TMCM-1613-REC

Module for BLDC Motors Modules TMCM-1613 FIRMWARE MANUAL TMCM-1613 Firmware Version 1.00 • 2016-MAR-28 | Document Revision 1.00 • 2016-MAR-28 SHORT SPEC The TMCM-1613 firmware performs hall sensor-based block commutation using single-shunt current measurement on the TMCM-1613 module. The firmware supports TMCL(TM) commands for standalone operation as well as remote control through an UART interface. Additionally, it implements an analog mode of operation with voltage-controlled speed, which can be selected at startup time. The pre-installed boot loader provides support for firmware updates through the UART interface. Features • Block commutation for BLDC motors • Motor current up to 30A Peak • Supply voltage 6…24V DC • Configured with TMCL™ software • TMCL-IDE updates via UART • Cascaded motor regulation modes Figure 1:TMCM-1613 Product Photo Order Code Order code TMCM-1613 Description 1-Axis BLDC controller/driver 500W/24V with PWM and Step/Dir control, hall sensor based Size 70 x 76 x 25 mm³ Table 1: TMCM-1613 Order Codes © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives in Chapter 6 (page 53)  COVER PAGE  TMCM-1613 Firmware Version 1.00 • 2016-MAR-28 | Document Revision 1.0 • 2016-MAR-28 2/58 TABLE OF CONTENTS TMCM-1613 FIRMWARE MANUAL ............................................................................................... 1 SHORT SPEC .................................................................................................................................. 1 Features ........................................................................................................................................ 1 Order Code ................................................................................................................................... 1 TABLE OF CONTENTS ................................................................................................................... 2 FIRMWARE MANUAL .................................................................................................................... 4 1. Basic TMCL Formats and Commands ................................................................................. 4 Request Format ............................................................................................................................... 5 Reply Format ................................................................................................................................... 6 Parameter Commands ................................................................................................................... 7 I/O Port Commands ........................................................................................................................ 7 2. Detailed TMCL Commands Description ............................................................................. 8 ROR (Rotate Right) .......................................................................................................................... 8 ROL (Rotate Left) ............................................................................................................................. 9 MST (Motor Stop) .......................................................................................................................... 10 MVP (Move to Position) ................................................................................................................ 11 SAP (Set Axis Parameter).............................................................................................................. 13 GAP (Get Axis Parameter) ............................................................................................................ 14 STAP (Store Axis Parameter) ........................................................................................................ 15 RSAP (Restore Axis Parameter) ................................................................................................... 16 SGP (Set Global Parameter) ......................................................................................................... 17 GGP (Get Global Parameter)........................................................................................................ 18 STGP (Store Global Parameter) ................................................................................................... 19 RSGP (Restore Global Parameter) ............................................................................................... 20 SIO (Set Output) and GIO (Get Input / Output) ......................................................................... 21 SIO (Set Output) ............................................................................................................................ 22 GIO (Get Input / Output) .............................................................................................................. 23 TMCL Control Functions ............................................................................................................... 25 3. Axis Parameter Overview (SAP, GAP, STAP, RSAP) ......................................................... 26 Axis Parameters Sorted by Functionality ................................................................................... 30 4. Global Parameter Overview (SGP, GGP, STGP, RSGP) ..................................................... 36 Bank 0 ............................................................................................................................................. 36 Bank 2 ............................................................................................................................................. 39 5. Motor Regulation ................................................................................................................ 40 Structure of Cascaded Motor Regulation Modes ..................................................................... 40 Current Regulation ....................................................................................................................... 41 Structure of the Current Regulator ............................................................................................ 42 Velocity Regulation ....................................................................................................................... 44 © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the “Supplemental Directives” (page 53).  FIRMWARE MANUAL | TABLE OF CONTENTS  TMCM-1613 Firmware Version 1.00 • 2016-MAR-28 | Document Revision 1.0 • 2016-MAR-28 3/58 Structure of the Velocity Regulator ............................................................................................ 44 Velocity Ramp Generator ............................................................................................................. 47 Position Regulation ....................................................................................................................... 47 6. Module Specific Behaviors................................................................................................. 50 Default Mode ................................................................................................................................. 52 DC Mode......................................................................................................................................... 52 Analog Mode .................................................................................................................................. 52 Mixed Mode ................................................................................................................................... 52 APPENDICES ................................................................................................................................ 53 7. Supplemental Directives ................................................................................................... 53 Figures Index ................................................................................................................................. 55 Tables Index ................................................................................................................................... 56 Revision History............................................................................................................................. 58 © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the “Supplemental Directives” (page 53).  FIRMWARE MANUAL | TABLE OF CONTENTS  TMCM-1613 Firmware Version 1.00 • 2016-MAR-28 | Document Revision 1.0 • 2016-MAR-28 4/58 F I R MW A R E MA N UA L 1. Basic TMCL Formats and Commands TMCL is a motion control-oriented command set that provides pre-configures, easily adabtable totation (ROR, ROL) and positioning commands (MVP). TMCL is designed to quickly connect motors to a TMCM module. The TMCM-1613 firmware quickly connects to a three-phase motor. TMCL is available for TRINAMIC board level solutions and also for PANdrive. TMCL-1613 has extensive Command Set In order to configure the module to your design specification an extensive command set for all necessary motor control parameters is made available to you. Configuration options are explained in detail in this manual. TMCM-1613 firmware runs on a microprocessor and consists of two parts: • Boot loader: The boot loader is installed by TRINAMIC during production. It remains untouched throughout its entire product lifetime. • Firmware: The firmware can be updated by the user. New versions can be downloaded free of charge from the product's web page [TMCM-1613]. Functional Scope of TMCM-1613 In this manual the focus is entirely on how to use the TMCM-1613 firmware for the TMCM-1613 module in order to control a 3-phase motor according to your design specification. The TMCM-1613 firmware supports standard TMCL with an additional specified range of parameters and values. Firmware sample code and TMCL sample scripts are available on the product’s web page. The TMCM module is based on Freescale KE ARM Cortex-M0+ microcontroller and the high performance pre-driver TMCM-1613. NOTE: → The firmware is related to the standard TMCL firmware [TMCL] with regard to protocol and commands. → The TMCL firmware is available for USB and field buses like RS232, RS485 and CAN but for configuration of the TMCM-1613 only an UART interface is made available. → TMCL can be used as script language only. For more information, please refer to the TMCL manual at www.trinamic.com . © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the “Supplemental Directives” (page 53).  FIRMWARE MANUAL | TABLE OF CONTENTS  TMCM-1613 Firmware Version 1.00 • 2016-MAR-28 | Document Revision 1.0 • 2016-MAR-28 5/58 Request Format When commands are sent from a host to a module, the request format has to be used. Process Description of Request Format AREAS OF SPECIAL CONCERN ! Every request command consists of: • A one-byte command field, • A one-byte type field • A one-byte motor/bank field • A four-byte value field. When a command is sent via UART interface, it must be enclosed by an address byte at the beginning and by a checksum byte at te end. In this case it consists of nine bytes. The binary command format for UART and USB is structured as follows: TMCL Request Format Bytes 1 1 1 1 4 1 Description Module address Command number Type number Motor or Bank number Value (MSB first!) Checksum Table 2:TMCL Request Format Checksum Calculation The checksum is calculated by adding up all bytes (including the module address byte) using 8-bit addition. Here is a C-example for the calculation: unsigned char i, Checksum; unsigned char Command[9]; Checksum = Command[0]; for(i=1; i