MODULE ModuleforStepperMotors TMCM-3230TMCL FirmwareManual FirmwareVersionV1.07 DocumentRevisionV1.052017-OCT-10 TheTMCM-3230isathreeaxescontroller/drivermodulefor2-phasebipolarsteppermotorswith separatehomeandstopswitchinputsforeachaxis.Dynamiccurrentcontrol,andquiet,smooth andecientoperationarecombinedwithstealthChop,dcStep,stallGuardandcoolStepfea- tures.Themodulealsooerseightdigitalinputsaswellaseightdigitaloutputs. Features 3-AxesStepperMotorControl TMCL coolStep dcStep stallGuard2 stealthChop Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram TMCM-3230 DC 12..24V EEPROM DC 5V I2C USB 3x TMC5130 CAN SPI C (ARM) UART +5V +5V REF0L, REF0R 8 Inputs 8 Outputs 2017TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation. 2/103 TMCM-3230TMCL FirmwareManualFirmwareVersionV1.07 DocumentRevisionV1.052017-OCT-10 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 TestingwithasimpleTMCLProgram 8 3 TMCLandtheTMCL-IDEAnIntroduction 9 3.1 BinaryCommandFormat 9 3.1.1 ChecksumCalculation 10 3.2 ReplyFormat . 11 3.2.1 StatusCodes . 11 3.3 StandaloneApplications . 12 3.4 TMCLCommandOverview . 13 3.4.1 TMCLCommands . 13 3.5 TMCLCommandsbySubject 14 3.5.1 MotionCommands 14 3.5.2 ParameterCommands 15 3.5.3 BranchCommands 15 3.5.4 I/OPortCommands . 15 3.5.5 CalculationCommands . 16 3.5.6 InterruptProcessingCommands 16 3.6 DetailedTMCLCommandDescriptions 20 3.6.1 ROR(RotateRight) 20 3.6.2 ROL(RotateLeft) . 21 3.6.3 MST(MotorStop) . 22 3.6.4 MVP(MovetoPosition) . 23 3.6.5 SAP(SetAxisParameter) 26 3.6.6 GAP(GetAxisParameter) 27 3.6.7 SGP(SetGlobalParameter) . 28 3.6.8 GGP(GetGlobalParameter) 29 3.6.9 STGP(StoreGlobalParameter) . 30 3.6.10RSGP(RestoreGlobalParameter) . 31 3.6.11RFS(ReferenceSearch) 32 3.6.12SIO(SetOutput) 34 3.6.13GIO(GetInput) 36 3.6.14CALC(Calculate) 39 3.6.15COMP(Compare) . 41 3.6.16JC(Jumpconditional) . 42 3.6.17JA(Jumpalways) . 44 3.6.18CSUB(CallSubroutine) 45 3.6.19RSUB(ReturnfromSubroutine) 46 3.6.20WAIT(WaitforanEventtooccur) 47 3.6.21STOP(StopTMCLProgramExecution EndofTMCLProgram) 49 3.6.22SCO(SetCoordinate) . 50 3.6.23GCO(GetCoordinate) 51 3.6.24CCO(CaptureCoordinate) 53 3.6.25ACO(AccutoCoordinate) 54 3.6.26CALCX(CalculateusingtheXRegister) . 55 3.6.27AAP(AccutoAxisParameter) 57 2017TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com