Trinamic TMCM-170 Owner's manual

TMCM-170 and -171
BLDC-module
Reference and Programming
Manual
Version 1.14
Dec 20h, 2007
Trinamic Motion Control GmbH & Co. KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 2
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
Contents
1Functional description..................................................................................................................... 3
1.1 Introduction ............................................................................................................................ 3
1.2 Getting started........................................................................................................................ 3
1.3 Stand alone operation using TMCL ....................................................................................... 3
1.4 Parameterizing the PID regulator........................................................................................... 4
1.4.1 Finding a setting for the P, I and D values......................................................................... 4
1.5 Parameterizing the positioning algorithm............................................................................... 6
1.6 Homing procedure.................................................................................................................. 7
2Interface Protocol............................................................................................................................ 8
2.1 Assignment of the command bytes sent from the host to the BLDC-module:....................... 8
2.2 Assignment of the reply bytes sent from the BLDC-module:................................................. 8
3TMCL Command Set...................................................................................................................... 9
3.1 TMCL Motion Control Commands ....................................................................................... 10
3.1.1 ROR - Rotate Right.......................................................................................................... 10
3.1.2 ROL - Rotate Left............................................................................................................. 11
3.1.3 MST - Motor Stop ............................................................................................................ 12
3.1.4 MVP - Move to Position ................................................................................................... 13
3.2 TMCL – Axis Parameter Commands ................................................................................... 14
3.2.1 SAP - TMCL Set Axis Parameter..................................................................................... 14
3.2.2 GAP - TMCL Get Axis Parameters.................................................................................. 18
3.2.3 STAP – Store Axis Parameter......................................................................................... 22
3.3 Global Parameters...............................................................................................................23
3.3.1 SGP - Set Global Parameter ........................................................................................... 23
3.3.2 GGP - Get Global Parameters......................................................................................... 26
3.4 Get Version Number ............................................................................................................ 28
3.5 Restore Factory Default Settings......................................................................................... 28
4Revision History............................................................................................................................ 29
4.1 Documentation Revision...................................................................................................... 29
5References.................................................................................................................................... 29
Tables
Table 1: Default PID Values.................................................................................................................... 5
Table 2: TMCL command overview......................................................................................................... 9
Table 3: TMCL Commands, Set Axis Parameter (SAP) ....................................................................... 16
Table 4: Max. Current Regulation / Actual Current ...............................................................................17
Table 5: TMCL Commands, Get Axis Parameter (GAP)....................................................................... 20
Table 6: Error / Status flags................................................................................................................... 21
Table 7: TMCL Commands, Set Global Parameters (SGP).................................................................. 24
Table 8: Baud Rate of RS232 / RS485 and CAN.................................................................................. 25
Table 9: TMCL Commands, Get Global Parameters (GGP)................................................................. 27
Table 10: Documentation Revisions...................................................................................................... 29

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 3
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
1 Functional description
1.1 Introduction
The TMCM-170/-171 module can either be remote controlled via the PC demonstration software or the
TMCL environment or by a user specific program. A number of stand-alone features is also integrated.
For a detailed hardware information please refer to the specific hardware manual (5 References).
This manual describes the BLDC specific parameters and BLDC specific commands available on the
BLDC modules. Further, the modules provide control instructions like branches, arithmetic functions,
comparison commands and functions for reading / setting the I/O lines. For these, please refer to the
TMCL reference manual (5 References).
Attention: It is important to properly set motor and encoder settings before trying to operate the motor.
The changes become effective after a full restart (power off-on).
You can use the demonstration application and / or the TMCL development environment to make
these settings. Please refer to the TMCM-170/-171 Hardware Manual for the basic settings.
1.2 Getting started
The demonstration application for the TMCM-170/-171 module gives a simple way to set the module
into operation. The TRINAMIC TMCL IDE allows to update the modules firmware and to test / set all of
the modules’ parameters via all supported bus systems. Please refer to the hardware manual for
setting up the unit. It is especially important, to correctly set initialization parameters, if you have
purchased the unit without a motor.
1.3 Stand alone operation using TMCL
The TMCM-170 and TMCM-171 support stand alone TMCL operation. To implement a stand alone
program, please use the TMCL-IDE. The TMCM-170 supports programs up to 64 commands long,
while the TMCM-171 supports up to 2048 commands. The full control command set can be found in
the TMCL reference manual.

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 4
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
1.4 Parameterizing the PID regulator
The motion control commands (TMCL_ROL, TMCM_ROR, TMCL_MVP) use a PID regulator for
position and velocity control. The PID regulator has to be parameterized with respect to a given motor
in a given application. The default parameter set of the PID regulator covers a range of motors
suitable for the TMCM-170/-171 module, and typically works stable up to 8000 rpm maximum motor
velocity (related to an 8 pole motor) with an encoder resolution of up to 4096. However, for slower
motors or lower encoder resolution, the response time with this parameter set may become quite slow.
The PID regulator uses four basic parameters: The P, I and D values, as well as a timing control
value. The timing control value (PID regulation loop delay) determines, how often the PID regulator is
evoked. It is given in multiple of 1ms:
tPIDDELAY = xPIDRLD * 1ms
xPIDRLD is the PID regulation loop delay parameter, tPIDDELAY is the resulting delay between two PID
calculations
For most applications it is recommended to leave this parameter unchanged at its default of 1ms.
Higher values may be necessary for very slow and less dynamic drives.
1.4.1 Finding a setting for the P, I and D values
To parameterize the PID regulator for a given motor, first modify the P parameter with all other
parameters set to 0, starting from a low value and going to a higher value, until fastest response with
minimum oscillation around the target position is given (touch the motor / watch the actual position and
motor current). Try with low velocities and stand still if you want to tune positioning response. To
modify parameters, always use the double or half of the previous value, in order to really see how the
parameter influences behavior.
After that, do the same for the I parameter with the D parameter still set to zero. For the I parameter,
there is also a clipping value: The I-clip should be send to a relatively low value, to avoid overshooting,
but high enough to allow exact position maintenance at stand still, when maximum required stand-still
torque is applied to the motor axis.
Now, modify the D parameter in the same way. It will dampen part of the oscillations caused by the
other parameters, too. An additional parameter is the hysteresis. This value can be adapted to give
lowest oscillation of the motor at stand-still. It helps to compensate the motor’s detent torque by driving
the PID regulator near the motors reaction threshold even for lowest PID differences. Try a range 0 to
40.
actual position
from encoder
target position /
ramp generator
position
Clip
65535
P-param /
256
I-sum Clip
I-param /
65536
last
D-param /
256
new PWM
[0..1023]
CLK: 1000Hz /
PID regulation
loop delay
Clip
duty
cycle limit
CLK: 1000Hz /
PID regulation
loop delay
I-Clip param
* 256

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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
There is one PID parameter set for position maintenance and one parameter set for velocity mode.
For the first tests, you can set both parameter sets equal. After having found suitable values, the
velocity mode parameters should be set to “less stiff”, i.e. to lower values, to minimize regulation
oscillation during constant rotation. The switch-over between both sets is soft, and occurs between
stand still and the velocity given by “min speed for velocity PID”.
As you can see in the default value table, the positioning and velocity mode PID parameters in this
example have a relationship of about 4 to 1. But the I-Clipping parameter typically has the inverse
relationship: 1 to 4 in this example! This allows the I parameter to apply the same maximum torque
difference in both parameter sets.
Position Velocity
P-Parameter 100 25
I-Parameter 167 42
D-Parameter 30 8
I-Clipping-Parameter 160 640
Table 1: Default PID Values
Attention: For all tests set the motor current limitation to a realistic value, so that your power supply
does not become overloaded during acceleration phases. If your power supply goes to
current limiting, the unit may reset or undetermined regulation results may occur.

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 6
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1.5 Parameterizing the positioning algorithm
The module supports a positioning based on the encoder position. The user can either use the pure
positioning PID parameter set for positioning, or an integrated ramp generator with linear ramp control
(enable the “Velocity PID – Control setting”). Parameters for the ramp generator are the maximum
positioning speed as well as the acceleration value. It is recommended to use the ramp generator.
The ramp generator automatically calculates the slow down point, i.e. the point at which velocity is to
be reduced in order to stop at the programmed target position. This calculation is based on the
velocity setting and the acceleration setting. The PID parameter sets are used as follows:
• Above min_pos_speed the motor speed is regulated by the Velocity PID
• Below min_pos_speed a combination of Velocity and Position PID is used to get the best
performance
PID setting
stiffness
0
Velocity PID
Position PID
velocity
min
pos
speed
max
pos
speed
min
pos
speed
max
pos
speed
velocity difference for slow-down
velocity difference for slow-down
Reaching the target position is signaled by setting the POS_END flag. In order to minimize the time
until this flag becomes set, a positioning tolerance (MVP_target_reached_distance) can be chosen.
Since the motor typically is assumed not to signal target reached when the target was just passed in a
short moment of time at a high velocity, additionally a maximum target reached velocity
(MVP_target_reached_velocity) can be defined. A value of zero is the most universal, since it implies
that the motor stands still at the target. But when a fast raising of the POS_END flag is desired, a
higher value for MVP_target_reached_velocity will save a lot of time. The best value should be tried
out in the actual application. In hall sensor only mode (see SGP 250), this distance setting is used to
stop the regulation algorithm in order to avoid oscillations around the target position.
Depending upon the motor / mechanics, a bit of oscillation is normal, in the best case it can be
reduced to be at least +/-1 encoder step, because otherwise the regulation can not keep the position!
In order to dampen oscillations as much as possible, also try using the PWM hysteresis. Especially
with a friction in the mechanics, increasing this parameter might help to overcome it and to speed up
the regulation. Then, at the next step you should again try to optimize the P-part for the positioning P-
regulator, and after that add a bit of I and D, while always trying to keep the regulation loop stable /
stable to within your desired target range.

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|velocity|
position
target position
(set via MVP)
max_pos_speed
min_pos_speed
MVP_target_reached_distance
Motor off in this area
slow-down-distance
actual motor velocity
Motor regulated by
Velocity PID
Motor regulated by
combination of
Velocity and Position
PID
Acceleration
MVP_target_
reached_velocity
Target reached flag
only set when velocity
and position are in this
area.
1.6 Homing procedure
There are two ways provided for homing: The encoder N channel and a reference switch input. A
combined procedure will bring the most exact result for linear drives: First do a homing to the switch,
then move the motor away from the switch again and do a homing to the next N-channel event. To
home the drive to either of them, you need to set the following parameters:
1. Enable Encoder_Set_Null or Switch_Set_Null (set desired parameters to 1). Enable
Clear_Set_Null, to do the homing procedure only once. For the switch, set Enable_Stop_Switch, if
the motor is to stop after hitting the switch, i.e. because the switch is positioned at the end point of
a linear axis.
2. Now move the motor in the direction of the Switch using a rotation command. As soon as the
motor hits the stop switch, the encoder position becomes set to zero. If at the same time the motor
switch is enabled as a stop switch, the motor is stopped and the target position is also set to zero.
If the switch is not used to stop the motor, or the Encoder_Set_Null has been enabled, only the
actual position becomes influenced. This would cause a large difference between the actual
(encoder) position and the target position, because the target position (as read by GAP 0 value) is
not influenced by the nulling of the encoder counter! Thus, the motor would at once try to re-
position to the actual target, based on the new encoder position. This would result in a fast
movement to an undefined position, if the initialization had not been done once before. To avoid
this effect, use the Clear_Target_Distance setting:
Set the Clear_Target_Distance to some reasonably low value, e.g. corresponding to one motor
rotation or less. Example: For a 2000 step encoder a homing is done based on the N-channel. The
motor shall not re-position automatically, when the old home position has been further away than
a quarter of a rotation. The resulting maximum offset would be 500 steps, or a
Clear_Target_Distance value of 2 (=500/256).
Hint: A very low value for Clear_Target_Distance may result in problems when working with high
velocities and / or low PID parameter setting. Use a higher value for normal motion.
3. Homing is finished now.

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 8
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
2 Interface Protocol
The TMCM modules use the TMCL 9 byte protocol. The interface parameters are 9600 baud, 8
bit, 1 stop bit (default values). This is not the case when communicating via the CAN bus as
address and checksum are included in the CAN standard and do not have to be supplied by the
user (default 250kBit/s). Please refer to the TMCL manual for a more detailed description of the
TMCL basics. However, the BLDC modules define a different function set, detailed in the following.
2.1 Assignment of the command bytes sent
from the host to the BLDC-module:
Cmd[0]: Module address (set to one for the RS232 module)
Cmd[1]: Command byte / Instruction number
Cmd[2]: "Type" byte (e.g. parameter number)
Cmd[3]: "Axis" byte (always set to zero for a one axis module)
Cmd[4], Cmd[5], Cmd[6], Cmd[7]: optional parameter (CMD[4] is the MSB, Cmd[7] is the LSB)
Parameters can have one to four bytes.
Cmd[8]: Check sum (1 byte sum of the complete datagram)
Do not sent the next command before you have received the reply!
Example: Rotate right, motor #0, velocity = 350 (refer to 3.1.1 ROR - Rotate Right)
Byte Index 0 1 2 3 4 5 6 7 8
Function Target-
address Instruction Number Type Motor/ Bank Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum
Value (hex) $01 $01 $00 $00 $00 $00 $01 $5e $61
When using CAN bus, the first byte (reply address) and the last byte (checksum) are left out.
2.2 Assignment of the reply bytes sent from
the BLDC-module:
Reply[0]: Host Address
Reply[1]: Module Address
Reply[2]: Status
Reply[3]: Last command byte which was received by the module
Reply[4],Reply[5],Reply[6],Reply[7]: Value (Reply[4] is the MSB, Reply[7] is the LSB)
All reply values are extended to 32 bit
Reply[8]: Check sum
Example: get the actual position of motor #0 (refer to 3.2.2 GAP - TMCL Get Axis Parameters)
Sent:
Byte Index 0 1 2 3 4 5 6 7 8
Function Target-
address Instruction Number Type Motor/ Bank Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum
Value (hex) $01 $06 $01 $00 $00 $00 $00 $00 $08
When using CAN bus, the first byte (reply address) and the last byte (checksum) are left out.
Reply:
Byte Index 0 1 2 3 4 5 6 7 8
Function Host-
address Target- address Status Instruction Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum
Value (hex) $02 $01 $64 $06 $00 $00 $02 $c7 $36

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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3 TMCL Command Set
To enable TMCL control set SAP Type 128 to “1” (refer to 3.2.1).
This chapter describes all TMCL commands. The commands are sorted by their command numbers.
For every command the mnemonic with its syntax and the binary representation are given.
Ranges for the parameters are also given.
Last but not least some examples are given at the end of every command description. In the examples
for the binary representation always RS232 communication (9 byte) format is used with module
address 1 and host address 2. The motor number is always zero for a one axis module.
Position values (xpos) are in units of encoder resolution (4x mode, i.e. a 1024 line encoder give a 4096
resolution).
resolutionencoder
xx
]rotations[x 1pos2pos −
=
The TMCM-170/-171 module enfolds a TMCL command set as outlined in Table 1. The commands
itself are described afterwards and within the tables Table 2 and Table 4.
TMCL Command Instruction Function
ROR 1 Rotate Right
ROL 2 Rotate Left
MST 3 Motor Stop
MVP 4 Move to Position
SAP 5 Set Axis Parameter
GAP 6 Get Axis Parameter
STAP 7 Store Axis Parameter
- 8 -
SGP 9 Set Global Parameter
GGP 10 Get Global Parameter
Get Version Number 136 Get Version Number
Restore factory settings 137 Restore factory settings
Table 2: TMCL command overview

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3.1 TMCL Motion Control Commands
3.1.1 ROR - Rotate Right
Description: This instruction starts rotation in "right" direction, i.e. increasing the position counter.
Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis
parameter #0 ("target velocity").
Mnemonic: ROR <motor number>, <velocity>
Value Range: ±100.000, actual usable value depends on motor
Related commands: ROL, MST, SAP, GAP
Binary representation:
INSTRUCTION NO. TYPE MOT/BANK VALUE
1 (don't care) <motor number> <velocity>
Example:
Rotate right, motor #0, velocity = 350
Mnemonic: ROR 0, 350
Binary:
Byte Index 0 1 2 3 4 5 6 7 8
Function Target-
address Instruction Number Type Motor/ Bank Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum
Value (hex) $01 $01 $00 $00 $00 $00 $01 $5e $61

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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3.1.2 ROL - Rotate Left
Description: This instruction starts rotation in "left" direction, i.e. decreasing the position counter.
Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis
parameter #0 ("target velocity").
Mnemonic: ROL <motor number>, <velocity>
Value Range: ±100.000, actual usable value depends on motor
Related commands: ROR, MST, SAP, GAP
Binary representation:
INSTRUCTION NO. TYPE MOT/BANK VALUE
2 (don't care) <motor number> <velocity>
Example:
Rotate left, motor #0, velocity = 1200
Mnemonic: ROL 0, 1200
Binary:
Byte Index 0 1 2 3 4 5 6 7 8
Function Target-
address Instruction Number Type Motor/ Bank Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum
Value (hex) $01 $02 $00 $00 $00 $00 $04 $b0 $b7

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3.1.3 MST - Motor Stop
Description: This instruction stops the motor softly by switching off the drivers.
Internal function: the axis parameter "target velocity" is set to zero.
Related commands: ROL, ROR, SAP, GAP
Mnemonic: MST <motor number>
Binary representation:
INSTRUCTION NO. TYPE MOT/BANK VALUE
3 (don't care) <motor number> (don't care)
Example: Stop motor #0
Mnemonic: MST 0
Binary:
Byte Index 0 1 2 3 4 5 6 7 8
Function Target-
address Instruction Number Type Motor/ Bank Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum
Value (hex) $01 $03 $00 $00 $00 $00 $00 $00 $04

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3.1.4 MVP - Move to Position
Description: A movement towards the specified position is started, with automatic generation of
acceleration- and deceleration ramps. The maximum velocity and acceleration are defined by axis
parameters #4 and #5.
Two operation types are available:
Type 0:Moving to an absolute position in the range from -231 to +231.
Type 1: Starting a relative movement by means of an offset to the last ramp generator position. In this
case, the resulting new position value must not exceed the above mentioned limits, too.
Internal function: A new position value is transferred to the axis parameter #2 target position.
Related commands: SAP, GAP, MST
Mnemonic: MVP <ABS|REL >, <motor number>, <position | offset>
Binary representation:
INSTRUCTION NO. TYPE MOT/BANK VALUE
0 ABS – absolute <motor number> <position>
4 1 REL – relative <motor number> <offset>
Examples:
Move motor #0 to (absolute) position 90000
Mnemonic: MVP ABS, 0, 9000
Binary:
Byte Index 0 1 2 3 4 5 6 7 8
Function Target-
address Instruction Number Type Motor/ Bank Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum
Value (hex) $01 $04 $00 $00 $00 $01 $5f $90 $f5
Move motor #0 from current position 1000 steps backward (move relative –1000)
Mnemonic: MVP REL, 0, -1000
Binary:
Byte Index 0 1 2 3 4 5 6 7 8
Function Target-
address Instruction Number Type Motor/ Bank Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum
Value (hex) $01 $04 $01 $00 $ff $ff $fc $18 $18
Note: Before using the MVP command, one has to set MVP specific parameters (please refer
command 3.2.1 SAP (set axis parameter), Type 4, 8-10).

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3.2 TMCL – Axis Parameter Commands
3.2.1 SAP - TMCL Set Axis Parameter
Description: Most parameters of a TMCM module can be adjusted individually for each axis.
Although these parameters vary widely in their formats (1 to 24 bits, signed or unsigned) and physical
locations (controller RAM, controller EEPROM), they all can be set by this function. See STAP
(section 3.2.3) for permanent storage of a modified value.
Do not set parameters out of the specified range. This may lead to undetermined behavior of the
module and may not be compatible with future firmware revisions!
Related commands: GAP, STAP
Mnemonic: SAP <parameter number>, <motor number>, <value>
Binary representation:
INSTRUCTION NO. TYPE MOT/BANK VALUE
5 <parameter number> <motor number> <value>
Example:
set the absolute maximum current of motor #0 to 200mA
Mnemonic: SAP 6, 0, 200
Binary:
Byte Index 0 1 2 3 4 5 6 7 8
Function Target-
address Instruction Number Type Motor/ Bank Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum
Value (hex) $01 $05 $06 $00 $00 $00 $00 $c8 $d4

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List of Set Axis Parameter Commands:
Type Axis Parameter Value Range Description
1 Actual position 32 bit signed Change the position and encoder counter without
moving the motor
4 Max. positioning
velocity 16 bit unsigned 1…65535 The maximum velocity used for MVP command when executing a ramp to a position.
5 PWM limit 8 bit unsigned
0…255 Set PWM limit, 0…255 Ù0%…100%
6 Max. current 8 bit unsigned
0…250 Max. current setting, refer to 3.2.1.1
7 MVP Target
reached velocity 16 bit unsigned Maximum velocity at which POS_END can be set.
Prevents issuing of POS_END when the target is
passed at high velocity.
8 Min. speed for
velocity PID 16 bit unsigned Adjusts the limit to switch between velocity PID
controller and mixed position/velocity PID controller.
Default = 1000RPM, refer to 1.4
9 Clear Target
distance 16 bit unsigned
Velocity is set to 0 if actual position differs from motor
position for more than value*256, until the motor
catches up. Prevents velocity overshoot if the motor
can’t follow the velocity ramp. Default = 160
10 MVP
Target reached
distance 16 bit unsigned Maximum distance at which the Flag POS_END is set.
In hall sensor only mode, the regulation algorithm is
stopped within this distance to the target position.
11 Acceleration 16 bit unsigned
0, 1 … 65535 Acceleration parameter for MVP, ROL and ROR. Value in RPM/s2, 0 = max. acceleration (i.e. no ramp)
128 Standalone Mode 0, 1, 2, 3
0: Normal operation
1: In this mode the motor velocity is controlled by the
setting Power on velocity (157) scaled by the input
voltage on the analog input
2: Velocity after power up is initialized by Power on
Velocity setting (157)
3: Step-/Direction mode (not on TMCM-170): In this
mode, the target position is controlled by the
external step pulse. Scaling is set by Power On
Velocity setting (157): One pulse increases the
target position by 1/256 of parameter 157. To
enable the motor, use an MVP command first, e.g.
issue MVP 0,0 in TMCL using Autostart.
130 Position P –
Parameter 16 bit unsigned 1 … 32767 P – Parameter of PID regulator, refer to 1.4
131 Position I –
Parameter 16 bit unsigned 1 … 32767 I – Parameter of PID regulator, refer to 1.3
132 Position D –
Parameter 16 bit unsigned 1 … 32767 D – Parameter of PID regulator, refer to 1.4
133 PID regulation
loop delay 8 bit unsigned 1 ... 255 PID calculation delay (0-255 * 1ms): Set operational frequency PID
134 Current
regulation loop
delay
8 bit unsigned
0…254 Delay of current limitation algorithm (0 - 254 * 1ms) Default = 10
135 Position
I – Clipping –
Parameter
16 bit unsigned
1 … 32767
Adjust in stand still to lowest possible value at which
the motor keeps its position. A too high value causes
overshooting at positioning mode. (0 … 2^15)
Typical: 20*256< I-Param. * I-Clip-Param. < 1024*256
136 PWM -
Hysteresis 16 bit unsigned 0 … 100 Compensates dead time of PWM and motor friction. Default = 20
137 PID opt Clear I –
Max Boolean 1: Clears I - Sum if PWM reaches maximum value of 100%, default = 1
138 PID opt Clear I-
Sign Boolean 1: Clears I - Sum if the position overshoots the target
value, default = 0

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140 Velocity P -
Parameter 16 bit unsigned 1 … 32767 Additional P – Parameter for PID, refer to 1.4 This PID parameter set is used at higher velocity.
141 Velocity I -
Parameter 16 bit unsigned 1 … 32767 Additional I – Parameter for PID, refer to 1.4 This PID parameter set is used at higher velocity.
142 Velocity D -
Parameter 16 bit unsigned 1 … 32767 Additional D – Parameter for PID, refer to 1.4 This PID parameter set is used at higher velocity.
143 Velocity I –
Clipping -
Parameter
16 bit unsigned
1 … 32767
Typically set this value based on the following formula:
Pos I-Clip-Param * Pos I-Param / Vel-I-Param
Typical: 20*256< I-Param. * I-Clip-Param. < 1024*256
This PID parameter set is used at higher velocity.
146 Velocity PID -
Control Boolean 1: Activate velocity ramp generator for MVP
Allows usage of acceleration and positioning velocity
for MVP command
147 Disable PID Boolean 1: Disable the PID calculation. The Motor PWM is then directly derived from the target velocity. The Maximum
Positioning Velocity (SAP 4) sets the 100% reference.
157 Power on velocity
/ Step-Dir scale 16 bit signed
Power on velocity: Velocity after power on. Default = 0
To enable, set Standalone Mode (128) to 2.
Step-Dir scale: Scaling of the Step-/Direction signals.
Distance per step-pulse = Value / 256.
The sign controls the direction.
159 Commutation
Mode Boolean 0=Block (Hall sensors), 1=Sine
160 Re-Initialization
of Sine
Commutation -
Sine Commutation is re-initialized upon next
positioning / rotate command in sine comm. mode.
Attention: Depending on initialization mode, stop motor
before issuing this command!
161 Encoder Set
NULL Boolean 1 = Set Encoder counter to zero at next N channel event
162 Switch Set NULL Boolean 1 = Set Encoder counter to zero at next switch event
163 Encoder / Switch
Clear Set Null Boolean 1 = Set Encoder counter zero only once, 0 = always at
a N channel event, respectively switch event.
164 Enable Stop
Switch Boolean 1 = enable: the motor goes to a halt if the switch goes
active (as determined by polarity setting SAP 166) –
please see 3.2.2.1 for details on halt condition
165 Actual
Commutation
Offset 16 bit unsigned
This value represents the internal commutation offset.
This value should be determined and stored to
EEPROM if you want to use Encoder N-channel
initialization mode 4. It may also be used in order to
find out the calibration values for block commutation
correction CW/CCW setting. The range is 0 to Encoder
Steps-1.
166 Stop Switch
Polarity Boolean 1 = Stop switch is high active, 0 = low active
Table 3: TMCL Commands, Set Axis Parameter (SAP)

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 17
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3.2.1.1 Maximum Current Regulation / Actual Current
Values for ILimit are maximum values for a short period only. Please refer to the hardware
documentation for the maximum values for long term rotation. Too high current might destroy
the module.
Table 4: Max. Current Regulation / Actual Current
SAP: Be careful when setting values above rated continuous motor current!
[] []
AA
250
A
AI max
Limit
Limit ⋅= or DivA]A[I LimitLimit
⋅
=
GAP: Actual current value readout (Aactual) is 4 times ALimit
[] [] AA
250*4
A
AI max
actual
actual ⋅=
In Block commutation mode, two motor coils are switched on at a time, while in sine commutation
mode, always all three coils contribute to the motor current. In sine commutation mode, the TMCM-
171 calculates the effective motor current from the measurement of all three coils. In block
commutation mode, the current represents the current of the actually switched on two coils.
*) When operating the TMCM-170 in sine commutation mode, the effective sine current will be about
88% of the current setting / read out current. The TMCM-170 current measurement in this mode will
show a greater variation.
1ILimit defines the maximum motor coil current (for short periods only)
2ALimit is the representative of ILimit as programming value for motor coil current
3IActual represents the actual motor current
4AActual is the actual current readout value and 4 times ALimit. It represents IActual as measured.
5Amax is the in theory maximum reachable motor current with the parameter ALimit (do not exceed ALimit)
6Div is the devisor between programmable value ALimit and set motor coil current ILimit
ILimit1ALimit2Iactual3Aactual4Amax5Div6
TMCM-170 *) 0...13.8A 0…180 0...13.8A 0…720 19,7A 13,04
TMCM-171 (block) 0…20.0A 0…102 0…20.0A 0…408 50A 5,1
TMCM-171 (sine) 0…24.0A 0…123 0…24.0A 0…492 50A 5,1

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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3.2.2 GAP - TMCL Get Axis Parameters
Description: Most parameters of a TMCM module can be adjusted individually for each axis.
Although these parameters vary widely in their formats (1 to 24 bits, signed or unsigned) and physical
locations (controller RAM, controller EEPROM), they all can be read by this function. Most GAP
commands give a read-back of the values previously set via the associated SAP command or of the
power-on values. Others give actual parameters, i.e. the actual motor position which counts up / down
as the motor moves.
All parameters are extended to 32 bit value for the ease of use.
Related commands: SAP, STAP
Mnemonic: GAP <parameter number>, <motor number>
Binary representation:
INSTRUCTION NO. TYPE MOT/BANK VALUE
6 <parameter number> <motor number> (don't care)
Example: get the actual position of motor #0
Mnemonic: GAP 1, 0
Binary:
Byte Index 0 1 2 3 4 5 6 7 8
Function Target-
address Instruction Number Type Motor/ Bank Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum
Value (hex) $01 $06 $01 $00 $00 $00 $00 $00 $08
Reply:
Byte Index 0 1 2 3 4 5 6 7 8
Function Host-
address Target- address Status Instruction Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum
Value (hex) $02 $01 $64 $06 $00 $00 $02 $c7 $36

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 19
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
List of Get Axis Parameter Commands:
Type Axis Parameter Value Range Description
0 Target position 32 bit signed The target position of a currently executed ramp,
refer to chapter 1.4 for more detailed information
1 Actual position 32 bit signed The encoder position of the motor.
2 Target speed 32 bit signed Programmed target velocity
3 Actual speed 32 bit signed The actual velocity of the motor. (Only available with
encoder).
4 Max. positioning
velocity 16 bit unsigned See associated SAP command
5 Duty cycle limit 8 bit unsigned Limit duty cycle to a defined value
6 Max. current 8 bit unsigned See associated SAP command, refer 3.2.1.1
7 MVP target
reached velocity 16 bit unsigned See associated SAP command
8 Min. positioning
speed 16 bit unsigned See associated SAP command
9 MVP slow down
distance 16 bit unsigned See associated SAP command
10 MVP target
reached distance 16 bit unsigned See associated SAP command
11 Acceleration 16 bit unsigned See associated SAP command
128 Standalone mode 8 bit unsigned See associated SAP command
130 P-Parameter 16 bit unsigned See associated SAP command
131 I-Parameter 16 bit unsigned See associated SAP command
132 D-Parameter 16 bit unsigned See associated SAP command
133 PID regulation
loop delay 8 bit unsigned See associated SAP command
134 Current
regulation loop
delay
8 bit unsigned
0…254 See associated SAP command
135 I – Clipping –
Parameter 16 bit unsigned See associated SAP command
136 PWM -
Hysteresis 16 bit unsigned See associated SAP command
137 max. I –
Parameter Boolean See associated SAP command
138 I – Parameter
Correction Boolean See associated SAP command
140 Velocity P -
Parameter 16 bit unsigned See associated SAP command
141 Velocity I -
Parameter 16 bit unsigned See associated SAP command
142 Velocity D -
Parameter 16 bit unsigned See associated SAP command
143 Velocity I –
Clipping -
Parameter 16 bit unsigned See associated SAP command
146 Velocity PID -
Control Boolean See associated SAP command
147 Disable PID Boolean See associated SAP command
150 Actual motor
current 0 … 1023 actual motor current (value limited to range of about 8 and 1012), refer 3.2.1.1
151 Actual voltage 0…550 Actual Voltage (in 100mV steps)
152 Actual
Temperature value actual temperature, uses calculation formula for T[°C] = Round( 0.590024 * Power(value, 0.997586))
153 Actual PWM duty
cycle 8 bit unsigned Actual PWM duty cycle
154 ADC readout 10 bit unsigned Potentiometer readout

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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
155 Stop flag Boolean Stop flag status: 1= Motor stopped due to stop switch
156 Error / Status 16 bit Error / status readout, refer 3.2.2.1, Table 6
157 Power-on
velocity 16 bit signed See associated SAP command
158 Actual current
limit 0…1024 Actual motor current limitation factor as generated by
the internal current regulation:
1024: Currently no limit
159 Commutation
Mode Boolean See associated SAP command
160 State Initialization
of Sine
Commutation Boolean 1 = Sine Commutation initialized
161 Encoder Set
NULL Boolean This flag is set, if a Nulling function via encoder N channel is pending.
162 Switch Set NULL Boolean This flag is set, if a Nulling function via switch is
pending.
163 Encoder / Switch
Clear Set Null Boolean See associated SAP command
164 Enable Stop
Switch Boolean See associated SAP command
165 Actual
Commutation
Offset 16 bit unsigned See associated SAP command
166 Stop switch
polarity Boolean See associated SAP command
255 Processor Load Integer Only for debugging of firmware
Table 5: TMCL Commands, Get Axis Parameter (GAP)