MODULE ModuleforStepper TMCM-1276TMCL FirmwareManual FirmwareVersionV1.13 DocumentRevisionV1.032020-APR-16 TheTMCM-1276isasingleaxiscontroller/drivermodulefor2-phasebipolarsteppermotorswith withcoilcurrentsofupto3ARMS.TheTMCM-1276TMCLrmwareallowstocontrolthemodule usingTMCLcommands,supportingstandaloneoperationaswellasdirectmodecontrol,making useoftheTrinamicTMC5160motioncontrollerandmotordriver. Dynamiccurrentcontrol,and quiet,smoothandecientoperationarecombinedwithStealthChop,DcStep,StallGuardand CoolStepfeatures. Features SingleAxisSteppermotorcontrol Supplyvoltage10...30VDC TMCL MotionContoller CAN SixPointrampmotioncontroller StealthChopsilentPWMmode SpreadCyclesmartmixeddecay StallGuard2loaddetection CoolStepautomaticcurrentscal- ing DcStep Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling CNC LiquidHandling SimpliedBlockDiagram 4 Input REFL/REFR TMCL ENCA/ENCB Memory ENABLE I2C Stepper Stepper Energy Efficient Motor ARM SPI Driver Cortex M0+ Controller Microcontroller TMC262 & CAN Driver Motor 10...30V DC TMCM-1276 2020TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation. 2/100 TMCM-1276TMCL FirmwareManualFirmwareVersionV1.13 DocumentRevisionV1.032020-APR-16 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 . 16 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 GIO(GetInput) 35 3.6.13 CALC(Calculate) . 37 3.6.14 COMP(Compare) 39 3.6.15 JC(Jumpconditional) 40 3.6.16 JA(Jumpalways) . 42 3.6.17 CSUB(CallSubroutine) . 43 3.6.18 RSUB(ReturnfromSubroutine) 44 3.6.19 WAIT(WaitforanEventtooccur) . 45 3.6.20 STOP(StopTMCLProgramExecution EndofTMCLProgram) 47 3.6.21 SCO(SetCoordinate) 48 3.6.22 GCO(GetCoordinate) 49 3.6.23 CCO(CaptureCoordinate) . 51 3.6.24 ACO(AccutoCoordinate) 52 3.6.25 CALCX(CalculateusingtheXRegister) 53 2020TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com