MODULE ModuleforStepper TMCM-1241TMCL FirmwareManual FirmwareVersionV1.44 DocumentRevisionV1.012019-MAY-23 TheTMCM-1241isasingleaxiscontroller/drivermodulefor2-phasebipolarsteppermotors.The TMCM-1241TMCLrmwareallowstocontrolthemoduleusingTMCLcommands, supporting standaloneoperationaswellasdirectmodecontrol,makinguseoftheTrinamicTMC5160motion controllerandmotordriver.Dynamiccurrentcontrol,andquiet,smoothandecientoperation arecombinedwithStealthChop,DcStep,StallGuard2andCoolStepfeatures. Features SingleAxisSteppermotorcontrol Supplyvoltage24VDC TMCL Hostinterfaces:RS485,CAN,USB Step/Directioninputs Additionalinputsandoutputs SixPointramps CoolStep StallGuard2 StealthChop SensOstepencoder External(AB)encoderinterface Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram TMCM-1241 EEPROM SPI Step USB MOSFET SPI Driver ARM RS485 TM Cortex-M3 Stage Motion Energy Efficient microcontroller CAN Controller Motor Driver + 6 TMC262 I/Os Pre-Driver STOP L/R, S/D, Encoder sensOstep SPI Encoder 10 30V DC +3V3 DC/DC +5V 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation. 2/107 TMCM-1241TMCL FirmwareManualFirmwareVersionV1.44 DocumentRevisionV1.012019-MAY-23 Contents 1 Features 5 1.1 StallGuard2 6 1.2 CoolStep 6 1.3 SixPointMotionController . 7 2 FirstStepswithTMCL 8 2.1 BasicSetup 8 2.2 UsingtheTMCLDirectMode 8 2.3 ChangingAxisParameters . 8 2.4 TestingwithasimpleTMCLProgram . 9 3 TMCLandtheTMCL-IDEAnIntroduction 11 3.1 BinaryCommandFormat 11 3.1.1 ChecksumCalculation 12 3.2 ReplyFormat . 13 3.2.1 StatusCodes . 13 3.3 StandaloneApplications . 14 3.4 TMCLCommandOverview . 15 3.5 TMCLCommandsbySubject 16 3.5.1 MotionCommands 16 3.5.2 ParameterCommands . 17 3.5.3 BranchCommands 17 3.5.4 I/OPortCommands . 17 3.5.5 CalculationCommands . 18 3.5.6 InterruptProcessingCommands 18 3.6 DetailedTMCLCommandDescriptions 21 3.6.1 ROR(RotateRight) 21 3.6.2 ROL(RotateLeft) . 22 3.6.3 MST(MotorStop) . 23 3.6.4 MVP(MovetoPosition) . 24 3.6.5 SAP(SetAxisParameter) 27 3.6.6 GAP(GetAxisParameter) 28 3.6.7 SGP(SetGlobalParameter) . 29 3.6.8 GGP(GetGlobalParameter) 30 3.6.9 STGP(StoreGlobalParameter) . 31 3.6.10 RSGP(RestoreGlobalParameter) . 32 3.6.11 RFS(ReferenceSearch) . 33 3.6.12 SIO(SetOutput) . 35 3.6.13 GIO(GetInput) 37 3.6.14 CALC(Calculate) . 40 3.6.15 COMP(Compare) . 42 3.6.16 JC(Jumpconditional) . 43 3.6.17 JA(Jumpalways) . 45 3.6.18 CSUB(CallSubroutine) . 46 3.6.19 RSUB(ReturnfromSubroutine) 47 3.6.20 WAIT(WaitforanEventtooccur) . 48 3.6.21 STOP(StopTMCLProgramExecution EndofTMCLProgram) 50 3.6.22 SCO(SetCoordinate) . 51 3.6.23 GCO(GetCoordinate) 52 3.6.24 CCO(CaptureCoordinate) 54 3.6.25 ACO(AccutoCoordinate) 55 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com