Trinamic PD57-1060 Manuel d'utilisation et d'entretien

MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrives

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

V 1.04

TMCL™ FIRMWARE MANUAL

+ + TMCM-1060

PD57-1060

PD60-1060

1-axis stepper

controller / driver

2.8A RMS/ 12, 24 or 48V DC

USB (mini-USB), RS485, and CAN

step/dir interface

integrated sensOstep™encoder

+ +

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 2

Table of contents

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

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

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

4Putting the PD57/60-1060 into operation.............................................................................................................. 7

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

4.2 Testing with a simple TMCLTM program ......................................................................................................10

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

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

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

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

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

5.3 Stand-alone 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)...........................................................................................................................33

5.7.7 STAP (store axis parameter) .....................................................................................................................39

5.7.8 RSAP (restore axis parameter) .................................................................................................................42

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

5.7.10 GGP (get global parameter)......................................................................................................................48

5.7.11 STGP (store global parameter).................................................................................................................52

5.7.12 RSGP (restore global parameter).............................................................................................................54

5.7.13 RFS (reference search)................................................................................................................................56

5.7.14 SIO (set output) ...........................................................................................................................................57

5.7.15 GIO (get input/output) ...............................................................................................................................59

5.7.16 CALC (calculate) ............................................................................................................................................62

5.7.17 COMP (compare)...........................................................................................................................................63

5.7.18 JC (jump conditional)..................................................................................................................................64

5.7.19 JA (jump always)..........................................................................................................................................65

5.7.20 CSUB (call subroutine)................................................................................................................................66

5.7.21 RSUB (return from subroutine)................................................................................................................67

5.7.22 WAIT (wait for an event to occur) .........................................................................................................68

5.7.23 STOP (stop TMCL™ program execution) ...............................................................................................69

5.7.24 SCO (set coordinate) ...................................................................................................................................70

5.7.25 GCO (get coordinate) ..................................................................................................................................71

5.7.26 CCO (capture coordinate)...........................................................................................................................72

5.7.27 ACO ..................................................................................................................................................................73

5.7.28 CALCX (calculate using the X register) ..................................................................................................74

5.7.29 AAP (accumulator to axis parameter) ....................................................................................................75

5.7.30 AGP (accumulator to global parameter) ...............................................................................................80

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 3

5.7.31 CLE (clear error flags) .................................................................................................................................84

5.7.32 VECT (set interrupt vector) ........................................................................................................................85

5.7.33 EI (enable interrupt) ...................................................................................................................................86

5.7.34 DI (disable interrupt)..................................................................................................................................87

5.7.35 RETI (return from interrupt) .....................................................................................................................88

5.7.36 Customer specific TMCL™ command extension (UF0… UF7/user function) ................................89

5.7.37 Request target position reached event.................................................................................................90

5.7.38 BIN (return to binary mode) ....................................................................................................................91

5.7.39 TMCL™ Control Functions.........................................................................................................................92

6Axis parameters ..........................................................................................................................................................94

7Global parameters....................................................................................................................................................100

7.1 Bank 0 .................................................................................................................................................................100

7.2 Bank 1 .................................................................................................................................................................102

7.3 Bank 2 .................................................................................................................................................................102

7.4 Bank 3 .................................................................................................................................................................103

8Hints and tips ............................................................................................................................................................104

8.1 Reference search ..............................................................................................................................................104

8.2 Changing the prescaler value of an encoder ..........................................................................................107

8.3 stallGuard2.........................................................................................................................................................108

8.4 coolStep™ related axis parameters............................................................................................................108

8.5 Velocity calculation .........................................................................................................................................110

8.6 Using the RS485 interface .............................................................................................................................111

9Revision history ........................................................................................................................................................112

9.1 Firmware revision............................................................................................................................................112

9.2 Document revision ..........................................................................................................................................112

10 References...................................................................................................................................................................113

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 4

1Life 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.

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.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 5

2Features

The PD57/60-1060 is a full mechatronic device consisting of a NEMA 23 (flange size 57mm) or NEMA 24

(flange size 60mm) stepper motor, controller/driver electronics and integrated encoder. The electronics itself

is also available without the motor as TMCM-1060 module.

Applications

Compact single-axis stepper motor solutions

Encoder feedback for high reliability operation

Electrical data

Supply voltage: common supply voltages +12VDC / +24VDC / +48VDC supported (+9V… +51V DC)

(Please note: pre-series boards are limited to +40V max. supply voltage!)

Motor current: up to 2.8A RMS (programmable)

Integrated motor (for PD57/60-1060 only)

Two phase bipolar stepper motor with 2.8A RMS nom. coil current

Holding torque with 57mm motor: 0.55Nm, 1.01Nm, 1.26Nm or 1.89Nm

Holding torque with 60mm motor: 1.1Nm, 1.65Nm, 2.1Nm or 3.1Nm

Integrated encoder

Integrated sensOstep™ magnetic encoder (max. 256 increments per rotation) for step-loss detection

under all operating conditions

Integrated motion controller

High performance ARM7 microcontroller for overall system control and communication protocol handling

Integrated bipolar stepper motor driver (based on TMC262)

Up to 256 microsteps per full step

High-efficient operation, low power dissipation (MOSFETs with low RDS(ON))

Dynamic current control

Integrated protection

High precision sensorless motor load measurement stallGuard2™

Automatic load dependent motor current adaptation for reduced power consumption and heat

dissipation (coolStep™)

Interfaces

2 inputs for stop switches / 1 input for home switch (+24V compatible) with programmable pull-up

2 general purpose inputs (+24V compatible) and 2 general purpose outputs (open collector)

USB (mini-USB), RS485 and CAN (2.0B up-to 1Mbit/s) serial communication interfaces

Step/direction interface (optically isolated)

Safety features

Shutdown input –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. The driver supply voltage may be switched

off externally while the supply for the digital logic and therefore the digital logic itself remains active

On board 3A fuse

Software

Available with TMCL™

Stand-alone 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

Please refer to separate Hardware Manual for further information.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 6

3Overview

As with most TRINAMIC modules the software running on the microprocessor of the TMCM-1060 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. On the TMCM-1060 module the Atmel

AT91SAM7X256 is used to run the TMCL™ operating system. The CPU has 256KB flash memory and a 64KB

RAM. The microcontroller runs the TMCL™ (Trinamic Motion Control Language) operating system which

makes it possible to execute TMCL™ commands that are sent to the module from the host via the RS485,

CAN, or USB. It is possible to use the step/dir interface, too.

The TMC262 on the module is an energy efficient high current high precision microstepping driver IC for

bipolar stepper motors. Its unique high resolution sensorless load detection stallGuard2™ is used for a

special integrated load dependent current control feature called coolStep™. The ability to read out the load

and detect an overload makes the TMC262 an optimum choice for drives where a high reliability is desired.

Please mind this technical innovation.

All commands and parameters available with this unit are explained on the following pages.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 7

4Putting the PD57/60-1060 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.

If you ordered the module without motor, please connect it with a fitting one. You will find more

information about the motor connector in the PD57/60-1060 Hardware Manual.

The things you need:

PD57/60-1060

Interface (RS485, USB, CAN, step/dir) suitable to your PANdrive™ with cables

Nominal supply voltage +24V DC (12, 24 or 48V DC) for your module

TMCL-IDE program and PC

Precautions:

Do not connect or disconnect the PANdrive™ while powered!

Do not connect or disconnect the motor while powered!

Do not exceed the maximum power supply of 51V DC.

Start with power supply OFF!

4.1 Starting up

Motor

USB

Power

Serial

communication

GPIO

S/D

Figure 4.1: Overview connectors

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 8

1. Connect the interface

a) Connect the RS485 or the CAN interface

A 2mm pitch 5 pin JST B5B-PH-K connector is used for serial communication.

Please connect as follows:

Label

Description

CAN_H

CAN bus signal (dominant high)

CAN_L

CAN bus signal (dominant low)

GND

Module ground (system and signal ground)

RS485+

RS485 bus signal (non inverted)

RS485-

RS485 bus signal (inverted)

Table 4.1: Connector for serial communication

b) Connect the USB interface

A 5-pin standard mini-USB connector is available on board.

Please connect as follows:

Label

Description

VBUS

+5V power

D-

Data –

D+

Data +

Not connected

GND

ground

Table 4.2: Mini USB connector

2. Connect the power supply

A 4-pin JST EH series B4B-EH connector is used as power connector on-board.

Please connect as follows:

Label

Description

+UDriver

Module + driver stage power supply input

+ULogic

(Optional) separate digital logic power supply input

/SHUTDOWN

Shutdown input. Connect this input to +UDriver or +ULogic in

order to activate driver stage. Leaving this input open or

connecting it to ground will disable the driver stage

GND

Module ground (power supply and signal ground)

Table 4.3: Connector for power supply

Attention:

In order to enable the motor driver stage connect /SHUTDOWN (pin 3) to power supply!

In case separate power supplies for driver and logic are not used pin 2 (logic supply) and

pin 3 (/SHUTDOWN input) of the power connector may be connected together in order to

enable the driver stage.

Please note, that there is no protection against reverse polarity or voltages above the upper

maximum limit. The power supply typically should be within a range of +9 to +51V. Pre-

series boards are limited to +40V max. power supply.

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 9

3. Switch ON the power supply

The LED for power should flash 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.

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 RS485 choose COM port and type with the parameters shown below (baud rate 9600).

Click OK.

Attention:

Please refer to the TMCL-IDE User Manual for more information about connecting the

other interfaces (see www.TRINAMIC.com).

If you prefer to work with step/dir interface please proceed by using axis parameter

254 for switching to step/direction or back to TMCL™ (paragraph 5.7.5):

Command

Description

SAP 254, o, 0

Normal mode (move motor using TMCL™ commands)

SAP 254, o, 1

Step/direction mode (move motor via step/direction inputs)

PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 10

4.2 Testing with a simple TMCLTM 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:

Assemble

Download Run

Stop

1. Click on icon Assemble to convert the TMCL™ into machine code.

2. Then download the program to the TMCM-1060 module via the icon Download.

3. Press icon Run. The desired program will be executed.

4. Click Stop button to stop the program.

//A simple example for using TMCL™and TMCL-IDE

SAP 4, 0, 50000 //Set max. Velocity

SAP 5, 0, 5000 //Set max. Acceleration

Loop: MVP ABS, 0, 100000 //Move to Position 10000

WAIT POS, 0, 0 //Wait until position reached

MVP ABS, 0, -100000 //Move to Position -10000

WAIT POS, 0, 0 //Wait until position reached

JA Loop //Infinite Loop

Ce manuel convient aux modèles suivants

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