MODULE ModuleforStepperMotors TMCM-1160TMCL FirmwareManual FirmwareVersionV1.42 DocumentRevisionV1.062018-JAN-09 TheTMCM-1160isasingleaxiscontroller/drivermodulefor2-phasebipolarsteppermotors.The TMCM-1160TMCLrmwareallowstocontrolthemoduleusingTMCLcommands, supporting standaloneoperationaswellasdirectmodecontrol,makinguseoftheTrinamicTMC429motion controllerandtheTMC262motordriver.Dynamiccurrentcontrol,andquiet,smoothandecient operationarecombinedwithstallGuardandcoolStepfeatures. Features SingleAxisSteppermotorcontrol Supplyvoltageupto48VDC TMCL USBinterface RS485interface CANinterface Additionalinputsandoutputs coolStep stallGuard2 sensOstepencoder Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram TMCM-1160 TMCL Memory SPI Encoder a/b/n USB Step ARM MOSFET CAN TM Cortex-M3 SPI Driver microcontroller RS485 TMC262 Stage Energy EfficientPre-Driver 7 S/D with Motor I/Os Driver TM stallGuard2 TMC262 SPI coolStep +5V S/D Stop switches TMC429 Motion Controller SPI sensOstep Encoder 9 28V DC 2018TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation. 2/113 TMCM-1160TMCL FirmwareManualFirmwareVersionV1.42 DocumentRevisionV1.062018-JAN-09 Contents 1 Features 5 1.1 stallGuard2 . 6 1.2 coolStep 6 2 FirstStepswithTMCL 7 2.1 BasicSetup . 7 2.2 UsingtheTMCLDirectMode 7 2.3 ChangingAxisParameters 7 2.4 TestingwithasimpleTMCLProgram 8 3 TMCLandtheTMCL-IDEAnIntroduction 10 3.1 BinaryCommandFormat 10 3.1.1 ChecksumCalculation 11 3.2 ReplyFormat . 12 3.2.1 StatusCodes . 12 3.3 StandaloneApplications . 13 3.4 TheASCIIInterface 14 3.4.1 EnteringandleavingtheASCIIMode . 14 3.4.2 FormatoftheCommandLine . 14 3.4.3 FormatofaReply . 15 3.4.4 ConguringtheASCIIInterface . 15 3.5 TMCLCommandOverview . 16 3.5.1 TMCLCommands . 16 3.6 TMCLCommandsbySubject 17 3.6.1 MotionCommands 17 3.6.2 ParameterCommands 18 3.6.3 BranchCommands 18 3.6.4 I/OPortCommands . 19 3.6.5 CalculationCommands . 19 3.6.6 InterruptProcessingCommands 20 3.7 DetailedTMCLCommandDescriptions 23 3.7.1 ROR(RotateRight) 23 3.7.2 ROL(RotateLeft) . 24 3.7.3 MST(MotorStop) . 25 3.7.4 MVP(MovetoPosition) . 26 3.7.5 SAP(SetAxisParameter) 29 3.7.6 GAP(GetAxisParameter) 30 3.7.7 STAP(StoreAxisParameter) . 31 3.7.8 RSAP(RestoreAxisParameter) . 32 3.7.9 SGP(SetGlobalParameter) . 33 3.7.10GGP(GetGlobalParameter) 34 3.7.11STGP(StoreGlobalParameter) . 35 3.7.12RSGP(RestoreGlobalParameter) . 36 3.7.13RFS(ReferenceSearch) 37 3.7.14SIO(SetOutput) 39 3.7.15GIO(GetInput) 41 3.7.16CALC(Calculate) 44 3.7.17COMP(Compare) . 46 3.7.18JC(Jumpconditional) . 47 3.7.19JA(Jumpalways) . 49 3.7.20CSUB(CallSubroutine) 50 3.7.21RSUB(ReturnfromSubroutine) 51 2018TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com