to use some TMCL commands in direct mode. In the TMCL-IDE a tree view showing the PD57/60-

1076 and all tools available for it is displayed. Click on the Direct Mode entry of the tool tree. Now, the

Direct Mode tool will pop up.

In the Direct Mode tool you can choose a TMCL command, enter the necessary parameters and execute

the command.

2.3 Changing Axis Parameters

Next you can try changing some settings (also called axis parameters) using the SAP command in direct

mode. Choose the SAP command. Then choose the parameter type and the motor number. Last, enter

the desired value and click execute to execute the command which then changes the desired parameter.

The following table points out the most important axis parameters. Please see chapter 4 for a complete

list of all axis parameters.

Most important axis parameters

Number Axis Parameter Description Range [Units] Default Access

6 Maximum

current

Motor current used when motor is

running. The maximum value is 31

which means 100% of the maximum

current of the module.

0 . . . 31 24 RWE

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