Trinamic TMCM-1311 Use and care manual

MODULE FOR STEPPER MOTORS MODULE
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Firmware Version V1.11
TMCL™ FIRMWARE MANUAL
+ + TMCM-1311
+ +
1-Axis Stepper
Closed Loop Controller/Driver
3.0 A / 48 V
Encoder Input
18 GPIOs
USB, CAN, RS485

TMCM-1311 TMCL Firmware V1.11 Manual (Rev. 1.17 / 2015-NOV-05) 2
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Table of Contents
2Features........................................................................................................................................................................... 4
3Putting the TMCM-1311 into Operation ................................................................................................................. 6
3.1 Connecting the TMCM-1311 .............................................................................................................................. 6
3.2 Finding Optimum Settings with Parameterization Tool.......................................................................... 9
3.3 Using the TMCL-IDE to Develop Programs ................................................................................................ 11
3.3.1 Using TMCL Direct Mode ........................................................................................................................... 12
3.3.2 Testing with a Simple TMCL Program................................................................................................... 13
3.4 Important Motor Settings ............................................................................................................................... 14
4TMCL and the TMCL-IDE: Introduction ................................................................................................................. 15
4.1 Binary Command Format ................................................................................................................................ 15
4.1.1 Checksum Calculation ................................................................................................................................ 16
4.2 Reply Format....................................................................................................................................................... 16
4.2.1 Status Codes ................................................................................................................................................. 17
4.3 Standalone Applications.................................................................................................................................. 17
4.4 The ASCII Interface........................................................................................................................................... 18
4.4.1 Format of the Command Line ................................................................................................................. 18
4.4.2 Format of a Reply ....................................................................................................................................... 18
4.4.3 Commands Used in ASCII Mode............................................................................................................. 18
4.4.4 Configuring the ASCII Interface ............................................................................................................. 19
5TMCL Commands ........................................................................................................................................................ 20
5.1 Motion Commands............................................................................................................................................ 20
5.2 Parameter Commands...................................................................................................................................... 20
5.3 Control Commands ........................................................................................................................................... 20
5.4 I/O Port Commands .......................................................................................................................................... 20
5.5 Calculation Commands .................................................................................................................................... 21
5.6 Interrupt Commands ........................................................................................................................................ 21
5.6.1 Interrupt Types: ........................................................................................................................................... 21
5.6.2 Interrupt Processing:.................................................................................................................................. 21
5.6.3 Interrupt Vectors: ........................................................................................................................................ 22
5.6.4 Further Configuration of Interrupts....................................................................................................... 22
5.6.5 Using Interrupts in TMCL .......................................................................................................................... 22
5.6.6 ASCII Commands ........................................................................................................................................ 23
5.7 Commands........................................................................................................................................................... 24
5.7.1 ROR (rotate right) ........................................................................................................................................ 24
5.7.2 ROL (rotate left) ........................................................................................................................................... 25
5.7.3 MST (motor stop)......................................................................................................................................... 26
5.7.4 MVP (move to position) ............................................................................................................................ 27
5.7.5 SAP (set axis parameter) ........................................................................................................................... 29
5.7.6 GAP (get axis parameter) .......................................................................................................................... 30
5.7.7 STAP (store axis parameter) ..................................................................................................................... 31
5.7.8 RSAP (restore axis parameter) ................................................................................................................. 32
5.7.9 SGP (set global parameter) ...................................................................................................................... 33
5.7.10 GGP (get global parameter)...................................................................................................................... 34
5.7.11 STGP (store global parameter) ................................................................................................................ 35
5.7.12 RSGP (restore global parameter) ............................................................................................................ 36
5.7.13 RFS (reference search)................................................................................................................................ 37
5.7.14 SIO (set input / output)............................................................................................................................. 38
5.7.15 GIO (get input /output) ............................................................................................................................. 40
5.7.16 CALC (calculate)............................................................................................................................................ 43
5.7.17 COMP (compare)........................................................................................................................................... 44
5.7.18 JC (jump conditional) ................................................................................................................................. 45
5.7.19 JA (jump always) ......................................................................................................................................... 46
5.7.20 CSUB (call subroutine) ............................................................................................................................... 47
5.7.21 RSUB (return from subroutine)................................................................................................................ 48
5.7.22 WAIT (wait for an event to occur)......................................................................................................... 49
5.7.23 STOP (stop TMCL program execution) ................................................................................................... 49

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5.7.24 SCO (set coordinate)................................................................................................................................... 51
5.7.25 GCO (get coordinate).................................................................................................................................. 52
5.7.26 CCO (capture coordinate) .......................................................................................................................... 53
5.7.27 ACO (accu to coordinate) .......................................................................................................................... 54
5.7.28 CALCX (calculate using the X register) .................................................................................................. 55
5.7.29 AAP (accumulator to axis parameter).................................................................................................... 56
5.7.30 AGP (accumulator to global parameter) ............................................................................................... 57
5.7.31 CLE (clear error flags)................................................................................................................................. 58
5.7.32 VECT (set interrupt vector)........................................................................................................................ 59
5.7.33 EI (enable interrupt) ................................................................................................................................... 60
5.7.34 DI (disable interrupt).................................................................................................................................. 61
5.7.35 RETI (return from interrupt) ..................................................................................................................... 62
5.7.36 Customer Specific TMCL Command Extension (user function)....................................................... 63
5.7.37 Request Target Position Reached Event ............................................................................................... 64
5.7.38 BIN (return to binary mode).................................................................................................................... 64
5.7.39 Control Functions: Firmware Version and Reset to Factory Defaults.......................................... 65
6Axis Parameters .......................................................................................................................................................... 66
6.1 Velocity Calculation........................................................................................................................................... 78
7stallGuard2 Related Parameters ............................................................................................................................. 79
8Closed-Loop Operation Related Axis Parameter................................................................................................ 80
8.1 General Closed Loop Axis Parameters ........................................................................................................ 80
8.2 General Structure of the Closed Loop System ......................................................................................... 81
8.3 Setting Encoder Resolution and Motor Resolution ................................................................................. 82
8.4 Positioning Mode .............................................................................................................................................. 83
8.5 Position Maintenance and Standstill Mode ............................................................................................... 86
8.6 Velocity Mode ..................................................................................................................................................... 88
8.7 Torque Mode....................................................................................................................................................... 89
8.8 Current Regulation ............................................................................................................................................ 90
8.9 Field Weakening ................................................................................................................................................ 94
8.10 Status and Feedback Information ................................................................................................................ 95
8.11 Example Programs: Closed Loop Operation .............................................................................................. 96
8.11.1 Example Program 1..................................................................................................................................... 96
8.11.2 Example Program 2..................................................................................................................................... 97
9Reference Search ........................................................................................................................................................ 98
9.1.1 Reference Search Modes (Axis Parameter 193)................................................................................... 99
10 Global Parameters....................................................................................................................................................101
10.1 Bank 0.................................................................................................................................................................101
10.2 Bank 1.................................................................................................................................................................103
10.3 Bank 2.................................................................................................................................................................103
10.4 Bank 3.................................................................................................................................................................103
11 TMCL Programming Techniques and Structure ...............................................................................................104
11.1 Initialization ......................................................................................................................................................104
11.2 Main Loop..........................................................................................................................................................104
11.3 Using Symbolic Constants ............................................................................................................................104
11.4 Using Variables ................................................................................................................................................105
11.5 Using Subroutines...........................................................................................................................................105
11.6 Mixing Direct Mode and Standalone Mode..............................................................................................106
12 Life Support Policy...................................................................................................................................................107
13 Revision History........................................................................................................................................................108
13.1 Firmware Revision ..........................................................................................................................................108
13.2 Document Revision.........................................................................................................................................108
14 References ..................................................................................................................................................................109

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2Features
The TMCM-1311 is a single axis stepper motor controller and driver standalone board with USB, CAN and
RS485 interface. It supports motor currents up to 3A RMS and supply voltages up to 48V nominal. The module
offers inputs for an incremental a/b/n (TTL, open-collector, and differential inputs) encoder. In addition, there
are dedicated stop switch inputs and 8 general purpose inputs and 8 general purpose outputs.
MAIN CHARACTERISTICS
Bipolar stepper motor driver
-Up to 256 microsteps per full step
-High-efficient operation, low power dissipation
-Dynamic current control
-Integrated protection: overtemperature and undervoltage
-stallGuard2™ feature for stall detection (for open load operation)
Encoder
-Encoder input for incremental a/b/n (TTL, OC or diff.)
Interfaces
-RS485 2-wire communication interface
-CAN 2.0B communication interface (4x DIP-switch for CAN / RS485 address setting or other settings)
-USB 2.0 full-speed (12Mbit/s) communication interface (mini-USB connector)
-Encoder input: incremental a/b/n (TTL, OC or diff.)
-Dedicated STOP_L / STOP_R inputs
-Up to 8 multi-purpose inputs (+24V compatible, incl. 2 dedicated analog inputs)
-Up to 8 multi-purpose outputs (Open-drain, incl. 2 outputs for currents up to 1A)
Software
-TMCL™ remote (direct mode) and standalone operation with memory for up to 1024 TMCL commands
-Closed-loop support
-Fully supported by TMCL-IDE (PC based integrated development environment)
Electrical data
-Supply voltage: +12V… +48V DC
-Motor current: up to 3A RMS (programmable)
Mechanical data
-Board size: 110mm x 110mm, height 26.3mm max.
Please refer to separate TMCM-1311 Hardware Manual for additional information.

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TRINAMIC FEATURES –CLOSED LOOP MODE
The TMCM-1311 is mainly designed to run 2-phase stepper motors in closed loop mode. It offers an automatic
motor load adaption in positioning mode, velocity mode, and torque mode, which is based on encoder
feedback and closed loop control software for analysis, error detection and error correction.
The closed loop mode operation combines the advantages of a stepper driver system with the benefits of a
servo drive. Thus, the TMCM-1311 is able to satisfy ambitious requirements in reliability and precision and
can be used in several industrial demanding applications.
Benefits of Stepper Drive
High torque without gearing
No feedback loop oscillations
High precision
Precise velocity control
Benefits of Servo Drive
Reaction to any impact
No position loss
Torque control
TMCM-1311
Figure 2.1 TMCM-1311 characteristics in closed loop mode
THE TRINAMIC CLOSED LOOP MODE OPERATION
-prevents the motor from stall and step loss caused by too high load or high velocity.
-adapts the current amplitude to each motor load which is within the ranges predetermined by motor
and controller/driver board characteristics.
-achieves a higher torque output than in open loop mode.
-guarantees a precise and fast positioning.
-enables velocity and positioning error compensation.
Using the TMCM-1311, energy will be saved and the motor will be kept cool.

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3Putting the TMCM-1311 into Operation
Here you can find basic information for putting your TMCM-1311 into operation. If you are already common
with TRINAMICs modules you may skip this chapter.
THE THINGS YOU NEED:
-TMCM-1311
-Interface (RS485/CAN/USB) suitable to your module with cables
-Nominal supply voltage +24V DC or +48V DC for your module
-TMCM-1310/1311-GUI parameterization software, TMCL-IDE program, and PC
-Stepper motor
-Encoder (in case, closed loop mode operation is desired)
3.1 Connecting the TMCM-1311
1
Ref. Sw.
S/D IN
Stepper
Motor
1
Power
Pin 1 GND
Pin 2 V
DRIVER
Motor
Pin 1 A1
Pin 2 A2
Pin 3 B1
Pin 4 B2
USB
In/Out 1
In/Out 0
15
69
USB
RS485
CAN
CAN
Pin 2 CAN_L
Pin 7 CAN_H
Pin 3 GND
RS485
Pin 2 RS485-
Pin 7 RS485+
Pin 3 GND
CAN / RS485
Converter
e.g. USB-2-485
Converter
e.g. USB-2-X
Serial USB
interface
USB
Encoder
Pin 1 GND
Pin 2 +5V
Pin 3 A+
Pin 4 A-
Pin 5 B+
Pin 6 B-
Pin 7 N+
Pin 8 N-
Figure 3.1 Starting up
PRECAUTIONS
Do not connect or disconnect the TMCM-1311 while powered!
Do not connect or disconnect the motor while powered!
Do not exceed the maximum power supply voltage of 48V DC!
Note, that the module is not protected against reverse polarity!
START WITH POWER SUPPLY OFF!

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1. Choose your interface
According to default settings of the module, USB interface and CAN interface can be used without
any further configuration. For operation with RS485 interface, change interface setting (SGP 88
) first.
a) CAN interface
Pin Label Direction Description
1
2
CAN_L
Bi-directional
Differential CAN bus signal (inverting)
3
GND
Power (GND)
Signal and system ground
4
5
6
7
CAN_H
Bi-directional
Differential CAN bus signal (non-inverting)
8
9
b) RS485 interface
Before connecting the interface it is necessary to configure it. Therefore, use the USB or the CAN
interface and the software development environment TMCL-IDE. With global parameter 88 (interface
selection) the RS485 interface can be selected.
TMCL-command for changing to the RS485 interface: SGP 88, 0
Pin Label Direction Description
1
2
RS485-
Bi-directional
Differential RS485 bus signal (inverting)
3
GND
Power (GND)
Signal and system ground
4
5
6
7
RS485+
Bi-directional
Differential RS485 bus signal (non-inverting)
8
9
c) USB interface
For using USB interface download and install the file TMCM-1311.inf (www.trinamic.com).
Pin Label Direction Description
1
VBUS
Power
(+5V input)
+5V supply from Host
2
D-
Bi-directional
USB Data -
3
D+
Bi-directional
USB Data +
4 ID Connected to signal and system ground
5 GND Power (GND) Signal and System ground
2. Connect the motor
Pin Label Direction Description
1
A1
Output
Pin 1 of motor coil A
2
A2
Output
Pin 2 of motor coil A
3
B1
Output
Pin 1 of motor coil B
4 B2 Output Pin 2 of motor coil B

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3. Connect the encoder (optional - for closed loop operation)
Pin Label Direction Description
1
GND
Power (GND)
Signal and system ground
2 +5V
Power
(supply output)
+5V output for external circuit
3 A+ Input Encoder channel A+ input
(differential, non-inverting)
4 A- Input Encoder channel A- input
(differential, inverting)
5 B+ Input Encoder channel B+ input
(differential, non-inverting)
6 B- Input Encoder channel B- input
(differential, inverting)
7 N+ Input Encoder zero / index channel input
(differential, non-inverting)
8 N- Input Encoder zero / index channel input
(differential, inverting)
4. Connect the power supply
Pin Label Direction Description
1 GND Power (GND) Common system supply and signal ground
2
V
DRIVER
Power
(supply input)
Stepper driver supply voltage. Without this voltage the stepper
driver and any motor connected will not be energized.
3
V
DIGITAL
Power
(supply input)
Supply voltage for everything else apart from the stepper motor
driver. The on-
board voltage regulator generates the necessary
voltages for the digital circuits from this supply. The pin can be
left unconnected. In this case a diode between VDRIVER and VDIGITAL
ensures the supply for the digital parts.
ATTENTION:
-The diode has a current rating of 3A. As VDIGTIAL
is available
at the I/O connectors and at the reference switch connectors
also, always connect this pin to positive supply voltage in
case substantial amount of cu
rrent is withdrawn from these
pins for external circuits.
-It is expected that VDIGITAL and VDRIVER
are connected to the
same power supply output when both pins are used.
Otherwise please ensure that VDIGITAL
is always equal or
higher than VDRIVER when connected (due to the diode).
5. Switch ON the power supply
Turn power ON. The green LED should be flashing. The motor is powered but in standstill now.
If this does not occur, switch power OFF and check your connections as well as the power supply.
Refer to the hardware manual for further information about the hardware characteristics of your
module!

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3.2 Finding Optimum Settings with Parameterization Tool
Evaluating best parameter values for the TMCM-1311 with the TMCM-1310/1311-GUI software tool is quite
easy. The TMCM-1310/1311-GUI is available on www.trinamic.com.
After connecting the module as described in chapter 3.1, start the TMCM-1310/1311-GUI with a double click.
The following window will appear on the screen (see Figure 3.2).
The software detects your module and the related virtual com port for USB automatically if the file TMCM-
1311.inf is installed correctly. Now, click Connect to connect the module and start the trace controller in case
you like to work with graphs for velocity, positioning, or torque.
Figure 3.2 Welcome window of TMCM-1310/1311-GUI
The graphs for velocity, positioning, and torque can be selected via the Info menu as shown in Figure 3.3.
Figure 3.3 Info menu

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QUICKSTART
Using the default values of the TMCM-1311, it is possible to proceed with a quickstart. This way, you can
check how the module drives your specific stepper motor using these default values. Calibrate them after
first tests to find optimum values.
THERE ARE ONLY TWO THINGS THAT HAVE TO BE DONE BEFORE THE QUICKSTART:
-For closed loop mode, initialize the encoder with the appropriate command fields (see Figure 3.5) first.
To open up the encoder initialization window, click on the Init encoder button on the quickstart tab.
-Now, choose closed loop mode or open loop mode operation.
Choose
open loop mode or
closed loop mode
Click here to
initialize the
encoder
Figure 3.4 Quickstart tab
HOW TO INITIALIZE THE ENCODER
Fill in the fullstep resolution of your motor and click Start encoder initialization. The motor will rotate just
one round to initialize the encoder. If the encoder has been detected successfully, the appropriate
initialization status will be shown. In case an error occurred, this will be shown in the status field also (state
3 = encoder detection failed). In this case check your hardware connections and the motor fullstep resolution.
Figure 3.5 Encoder initialization window before initialization and afterwards
Now, first steps are made. Parameterize your module using the other tabs of the software tool.

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3.3 Using the TMCL-IDE to Develop Programs
The TMCL-IDE is available 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.
Choose COM port and type with the parameters shown in Figure 3.6 (baud rate 9600). Click OK.
USB interface
If the file TMCM-1311.inf is installed correctly, the module will be identified automatically.
Figure 3.6 Setup dialogue and connection tab of the TMCL-IDE.
Please refer to the TMCL-IDE User Manual for more information (see www.TRINAMIC.com).

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3.3.1 Using TMCL Direct Mode
1. Start TMCL Direct Mode.
Direct Mode
2. If the communication is established the TMCM-1311 will be detected automatically. If the module
should not be detected, please check all points above (cables, interface, power supply, COM port,
baud rate).
3. Issue a command by choosing Instruction, Type (if necessary), Motor, and Value and click
Execute to send it to the module.
Examples:
-ROR rotate right, motor 0, value 50000 -> Click Execute. The motor is rotating now.
-MST motor stop, motor 0 -> Click Execute. The motor stops now.
Top right of the TMCL Direct Mode window is the button Copy to editor. Click here to copy the chosen
command and create your own TMCL program. The command will be shown immediately on the editor.

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3.3.2 Testing with a Simple TMCL Program
Type in the following program:
Assemble
Download Run
Stop
1. Click the Assemble icon to convert the TMCL program into binary code.
2. Then download the program to the TMCM-1311 module by clicking the Download icon.
3. Click the Run icon. The desired program will be executed.
4. Click the Stop button to stop the program.
ROL 0, 50000 //Rotate motor 0 with speed 50000
WAIT TICKS, 0, 500
MST 0
ROR 0, 50000 //Rotate motor 0 with 50000
WAIT TICKS, 0, 500
MST 0
SAP 4, 0, 50000 //Set max. Velocity
SAP 5, 0, 50000 //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

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3.4 Important Motor Settings
There are some axis parameters which have to be adjusted right in the beginning after installing your
module. Please set the upper limiting values for the speed (axis parameter 4), the acceleration (axis parameter
5), and the current (axis parameter 6). Further set the standby current (axis parameter 7) and choose your
microstep resolution with axis parameter 140. Please use the SAP (Set Axis Parameter) command for adjusting
these values. The SAP command is described in paragraph 5.7.5. You can use the TMCL-IDE direct mode for
easily configuring your module.
IMPORTANT AXIS PARAMETERS FOR MOTOR SETTING
Number Axis Parameter Description Range [Unit]
4 Maximum
positioning
speed
Should not exceed the physically highest possible
valu
e. Adjust the pulse divisor (axis parameter 154), if
the speed value is very low (<50) or above the upper
limit.
0… +268.435.454
[pps]
5
Maximum
acceleration
The limit for acceleration (and deceleration). Changing
this parameter requires re-calculation o
f the
acceleration factor (no. 146) and the acceleration divisor
(no. 137), which is done automatically. See TMC 429
datasheet for calculation of physical units.
1… [phone]
[pps/s]
6
Absolute max.
current
(CS / Current
Scale)
The maximum value is 255. This value means 100% of
the maximum current of the module. The current
adjustment is within the range 0… 255 and can be
adjusted in 32 steps.
The most important motor setting, since too high
values might cause motor damage!
0… 7
79…87
160… 167
240… 247
8… 15
88… 95
168… 175
248… 255
16… 23
96… 103
176… 183
24… 31
104… 111
184… 191
32… 39 112… 119 192… 199
40… 47
120… 127
200… 207
48… 55
128… 135
208… 215
56… 63
136… 143
216… 223
64… 71
144… 151
224… 231
72… 79
152… 159
232… 239
0… 255


=<  >× 4.2
255
 =<  >× 3.0
255
7
Standby current
The current limit two seconds after the motor has
stopped.
0… 255


=<  >× 4.2
255
 =<  >× 3.0
255
140 Microstep
resolution
0 full step
1
half step
2
4 microsteps
3
8 microsteps
4 16 microsteps
5
32 microsteps
6
64 microsteps
7
128 microsteps
8
256 microsteps
0… 8
Attention:
The most important motor setting is the absolute maximum motor current setting, since too high values
might cause motor damage!

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4TMCL and the TMCL-IDE: Introduction
The software running on the microprocessor of the TMCM-1311 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
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 TMCM-1311 supports TMCL direct mode (binary commands) and standalone TMCL program execution. You
can store up to 2048 TMCL instructions on it. In direct mode and most cases the TMCL communication over
RS485, CAN, or USB follows a strict master/slave relationship. That is, a host computer (e.g. PC/PLC) acting as
the interface bus master will send a command to the TMCM-1311. The TMCL interpreter on the module will
then interpret this command, do the initialization of the motion controller, read inputs and write outputs or
whatever is necessary according to the specified command. As soon as this step has been done, the module
will send a reply back over RS485/CAN/USB to the bus master. Only then should the master transfer the next
command. Normally, the module will just switch to transmission and occupy the bus for a reply, otherwise
it will stay in receive mode. It will not send any data over the interface without receiving a command first.
This way, any collision on the bus will be avoided when there are more than two nodes connected to a
single bus.
The Trinamic Motion Control Language [TMCL] provides a set of structured motion control commands. Every
motion control command can be given by a host computer or can be stored in an EEPROM on the TMCM
module to form programs that run standalone on the module. For this purpose there are not only motion
control commands but also commands to control the program structure (like conditional jumps, compare
and calculating).
Every command has a binary representation and a mnemonic. The binary format is used to send commands
from the host to a module in direct mode, whereas the mnemonic format is used for easy usage of the
commands when developing standalone TMCL applications using the TMCL-IDE (IDE means Integrated
Development Environment).
There is also a set of configuration variables for the axis and for global parameters which allow individual
configuration of nearly every function of a module. This manual gives a detailed description of all TMCL
commands and their usage.
4.1 Binary Command Format
Every command has a mnemonic and a binary representation. When commands are sent from a host to a
module, the binary format has to be used. Every command consists of a one-byte command field, a one-
byte type field, a one-byte motor/bank field and a four-byte value field. So the binary representation of a
command always has seven bytes. When a command is to be sent via RS485 or USB interface, it has to be
enclosed by an address byte at the beginning and a checksum byte at the end. In this case it consists of
nine bytes.
This is different when communicating is via the CAN bus. Address and checksum are included in the CAN
standard and do not have to be supplied by the user.
The binary command format for R485/USB is as follows:
Bytes Meaning
1
Module address
1 Command number
1 Type number
1
Motor or Bank number
4
Value (MSB first!)
1
Checksum
-The checksum is calculated by adding up all the other bytes using an 8-bit addition.
-When using CAN bus, just leave out the first byte (module address) and the last byte (checksum).

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4.1.1 Checksum Calculation
As mentioned above, the checksum is calculated by adding up all bytes (including the module address byte)
using 8-bit addition. Here are two examples to show how to do this:
-in C:
unsigned char i, Checksum;
unsigned char Command[9];
//Set the “Command” array to the desired command
Checksum = Command[0];
for(i=1; i<8; i++)
Checksum+=Command[i];
Command[8]=Checksum; //insert checksum as last byte of the command
//Now, send it to the module
-in Delphi:
var
i, Checksum: byte;
Command: array[0..8] of byte;
//Set the “Command” array to the desired command
//Calculate the Checksum:
Checksum:=Command[0];
for i:=1 to 7 do Checksum:=Checksum+Command[i];
Command[8]:=Checksum;
//Now, send the “Command” array (9 bytes) to the module
4.2 Reply Format
Every time a command has been sent to a module, the module sends a reply.
The reply format for RS485/ /USB is as follows:
Bytes Meaning
1 Reply address
1
Module address
1
Status (e.g. 100 means no error)
1
Command number
4 Value (MSB first!)
1 Checksum
-The checksum is also calculated by adding up all the other bytes using an 8-bit addition.
-When using CAN bus, just leave out the first byte (module address) and the last byte (checksum).
-Do not send the next command before you have received the reply!

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4.2.1 Status Codes
The reply contains a status code. The status code can have one of the following values:
Code Meaning
100 Successfully executed, no error
101 Command loaded into TMCL
program EEPROM
1
Wrong checksum
2
Invalid command
3
Wrong type
4
Invalid value
5 Configuration EEPROM locked
6 Command not available
4.3 Standalone Applications
The module is equipped with a TMCL memory for storing TMCL applications. You can use TMCL-IDE for
developing standalone TMCL applications. You can download a program into the EEPROM and afterwards it
will run on the module. The TMCL-IDE contains an editor and the TMCL assembler where the commands can
be entered using their mnemonic format. They will be assembled automatically into their binary
representations. Afterwards this code can be downloaded into the module to be executed there.

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4.4 The ASCII Interface
There is also an ASCII interface that can be used to communicate with the module and to send some
commands as text strings.
ENTERING AND LEAVING ASCII MODE:
-The ASCII command line interface is entered by sending the binary command 139 (enter ASCII mode).
-Afterwards the commands are entered as in the TMCL-IDE. Please note that only those commands,
which can be used in direct mode, also can be entered in ASCII mode.
-For leaving the ASCII mode and re-entering the binary mode enter the command BIN.
4.4.1 Format of the Command Line
As the first character, the address character has to be sent. The address character is Awhen the module
address is 1, Bfor modules with address 2 and so on. After the address character there may be spaces (but
this is not necessary). Then, send the command with its parameters. At the end of a command line a <CR>
character has to be sent.
EXAMPLES FOR VALID COMMAND LINES
AMVP ABS, 1, 50000
A MVP ABS, 1, 50000
AROL 2, 500
A MST 1
ABIN
These command lines would address the module with address 1. To address e.g. module 3, use address
character Cinstead of A. The last command line shown above will make the module return to binary mode.
4.4.2 Format of a Reply
After executing the command the module sends back a reply in ASCII format. The reply consists of:
-the address character of the host (host address that can be set in the module)
-the address character of the module
-the status code as a decimal number
-the return value of the command as a decimal number
-a <CR> character
So, after sending AGAP 0, 1 the reply would be BA 100 –5000 if the actual position of axis 1 is –5000,
the host address is set to 2 and the module address is 1. The value 100 is the status code 100 that means
command successfully executed.
4.4.3 Commands Used in ASCII Mode
The following commands can be used in ASCII mode: ROL, ROR, MST, MVP, SAP, GAP, STAP, RSAP, SGP, GGP,
STGP, RSGP, RFS, SIO, GIO, SCO, GCO, CCO, UF0, UF1, UF2, UF3, UF4, UF5, UF6, and UF7.
SPECIAL COMMANDS WHICH ARE ONLY AVAILABLE IN ASCII MODE
-BIN: This command quits ASCII mode and returns to binary TMCL mode.
-RUN: This command can be used to start a TMCL program in memory.
-STOP: Stops a running TMCL application.
Note:
Only direct mode commands can be entered in ASCII mode!

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4.4.4 Configuring the ASCII Interface
The module can be configured so that it starts up either in binary mode or in ASCII mode. Global parameter
67 is used for this purpose (please see also chapter 10.1).
Bit 0 determines the startup mode: if this bit is set, the module starts up in ASCII mode, else it will start up
in binary mode (default).
Bit 4 and Bit 5 determine how the characters that are entered are echoed back. Normally, both bits are set
to zero. In this case every character that is entered is echoed back when the module is addressed. Character
can also be erased using the backspace character (press the backspace key in a terminal program).
When bit 4 is set and bit 5 is clear the characters that are entered are not echoed back immediately but the
entire line will be echoed back after the <CR> character has been sent.
When bit 5 is set and bit 4 is clear there will be no echo, only the reply will be sent. This may be useful in
RS485 systems.

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5TMCL Commands
In this section a short overview of the TMCL commands is given.
5.1 Motion Commands
These commands control the motion of the motor. They are the most important commands and can be used
in direct mode or in standalone mode.
Mnemonic
Command number
Meaning
ROL 2 Rotate left
ROR
1
Rotate right
MVP 4 Move to position
MST
3
Motor stop
RFS 13 Reference search
SCO
30
Store coordinate
CCO
32
Capture coordinate
GCO
31
Get coordinate
5.2 Parameter Commands
These commands are used to set, read and store axis parameters or global parameters. Axis parameters can
be set independently for the axis, whereas global parameters control the behavior of the module itself.
These commands can also be used in direct mode and in standalone mode.
5.3 Control Commands
These commands are used to control the program flow (loops, conditions, jumps etc.). It does not make
sense to use them in direct mode. They are intended for standalone mode only.
Mnemonic Command number Meaning
JA
22
Jump always
JC 21 Jump conditional
COMP
20
Compare accumulator with constant value
CSUB 23 Call subroutine
RSUB
24
Return from subroutine
WAIT
27
Wait for a specified event
STOP
28
End of a TMCL program
5.4 I/O Port Commands
These commands control the external I/O ports and can be used in direct mode and in standalone mode.
Mnemonic
Command number
Meaning
SIO
14
Set output
GIO 15 Get input
Mnemonic
Command number
Meaning
SAP
5
Set axis parameter
GAP
6
Get axis parameter
STAP
7
Store axis parameter into EEPROM
RSAP
8
Restore axis parameter from EEPROM
SGP 9 Set global parameter
GGP
10
Get global parameter
STGP 11 Store global parameter into EEPROM
RSGP
12
Restore global parameter from EEPROM