PD86-3-1180-TMCL

MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive Firmware Version V4.45 TMCL™ FIRMWARE MANUAL + + TMCM-1180 PD86-1180 1-Axis Stepper Controller / Driver 5.5A RMS/ 24 or 48V DC USB, RS232, RS485, and CAN + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com + TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) Table of Contents 1 2 3 Features ........................................................................................................................................................................... 4 Overview ......................................................................................................................................................................... 5 Putting the PD86-1180 into Operation ................................................................................................................... 6 3.1 Starting up ............................................................................................................................................................. 6 3.2 Testing with a Simple TMCL Program ........................................................................................................... 9 3.3 Operating the Module in Direct Mode......................................................................................................... 10 4 TMCL and TMCL-IDE ................................................................................................................................................... 11 4.1 Binary Command Format ................................................................................................................................ 11 4.2 Reply Format ....................................................................................................................................................... 12 4.2.1 Status Codes ................................................................................................................................................. 13 4.3 Standalone Applications .................................................................................................................................. 13 4.4 TMCL Command Overview .............................................................................................................................. 14 4.4.1 TMCL Commands ......................................................................................................................................... 14 4.4.2 Commands Listed According to Subject Area .................................................................................... 15 4.5 The ASCII Interface ........................................................................................................................................... 19 4.5.1 Format of the Command Line ................................................................................................................. 19 4.5.2 Format of a Reply........................................................................................................................................ 19 4.5.3 Configuring the ASCII Interface.............................................................................................................. 20 4.6 Commands ........................................................................................................................................................... 21 4.6.1 ROR (rotate right) ........................................................................................................................................ 21 4.6.2 ROL (rotate left)............................................................................................................................................ 22 4.6.3 MST (motor stop) ......................................................................................................................................... 23 4.6.4 MVP (move to position)............................................................................................................................. 24 4.6.5 SAP (set axis parameter) ........................................................................................................................... 26 4.6.6 GAP (get axis parameter) .......................................................................................................................... 27 4.6.7 STAP (store axis parameter) ..................................................................................................................... 28 4.6.8 RSAP (restore axis parameter) ................................................................................................................. 29 4.6.9 SGP (set global parameter)....................................................................................................................... 30 4.6.10 GGP (get global parameter) ...................................................................................................................... 31 4.6.11 STGP (store global parameter) ................................................................................................................ 32 4.6.12 RSGP (restore global parameter) ............................................................................................................ 33 4.6.13 RFS (reference search) ................................................................................................................................ 34 4.6.14 SIO (set input / output) ............................................................................................................................. 35 4.6.15 GIO (get input/output) ............................................................................................................................... 37 4.6.16 CALC (calculate) ............................................................................................................................................ 39 4.6.17 COMP (compare) ........................................................................................................................................... 40 4.6.18 JC (jump conditional) ................................................................................................................................. 41 4.6.19 JA (jump always) ......................................................................................................................................... 42 4.6.20 CSUB (call subroutine)................................................................................................................................ 43 4.6.21 RSUB (return from subroutine) ................................................................................................................ 44 4.6.22 WAIT (wait for an event to occur) ......................................................................................................... 45 4.6.23 STOP (stop TMCL program execution) ................................................................................................... 46 4.6.24 SCO (set coordinate) ................................................................................................................................... 47 4.6.25 GCO (get coordinate) .................................................................................................................................. 48 4.6.26 CCO (capture coordinate) .......................................................................................................................... 49 4.6.27 ACO (accu to coordinate; valid from TMCL version 4.18 on) .......................................................... 50 4.6.28 CALCX (calculate using the X register) .................................................................................................. 51 4.6.29 AAP (accumulator to axis parameter) .................................................................................................... 52 4.6.30 AGP (accumulator to global parameter) ............................................................................................... 53 4.6.31 CLE (clear error flags) ................................................................................................................................. 54 4.6.32 VECT (set interrupt vector) ........................................................................................................................ 55 4.6.33 EI (enable interrupt) ................................................................................................................................... 56 4.6.34 DI (disable interrupt) .................................................................................................................................. 57 4.6.35 RETI (return from interrupt) ..................................................................................................................... 58 4.6.36 Customer Specific TMCL Command Extension (UF0… UF7 / User Function) ............................... 58 4.6.37 Request Target Position Reached Event ............................................................................................... 59 www.trinamic.com 2 TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 4.6.38 BIN (return to binary mode) .................................................................................................................... 59 4.6.39 TMCL Control Functions ............................................................................................................................. 60 5 Axis Parameters .......................................................................................................................................................... 62 5.1 coolStep Related Parameters ......................................................................................................................... 68 6 Global Parameters ...................................................................................................................................................... 70 6.1 Bank 0 ................................................................................................................................................................... 70 6.2 Bank 1 ................................................................................................................................................................... 72 6.3 Bank 2 ................................................................................................................................................................... 73 6.4 Bank 3 ................................................................................................................................................................... 73 7 Hints and Tips ............................................................................................................................................................. 74 7.1 Reference Search................................................................................................................................................ 74 7.2 Changing the Prescaler Value of an Encoder ............................................................................................ 75 7.3 stallGuard2 ........................................................................................................................................................... 76 7.4 Using the RS485 interface ............................................................................................................................... 76 8 TMCL Programming Techniques and Structure ................................................................................................. 77 8.1 Initialization ........................................................................................................................................................ 77 8.2 Main Loop ............................................................................................................................................................ 77 8.3 Using Symbolic Constants .............................................................................................................................. 77 8.4 Using Variables................................................................................................................................................... 78 8.5 Using Subroutines ............................................................................................................................................. 78 8.6 Mixing Direct Mode and Standalone Mode ................................................................................................ 79 9 Life Support Policy ..................................................................................................................................................... 80 10 Revision History .......................................................................................................................................................... 81 10.1 Firmware Revision............................................................................................................................................. 81 10.2 Document Revision ........................................................................................................................................... 81 11 References .................................................................................................................................................................... 82 www.trinamic.com 3 TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 1 Features The PD86-1180 is a full mechatronic solution with state of the arte feature set. It is highly integrated and offers a convenient handling. The PD86-1180 consists of a NEMA 34 (flange size 86mm) stepper motor, controller/driver electronics and integrated encoder. The TMCM-1180 is an intelligent stepper motor controller/driver module featuring the new outstanding coolStep™ technology for sensorless load dependent current control. This allows energy efficient motor operation. With the advanced stallGuard2™ feature the load of the motor can be detected with high resolution. The module is designed to be mounted directly on an 86mm flange QMot stepper motor. Electrical data ­ Supply voltage: +24V DC or +48V DC nominal ­ Motor current: up to 5.5A RMS (programmable) PANdrive motor ­ Two phase bipolar stepper motor with up to 5.5A RMS nom. coil current ­ Holding torque: 7Nm Encoder ­ Integrated sensOstep™ magnetic encoder (max. 256 increments per rotation) e.g. for step-loss detection under all operating conditions and positioning Integrated motion controller ­ Motion profile calculation in real-time (TMC428/429 motion controller) ­ On the fly alteration of motor parameters (e.g. position, velocity, acceleration) ­ High performance microcontroller for overall system control and serial communication protocol handling Bipolar stepper motor driver ­ Up to 256 microsteps per full step ­ High-efficient operation, low power dissipation ­ Dynamic current control ­ Integrated protection ­ stallGuard2 feature for stall detection ­ coolStep feature for reduced power consumption and heat dissipation Interfaces ­ inputs for stop switches (left and right) and home switch ­ general purpose inputs and 2 general purpose outputs ­ USB, RS232, RS485 and CAN (2.0B up to 1Mbit/s) communication interfaces Safety features ­ Shutdown input. The driver will be disabled in hardware as long as this pin is left open or shorted to ground ­ Separate supply voltage inputs for driver and digital logic – driver supply voltage may be switched off externally while supply for digital logic and therefore digital logic remains active Software ­ Available with TMCL or CANopen ­ Standalone TMCL operation or remote controlled operation ­ Program memory (non volatile) for up to 2048 TMCL commands ­ PC-based application development software TMCL-IDE available for free ­ CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported Please refer to separate Hardware Manual for further information. www.trinamic.com 4 TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 2 Overview As with most TRINAMIC modules the software running on the microprocessor of the TMCM-1180 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 shipped with most of TRINAMIC modules with regard to protocol and commands. Corresponding, this module is based on the TMC428/429 stepper motor controller and the TMC262A-PC power driver and supports the standard TMCL with a special range of values. The TMC262A-PC is a new energy efficient high current high precision microstepping driver IC for bipolar stepper motors and offers TRINAMICs patented coolStep feature with its special commands. Please mind this technical innovation. All commands and parameters available with this unit are explained on the following pages. www.trinamic.com 5 TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 3 Putting the PD86-1180 into Operation Here you can find basic information for putting your PANdrive into operation. The further text contains a simple example for a TMCL program and a short description of operating the module in direct mode. The things you need: - PD83-1180 Interface (RS232, RS485, USB or CAN) suitable to your PANdrive with cables Nominal supply voltage +24V DC (+24 or +48V DC) for your module TMCL-IDE program and PC External encoder optional. The PANdrive™ has an integrated sensOstep encoder. Precautions: - Do not connect or disconnect the PD86-1180 while powered! Do not connect or disconnect the motor while powered! Do not exceed the maximum power supply of 55V DC. Start with power supply OFF! 3.1 Starting up Encoder Step/Dir Input Output 1 1 1 1 Serial communication 1 Power USB 1 1 Motor Figure 3.1 Overview connectors www.trinamic.com 6 TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 1. Connect the interface a) Connect the RS232, the RS485, or the CAN interface A 2mm pitch 8 pin JST B8B-PH-K connector is used for serial communication. With this connector the module supports RS232, RS485, and CAN communication. Pi n 1 2 1 8 3 4 5 6 7 8 Label Description RS232_Tx D RS232_Rx D GND CAN_H CAN_L GND RS485+ RS485- RS232 transmit data RS232 receive data Module ground (system and signal ground) CAN_H bus line (dominant high) CAN_L bus line (dominant low) Module ground (system and signal ground) RS485 non-inverted bus signal RS485 inverted bus signal Figure 3.2: RS232, RS485, and CAN connector b) Connect the USB interface A 5-pin mini-USB connector is available on the board. Download and install the file TMCM-1180.inf (www.trinamic.com). 1 2. 5 Label VBUS DD+ ID GND Description +5V power Data – Data + Not connected ground Connect the power supply A 4-pin JST B04P-VL connector is used for power supply. 1 3. Pin 1 2 3 4 5 4 Pin Label Description Module + driver stage power supply input (nom. +48V DC) (Optional) separate digital logic power supply input (nom. +48V DC) 1 +UDriver 2 +ULogic 3 GND Module ground (power supply and signal ground) 4 GND Module ground (power supply and signal ground) Switch ON the power supply The LED for power should glow now. This indicates that the on-board +5V supply is available. If this does not occur, switch power OFF and check your connections as well as the power supply. www.trinamic.com 7 TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 4. Start the TMCL-IDE software development environment The TMCL-IDE is available on the TechLibCD and on 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. - For RS232 and RS485 choose COM port and type with the parameters shown below (baud rate 9600). Click OK. Please refer to the TMCL-IDE User Manual for more information about connecting the other interfaces (see www.TRINAMIC.com). www.trinamic.com 8 TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 3.2 Testing with a Simple TMCL Program Open the file test2.tmc. Change the motor number 2 in the second paragraph in motor number 0 (because there is only one motor involved). Now your test program looks as follows: //A simple example for using TMCL and TMCL-IDE ROL 0, 500 WAIT TICKS, 0, 500 MST 0 ROR 0, 250 WAIT TICKS, 0, 500 MST 0 Loop: 1. 2. 3. 4. SAP 4, 0, 500 SAP 5, 0, 50 MVP ABS, 0, 10000 WAIT POS, 0, 0 MVP ABS, 0, -10000 WAIT POS, 0, 0 JA Loop //Rotate motor 0 with speed 500 //Rotate motor 0 with 250 //Set max. Velocity //Set max. Acceleration //Move to Position 10000 //Wait until position reached //Move to Position -10000 //Wait until position reached //Infinite Loop Click on Icon Assemble to convert the TMCL into machine code. Then download the program to the TMCM-1180 module via the icon Download. Press icon Run. The desired program will be executed. Click Stop button to stop the program. www.trinamic.com 9 TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 10 3.3 Operating the Module in Direct Mode 1. Start TMCL Direct Mode. 2. If the communication is established the PD86-1180 is automatically detected. If the module is not detected, please check all points above (cables, interface, power supply, COM port, baud rate). Issue a command by choosing Instruction, Type (if necessary), Motor, and Value and click Execute to send it to the module. 3. Examples: ROR rotate right, motor 0, value 100 MST motor stop, motor 0 -> Click Execute. The first motor is rotating now. -> Click Execute. The first motor stops now. Note Chapter 5 (axis parameters) includes a diagram which shows important coolStep related axis parameters and their functions. www.trinamic.com TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 11 4 TMCL and TMCL-IDE The TMCM-1180 supports TMCL direct mode (binary commands or ASCII interface) and standalone 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, USB or 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 TMCL-1180. The TMCL interpreter on the module 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/USB/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 standalone 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 standalone 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. 4.1 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 onebyte 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 is 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/RS485/USB is as follows: Bytes 1 1 1 1 4 1 ­ ­ Meaning Module address Command number Type number Motor or Bank number Value (MSB first!) 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). www.trinamic.com TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 12 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× 1 2 3 𝐼𝐼𝑅𝑅𝑅𝑅𝑅𝑅 =< 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 >× search left stop switch only 1… 3 search right stop switch, then search left stop switch search right stop switch, then search left stop switch from both sides RW RW 255 6.6𝐴𝐴 255 RWE Adding 128 to these values reverses the polarity of the home switch input. 194 Reference search speed 195 Reference switch Similar to parameter no. 194, the speed for 0… 2047 the switching point calibration can be speed selected. Reference switch This parameter provides the distance between 0… 2.147.483.647 the end switches after executing the RFS distance command (mode 2 or 3). Boost current Current used for acceleration and deceleration 0… 255 9.3𝐴𝐴 phases. 𝐼𝐼𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 =< 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 >× 255 If set to 0 the same current as set by axis 6.6𝐴𝐴 parameter 6 will be used. 𝐼𝐼𝑅𝑅𝑅𝑅𝑅𝑅 =< 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 >× 196 200 For the reference search this value directly 0… 2047 specifies the search speed. RWE 255 www.trinamic.com RWE R RWE TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) Number 204 Axis Parameter Freewheeling 206 Actual load value TMC262 driver error flags 208 Description Time after which the power to the motor will be cut when its velocity has reached zero. Readout of the actual load value with used for stall detection (stallGuard2). Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 209 Encoder position 210 Encoder prescaler 212 Maximum encoder deviation 214 Power down delay 215 Absolute encoder value Step/Dir mode 254 Acc. RWE 0/1 R R RW 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. Standstill period before the current is changed down to standby current. The standard value is 200 (value equates 2000msec). Absolute value of the encoder. RWE 1 3 4 5 www.trinamic.com Range [Unit] 0… 65535 0 = never [msec] 0… 1023 The value of an encoder register can be read [encoder steps] out or written. Prescaler for the sensOstep encoder. See paragraph 7.1 2 * Unit of acceleration: stallGuard2 status (1: threshold reached) Overtemperature (1: driver is shut down due to overtemperature) Pre-warning overtemperature (1: Threshold is exceeded) Short to ground A (1: Short condition detected, driver currently shut down) Short to ground B (1: Short condition detected, driver currently shut down) Open load A (1: no chopper event has happened during the last period with constant coil polarity) Open load B (1: no chopper event has happened during the last period with constant coil polarity) Stand still (1: No step impulse occurred on the step input during the last 2^20 clock cycles) 67 0… 65535 [encoder steps] 1… 65535 [10msec] 0… 255 [encoder steps] Use of the ENABLE input on step/dir connector to 1… 5 switch between hold current and run current (no automatic switching) Automatic switching between hold and run current: after the first step pulse the module automatically switches over to run current, and a configurable time after the last step pulse the module automatically switches back to hold current. The ENABLE input on the step/dir connector does not have any functionality. Always use run current, never switch to hold current. The ENABLE input on the step/dir connector does not have any functionality. Automatic current switching like (2), but the ENABLE input is used to switch the driver stage completely off or on. Always use run current like (3), but the ENABLE pin is used to switch the driver stage completely off or on. 16𝑀𝑀𝑀𝑀𝑀𝑀 2 536870912∙2𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝_𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑+𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟_𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 microsteps sec2 RWE RWE R RWE TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 68 5.1 coolStep Related Parameters The figure below gives an overview of the coolStep related parameters. Please have in mind that the figure shows only one example for a drive. There are parameters which concern the configuration of the current. Other parameters are for velocity regulation and for time adjustment. THE FOLLOWING ADJUSTMENTS HAVE TO BE MADE: - Thresholds for current (I6, I7 and I183) and velocity (V182) have to be identified and set. - The stallGuard2 feature has to be adjusted and enabled with parameters SG170 and SG181. - The reduction or increasing of the current in the coolStep area (depending on the load) has to be configured with parameters I169 and I171. In this chapter only basic axis parameters are mentioned which concern coolStep and stallGuard2. The complete list of axis parameters in chapter 5 contains further parameters which offer more possibilities for configuration. coolStep™ adjustment points and thresholds Velocity Current I6 SG170 SG181 The current depends on the load of the motor. I183 I6 I6/2* V182 I7 I183 I183 I7 I7 coolStep area Time T214 area without coolStep I123 Current and parameter V123 Velocity and parameter T123 Time parameter SG123 stallGuard2™ parameter * The lower threshold of the coolStep current can be adjusted up to I6/4. Refer to parameter 168. www.trinamic.com TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) Number Axis parameter I6 absolute max. current (CS / Current Scale) I7 standby current I168 smartEnergy current minimum (SEIMIN) I169 smartEnergy current down step I171 smartEnergy current up step I183 smartEnergy slow run current SG170 smartEnergy hysteresis SG181 V182 stop on stall T214 smartEnergy threshold speed power down delay www.trinamic.com 69 Description The maximum value is 255. This value means 100% of the maximum current of the module. The current adjustment is within the range 0… 255 and can be adjusted in 32 steps (0… 255 divided by eight; e.g. step 0 = 0… 7, step 1 = 8… 15 and so on). The most important motor setting, since too high values might cause motor damage! The current limit two seconds after the motor has stopped. Sets the lower motor current limit for coolStep operation by scaling the CS (Current Scale, see axis parameter 6) value. Minimum motor current: 0 – 1/2 of CS 1 – 1/4 of CS Sets the number of stallGuard2 readings above the upper threshold necessary for each current decrement of the motor current. Number of stallGuard2 measurements per decrement: Scaling: 0… 3: 32, 8, 2, 1 0: slow decrement 3: fast decrement Sets the current increment step. The current becomes incremented for each measured stallGuard2 value below the lower threshold (see smartEnergy hysteresis start). current increment step size: Scaling: 0… 3: 1, 2, 4, 8 0: slow increment 3: fast increment / fast reaction to rising load Sets the motor current which is used below the threshold speed. Please adjust the threshold speed with axis parameter 182. Sets the distance between the lower and the upper threshold for stallGuard2 reading. Above the upper threshold the motor current becomes decreased. Motor stop in case of stall. Above this speed coolStep becomes enabled. Standstill period before the current is changed down to standby current. The standard value is 200 (value equates 2000msec). TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 70 6 Global Parameters GLOBAL PARAMETERS ARE GROUPED INTO 4 BANKS: - bank bank bank bank 0 1 2 3 (global configuration of the module) (user C variables) (user TMCL variables) (interrupt configuration) Please use SGP and GGP commands to write and read global parameters. 6.1 Bank 0 Parameters with numbers from 64 on configure stuff like the serial address of the module RS232/RS485 baud rate or the CAN bit rate. Change these parameters to meet your needs. The best and easiest way to do this is to use the appropriate functions of the TMCL-IDE. The parameters with numbers between 64 and 128 are stored in EEPROM only. Attention: An SGP command on such a parameter will always store it permanently and no extra STGP command is needed. Take care when changing these parameters, and use the appropriate functions of the TMCL-IDE to do it in an interactive way! MEANING OF THE LETTERS IN COLUMN ACCESS Access Type R W E Related Command(s) Description GGP SGP, AGP STGP, RSGP Parameter readable Parameter writable Parameter automatically restored from EEPROM after reset or power-on. These parameters can be stored permanently in EEPROM using STGP command and also explicitly restored (copied back from EEPROM into RAM) using RSGP. Number 64 Parameter EEPROM magic 65 RS232/RS485 baud rate 66 Serial address www.trinamic.com Description Range Setting this parameter to a different value as 0… 255 $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 9600 baud Default 0… 11 1 2 3 4 5 6 7 8 9 10 11 14400 baud 19200 baud 28800 baud 38400 baud 57600 baud 76800 baud 115200 baud 230400 baud 250000 baud 500000 baud 1000000 baud Access RWE RWE Not supported by Windows! Not supported by Windows! Not supported by Windows! Not supported by Windows! Warning: The highest possible speed for RS232 is 115200 baud limited by the RS232 transceiver. The RS232 might work with higher speed but out of specification. The module (target) address for RS232 / 0… 255 RS485. RWE TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) Number 67 Parameter ASCII mode 68 Serial heartbeat 69 CAN bit rate 70 CAN reply ID 71 CAN ID 73 Configuration EEPROM lock flag 75 Telegram pause time 76 Serial host address Auto start mode 77 79 80 End switch polarity Shutdown pin functionality www.trinamic.com Description Configure the TMCL 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 Serial heartbeat for the RS485 interface. If this time limit is exceeded and no further command is noticed the motor will be stopped. 0 – parameter is disabled 2 20kBit/s 3 50kBit/s 4 100kBit/s 5 125kBit/s 6 250kBit/s 7 500kBit/s Default 8 1000kBit/s The CAN ID for replies from the board (default: 2) The module (target) address for CAN (default: 1) Write: 1234 to lock the EEPROM, 4321 to unlock it. Read: 1=EEPROM locked, 0=EEPROM unlocked. 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! Host address used in the reply telegrams sent back via RS232 / RS485. 0: Do not start TMCL application after power up (default). 1: Start TMCL application automatically after power up. 0: normal polarity 1: reverse polarity Select the functionality of the SHUTDOWN pin 0 – no function 1 – high active 2 – low active 71 Range Access RWE [ms] RWE 2… 8 RWE 0… 7ff RWE 0… 7ff RWE 0/1 RWE 0… 255 RWE 0… 255 RWE 0/1 RWE 0/1 RWE 0… 2 RWE TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) Number 81 82 83 85 87 128 129 130 132 133 Parameter TMCL code protection Description Protect a TMCL 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! When changing this value from 1 or 3 to 0 or 2, the TMCL program will be erased. CAN heartbeat Heartbeat for CAN interface. If this time limit is exceeded and no further command is noticed the motor will be stopped. 0 – parameter is disabled CAN secondary Second CAN ID for the module. Switched off when set to zero. address Do not store user 0 – user variables are restored (default) variables 1 – user variables are not restored Serial secondary Second module (target) address for RS232 / RS485. address TMCL application 0 –stop status 1 – run 2 – step 3 – reset Download mode 0 – normal mode 1 – download mode TMCL program The index of the currently executed TMCL instruction. counter Tick timer A 32 bit counter that gets incremented by one every millisecond. It can also be reset to any start value. Random number Choose a random number. 72 Range 0,1,2,3 Access RWE [ms] RWE 0… 7ff RWE 0/1 RWE 0… 255 RWE 0… 3 R 0/1 R R 0… 232 RW 0… 2147483647 RW 6.2 Bank 1 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 these variables form the interface between extensions of the firmware (written in C) and TMCL applications. www.trinamic.com TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 73 6.3 Bank 2 Bank 2 contains general purpose 32 bit variables for the use in TMCL applications. They are located in RAM and the first 56 variables can be stored permanently in EEPROM, also. After booting, their values are automatically restored to the RAM. Up to 256 user variables are available. MEANING OF THE LETTERS IN COLUMN ACCESS Access Type R W E Related Command(s) GGP SGP, AGP STGP, RSGP Description Parameter readable Parameter writable Parameter automatically restored from EEPROM after reset or power-on. These parameters can be stored permanently in EEPROM using STGP command and also explicitly restored (copied back from EEPROM into RAM) using RSGP. GENERAL PURPOSE VARIABLES FOR TMCL APPLICATIONS (BANK 2) Number 0… 55 56… 255 Global parameter Description general purpose variables #0… for use in TMCL applications #55 general purpose variables #56… for use in TMCL applications #255 Range -231… +231 Access RWE -231… +231 RW 6.4 Bank 3 Bank 3 contains interrupt parameters. Some interrupts need configuration (e.g. the timer interval of a timer interrupt). This can be done using the SGP commands with parameter bank 3 (SGP , 3, ). The parameter number defines the priority of an interrupt. Interrupts with a lower number have a higher priority. MEANING OF THE LETTERS IN COLUMN ACCESS Access type R W Related command(s) GGP SGP, AGP Description Parameter readable Parameter writable INTERRUPT PARAMETERS (BANK 3) Number 0 Global parameter Timer 0 period (ms) Description Time between two interrupts (ms) 1 Timer 1 period (ms) Time between two interrupts (ms) 2 Timer 2 period (ms) Time between two interrupts (ms) 27 Stop left 0 trigger transition 28 Stop right 0 trigger transition 39 Input 0 trigger transition 40 Input 1 trigger transition 0=off, 3=both 0=off, 3=both 0=off, 3=both 0=off, 3=both www.trinamic.com 1=low-high, 2=high-low, Range 0… 4.294.967.295 [ms] 0… 4.294.967.295 [ms] 0… 4.294.967.295 [ms] 0… 3 Access RW 1=low-high, 2=high-low, 0… 3 RW 1=low-high, 2=high-low, 0… 3 RW 1=low-high, 2=high-low, 0… 3 RW RW RW RW TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 74 7 Hints and Tips This chapter gives some hints and tips on using the functionality of TMCL, for example how to use and parameterize the built-in reference point search algorithm or the incremental encoder interface. 7.1 Reference Search The built-in reference search features switching point calibration and support of one or two reference switches. The internal operation is based on a state machine that can be started, stopped and monitored (instruction RFS, no. 13). The settings of the automatic stop functions corresponding to the switches (axis parameters 12 and 13) have no influence on the reference search. Definition of the switches ­ Selecting the referencing mode (axis parameter 193): in modes 1 and 2, the motor will start by moving left (negative position counts). In mode 3 (three-switch mode), the right stop switch is searched first to distinguish the left stop switch from the reference switch by the order of activation when moving left (reference switch and left limit switch share the same electrical function). ­ Until the reference switch is found for the first time, the searching speed is identical to the maximum positioning speed (axis parameter 4), unless reduced by axis parameter 194. ­ After hitting the reference switch, the motor slowly moves right until the switch is released. Finally the switch is re-entered in left direction, setting the reference point to the center of the two switching points. This low calibrating speed is a quarter of the maximum positioning speed by default (axis parameter 195). ­ In the drawings shown here the connection of the left and the right limit switch can be seen. Also the connection of three switches as left and right limit switch and a reference switch for the reference point are shown. The reference switch is connected in series with the left limit switch. The differentiation between the left limit switch and the reference switch is made through software. Switches with open contacts (normally closed) are used. ­ In circular systems there are no end points and thus only one reference switch is used for finding the reference point. STOP_L STOP_R motor left stop switch right stop switch traveler Figure 7.1 Left and right limit switches STOP_R STOP_L motor negative direction left stop switch positive direction traveler right stop switch Figure 7.2 Limit switches and reference switch motor STOP_L HOME / reference switch eccentric Figure 7.3 One reference switch www.trinamic.com TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 75 7.2 Changing the Prescaler Value of an Encoder The PD86-1180 PANdrive is a full mechatronic solution including a 86mm flange high torque motor, a motion controller/driver and a integrated sensOstep encoder. The built-in encoder has 256 steps per rotation. FOR THE OPERATION WITH ENCODER CONSIDER THE FOLLOWING HINTS: ­ ­ ­ ­ ­ The encoder counter can be read by software and can be used to control the exact position of the motor. This also makes closed loop operation possible. To read out or to change the position value of the encoder, axis parameter 209 is used. So, to read out the position of your encoder 0 use GAP 209, 0. The position values can also be changed using command SAP 209, 0, , with n = ± 0, 1, 2… To change the encoder settings, axis parameter 210 is used. For changing the prescaler of the encoder 0 use SAP 210, 0, . Automatic motor stop on deviation error is also usable. This can be set using axis parameter 212 (maximum deviation). This function is turned off when the maximum deviation is set to 0. TO SELECT A PRESCALER, THE FOLLOWING VALUES CAN BE USED FOR Value for Resulting prescaler 200 100 50 25 12.5 6.25 3.125 1.5625 102400 51200 25600 12800 6400 default 3200 1600 800 SAP command for motor 0 SAP 210, 0, SAP 210, 0, 102400 SAP 210, 0, 51200 SAP 210, 0, 25600 SAP 210, 0, 12800 SAP 210, 0, 6400 SAP 210, 0, 3200 SAP 210, 0, 1600 SAP 210, 0, 800 8 7 6 5 4 3 2 1 Microstep solution of axis parameter 140 (256 microsteps) (128 microsteps) (64 microsteps) (32 microsteps) (16 microsteps) (8 microsteps) (4 microsteps) (2 microsteps) Note ­ The table above shows a subset of prescalers that can be selected. Other values between those given in the table can be used. ­ The values 1, 2, 4, and 16 must not be used for . Consider the following formula for your calculation: Example: = 6400 6400/512 = 12.5 (prescaler) 𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃 = 𝑝𝑝 512 There is one special function that can also be configured using . To select it just add the following value to : Adder for 4 SAP command for motor 0 SAP 210, M0, Clear encoder with next null channel event Add up both values from these tables to get the required value for the SAP 210 command. www.trinamic.com TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 76 7.3 stallGuard2 The module is equipped with TMC262A-PC motor driver chip. The TMC262A-PC features load measurement that can be used for stall detection. stallGuard2 delivers a sensorless load measurement of the motor as well as a stall detection signal. The measured value changes linear with the load on the motor in a wide range of load, velocity and current settings. At maximum motor load the stallGuard value goes to zero. This corresponds to a load angle of 90° between the magnetic field of the stator and magnets in the rotor. This also is the most energy efficient point of operation for the motor. 1000 900 stallGuard2 reading 800 Start value depends on motor and operating conditions 700 600 stallGuard value reaches zero and indicates danger of stall. This point is set by stallGuard threshold value SGT. 500 400 Motor stalls above this point. Load angle exceeds 90° and available torque sinks. 300 200 100 0 10 20 30 40 50 60 70 80 90 100 motor load (% max. torque) Figure 7.4 Principle function of stallGuard2 Stall detection means that the motor will be stopped when the load gets too high. It is configured by axis parameter #174. Stall detection can also be used for finding the reference point. Do not use RFS in this case. Mixed decay should be switched off when stallGuard2 operational in order to get usable results. 7.4 Using the RS485 interface With most RS485 converters that can be attached to the COM port of a PC the data direction is controlled by the RTS pin of the COM port. Please note that this will only work with Windows 2000, Windows XP or Windows NT4, not with Windows 95, Windows 98 or Windows ME (due to a bug in these operating systems). Another problem is that Windows 2000/XP/NT4 switches the direction back to receive too late. To overcome this problem, set the telegram pause time (global parameter #75) of the module to 15 (or more if needed) by issuing an SGP 75, 0, 15 command in direct mode. The parameter will automatically be stored in the configuration EEPROM. For RS232 set the telegram pause time to zero for maximum data throughput www.trinamic.com TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 77 8 TMCL Programming Techniques and Structure 8.1 Initialization The first task in a TMCL program (like in other programs also) is to initialize all parameters where different values than the default values are necessary. For this purpose, SAP and SGP commands are used. 8.2 Main Loop Embedded systems normally use a main loop that runs infinitely. This is also the case in a TMCL application that is running stand alone. Normally the auto start mode of the module should be turned on. After power up, the module then starts the TMCL program, which first does all necessary initializations and then enters the main loop, which does all necessary tasks end never ends (only when the module is powered off or reset). There are exceptions to this, e.g. when TMCL routines are called from a host in direct mode. MOST (BUT NOT ALL) STANDALONE TMCL PROGRAMS LOOK LIKE THIS: //Initialization SAP 4, 0, 500 SAP 5, 0, 100 //define max. positioning speed //define max. acceleration MainLoop: //do something, in this example just running between two positions MVP ABS, 0, 5000 WAIT POS, 0, 0 MVP ABS, 0, 0 WAIT POS, 0, 0 JA MainLoop //end of the main loop => run infinitely 8.3 Using Symbolic Constants To make your program better readable and understandable, symbolic constants should be taken for all important numerical values that are used in the program. The TMCL-IDE provides an include file with symbolic names for all important axis parameters and global parameters. Example: //Define some constants #include TMCLParam.tmc MaxSpeed = 500 MaxAcc = 100 Position0 = 0 Position1 = 5000 //Initialization SAP APMaxPositioningSpeed, Motor0, MaxSpeed SAP APMaxAcceleration, Motor0, MaxAcc MainLoop: MVP ABS, Motor0, Position1 WAIT POS, Motor0, 0 MVP ABS, Motor0, Position0 WAIT POS, Motor0, 0 JA MainLoop Just have a look at the file TMCLParam.tmc provided with the TMCL-IDE. It contains symbolic constants that define all important parameter numbers. www.trinamic.com TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 78 Using constants for other values makes it easier to change them when they are used more than once in a program. You can change the definition of the constant and do not have to change all occurrences of it in your program. 8.4 Using Variables The User Variables can be used if variables are needed in your program. They can store temporary values. The commands SGP, GGP and AGP are used to work with user variables: SGP is used to set a variable to a constant value (e.g. during initialization phase). GGP is used to read the contents of a user variable and to copy it to the accumulator register for further usage. AGP can be used to copy the contents of the accumulator register to a user variable, e.g. to store the result of a calculation. Example: MyVariable = 42 //Use a symbolic name for the user variable //(This makes the program better readable and understandable.) SGP MyVariable, 2, 1234 ... ... GGP MyVariable, 2 accumulator register CALC MUL, 2 AAP MyVariable, 2 variable ... ... //Initialize the variable with the value 1234 //Copy the contents of the variable to the //Multiply accumulator register with two //Store contents of the accumulator register to the Furthermore, these variables can provide a powerful way of communication between a TMCL program running on a module and a host. The host can change a variable by issuing a direct mode SGP command (remember that while a TMCL program is running direct mode commands can still be executed, without interfering with the running program). If the TMCL program polls this variable regularly it can react on such changes of its contents. The host can also poll a variable using GGP in direct mode and see if it has been changed by the TMCL program. 8.5 Using Subroutines The CSUB and RSUB commands provide a mechanism for using subroutines. The CSUB command branches to the given label. When an RSUB command is executed the control goes back to the command that follows the CSUB command that called the subroutine. This mechanism can also be nested. From a subroutine called by a CSUB command other subroutines can be called. In the current version of TMCL eight levels of nested subroutine calls are allowed. www.trinamic.com TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 79 8.6 Mixing Direct Mode and Standalone Mode Direct mode and standalone mode can also be mixed. When a TMCL program is being executed in standalone mode, direct mode commands are also processed (and they do not disturb the flow of the program running in standalone mode). So, it is also possible to query e.g. the actual position of the motor in direct mode while a TMCL program is running. Communication between a program running in standalone mode and a host can be done using the TMCL user variables. The host can then change the value of a user variable (using a direct mode SGP command) which is regularly polled by the TMCL program (e.g. in its main loop) and so the TMCL program can react on such changes. Vice versa, a TMCL program can change a user variable that is polled by the host (using a direct mode GGP command). A TMCL program can be started by the host using the run command in direct mode. This way, also a set of TMCL routines can be defined that are called by a host. In this case it is recommended to place JA commands at the beginning of the TMCL program that jump to the specific routines. This assures that the entry addresses of the routines will not change even when the TMCL routines are changed (so when changing the TMCL routines the host program does not have to be changed). Example: //Jump commands to the TMCL routines Func1: JA Func1Start Func2: JA Func2Start Func3: JA Func3Start Func1Start: MVP ABS, 0, 1000 WAIT POS, 0, 0 MVP ABS, 0, 0 WAIT POS, 0, 0 STOP Func2Start: ROL 0, 500 WAIT TICKS, 0, 100 MST 0 STOP Func3Start: ROR 0, 1000 WAIT TICKS, 0, 700 MST 0 STOP This example provides three very simple TMCL routines. They can be called from a host by issuing a run command with address 0 to call the first function, or a run command with address 1 to call the second function, or a run command with address 2 to call the third function. You can see the addresses of the TMCL labels (that are needed for the run commands) by using the Generate symbol file function of the TMCL-IDE. Please refer to the TMCL-IDE User Manual for further information about the TMCL-IDE. www.trinamic.com TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 9 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 2010-2014 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. All trademarks used are property of their respective owners. www.trinamic.com 80 TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 81 10 Revision History 10.1 Firmware Revision Version 4.26 4.27 4.28 Date 2010-APR-26 2010-JUL-05 2010-AUG-09 4.29-4.36 4.37 4.38-4.40 4.41 2011-DEC-01 2012-JAN-06 2012-JUN-20 2012-SEP-21 4.42 2012-NOV-20 4.43 4.44 4.45 2013-FEB-20 2013-OKT-15 21.01.2014 Description First version supporting all TMCL features Firmware updates for other modules. RFS start resets deviation flags, too. Thus, a reference search is stopped if an encoder deviation is detected. Firmware updates for other modules. Axis parameter 200 (boost current) new. Firmware updates for other modules. Global parameter 87 new. Reference search: the last position before setting the counter to zero can be read out with axis parameter 197. ­ Global parameter 82 (CAN heart beat) new ­ Global parameter 85 (do not store user variables) new ­ Axis parameter 254 (step/dir mode) new ­ Axis parameter 200 (boost current) new ­ Axis parameter 215 (absolute encoder value) new Not deployed. Not deployed. Improved USB connection. Improved command request target position reached. 10.2 Document Revision Version 1.00 1.01 Date 2010-JUN-28 2010-AUG-31 Author SD SD 1.02 2010-SEP-16 SD 1.03 2010-NOV-19 SD 1.04 2010-DEC-22 SD 1.05 2011-FEB-21 SD 1.06 1.07 1.08 2011-MAR-21 2011-SEP-13 2012-NOV-20 SD SD SD 1.09 2013-JAN-02 SD 1.10 2014-MAY-16 SD www.trinamic.com Description Initial version Minor corrections Paragraph Changing the Prescaler Value of an Encoder completed. Value range of axis parameter 215 corrected. Units of axis parameters 130, 182 and 183 corrected. Diagram for coolStep related parameters added. Value range of axis parameter 206 corrected. Axis parameter 205 deleted. The functionality of this parameter is handled by parameter 174. Minor changes Axis parameter 181 corrected. Global parameter 65 updated. Chapter 8 new: TMCL programming techniques and structures. Changes related to TRINAMICs design. Global parameter list updated: ­ 87 (serial second address) new ­ 82 (CAN heart beat) new ­ 85 (do not store user variables) new Axis parameter list updated: ­ 254 (step/dir mode) new ­ encoder parameters updated: 209, 210, 212 ­ 200 (boost current) new ­ 215 (absolute encoder value) new ­ unit for current parameters corrected SIO command updated Firmware revision updated. TMCM-1180 and PD86-1180 TMCL Firmware V4.45 Manual (Rev. 1.10 / 2014-MAY-16) 11 References [TMCM-1180 / PD86-1180] [TMC262] [TMCL-IDE] [QSH8618] Please refer to www.trinamic.com. www.trinamic.com TMCM-1180 and PD86-1180 Hardware Manual TMC262 Datasheet TMCL-IDE User Manual QSH8618 Manual 82