Trinamic TMCM-310 User manual

TMCM-310
TMCLTM Firmware Manual
Version: 1.02
2011-JAN-11
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D - 20 357 Hamburg, Germany
http://www.trinamic.com

TMCM-310 TMCL™ Firmware Manual (V1.02/2011-JAN-11) 2
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Table of contents
1Life support policy ....................................................................................................................................................... 4
2Features........................................................................................................................................................................... 5
3Order codes.................................................................................................................................................................... 6
4Overview ......................................................................................................................................................................... 7
5Putting the TMCM-310 into operation .................................................................................................................... 8
5.1 Starting up............................................................................................................................................................. 8
5.2 Testing with a simple TMCLTM program ......................................................................................................11
5.3 Operating the module in direct mode ........................................................................................................12
6TMCL™ and TMCL-IDE................................................................................................................................................13
6.1 Binary command format..................................................................................................................................13
6.2 Reply format........................................................................................................................................................14
6.2.1 Status codes..................................................................................................................................................15
6.3 Stand-alone applications .................................................................................................................................15
6.4 TMCL™ command overview ...........................................................................................................................15
6.4.1 Motion commands ......................................................................................................................................15
6.4.2 Parameter commands ................................................................................................................................16
6.4.3 I/O port commands.....................................................................................................................................16
6.4.4 Control commands......................................................................................................................................16
6.4.5 Calculation commands...............................................................................................................................17
6.5 TMCL™ List of commands...............................................................................................................................18
6.6 The ASCII interface ...........................................................................................................................................20
6.6.1 Format of the command line...................................................................................................................20
6.6.2 Format of a reply.........................................................................................................................................20
6.6.3 Commands that can be used in ASCII mode .....................................................................................20
6.6.4 Configuring the ASCII interface ..............................................................................................................20
6.7 Commands...........................................................................................................................................................22
6.7.1 ROR (rotate right).........................................................................................................................................22
6.7.2 ROL (rotate left)............................................................................................................................................23
6.7.3 MST (motor stop).........................................................................................................................................24
6.7.4 MVP (move to position).............................................................................................................................25
6.7.5 SAP (set axis parameter) ...........................................................................................................................27
6.7.6 GAP (get axis parameter)...........................................................................................................................31
6.7.7 STAP (store axis parameter) .....................................................................................................................35
6.7.8 RSAP (restore axis parameter) .................................................................................................................38
6.7.9 SGP (set global parameter).......................................................................................................................41
6.7.10 GGP (get global parameter)......................................................................................................................44
6.7.11 STGP (store global parameter).................................................................................................................47
6.7.12 RSGP (restore global parameter).............................................................................................................49
6.7.13 RFS (reference search)................................................................................................................................51
6.7.14 SIO (set output) ...........................................................................................................................................52
6.7.15 GIO (get input/output)..............................................................................................................................53
6.7.16 CALC (calculate) ............................................................................................................................................55
6.7.17 COMP (compare)...........................................................................................................................................56
6.7.18 JC (jump conditional)..................................................................................................................................57
6.7.19 JA (jump always)..........................................................................................................................................58
6.7.20 CSUB (call subroutine)................................................................................................................................59
6.7.21 RSUB (return from subroutine)................................................................................................................60
6.7.22 WAIT (wait for an event to occur) .........................................................................................................61
6.7.23 STOP (stop TMCL™ program execution) ...............................................................................................62
6.7.24 SAC –SPI Bus Access.................................................................................................................................63
6.7.25 SCO (set coordinate) ...................................................................................................................................64
6.7.26 GCO (get coordinate) ..................................................................................................................................65
6.7.27 CCO (capture coordinate)...........................................................................................................................66
6.7.28 CALCX (calculate using the X register) ..................................................................................................67
6.7.29 AAP (accumulator to axis parameter) ....................................................................................................68
6.7.30 AGP (accumulator to global parameter) ...............................................................................................71

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6.7.31 CLE (clear error flags) .................................................................................................................................75
6.7.32 Customer specific TMCL™ command extension (UF0…UF7/user function)..................................76
6.7.33 Request target position reached event.................................................................................................77
6.7.34 BIN (return to binary mode) ....................................................................................................................78
6.7.35 TMCL™ Control Functions.........................................................................................................................79
7Axis parameters ..........................................................................................................................................................81
7.1 Axis parameters..................................................................................................................................................81
8Global parameters......................................................................................................................................................85
8.1 Bank 0 ...................................................................................................................................................................85
8.2 Bank 1 ...................................................................................................................................................................88
8.3 Bank 2 ...................................................................................................................................................................89
9Hints and tips ..............................................................................................................................................................90
9.1 Reference search ................................................................................................................................................90
9.2 Stall detection.....................................................................................................................................................91
9.3 Fixing microstep errors....................................................................................................................................91
10 Revision history ..........................................................................................................................................................92
10.1 Firmware revision..............................................................................................................................................92
10.2 Document revision ............................................................................................................................................92
11 References.....................................................................................................................................................................93

TMCM-310 TMCL™ Firmware Manual (V1.02/2011-JAN-11) 4
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
1Life support policy
TRINAMIC Motion Control GmbH & Co. KG does not
authorize or warrant any of its products for use in life
support systems, without the specific written consent of
TRINAMIC Motion Control GmbH & Co. KG.
Life support systems are equipment intended to support or
sustain life, and whose failure to perform, when properly
used in accordance with instructions provided, can be
reasonably expected to result in personal injury or death.
© TRINAMIC Motion Control GmbH & Co. KG 2011
Information given in this data sheet is believed to be
accurate and reliable. However neither responsibility is
assumed for the consequences of its use nor for any
infringement of patents or other rights of third parties,
which may result from its use.
Specifications are subject to change without notice.

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
2Features
The TMCM-310 is a triple axis 2-phase stepper motor controller and driver module. It provides a complete
single board motion control solution at low cost. Using the integrated additional I/Os it even can do
complete system control applications. The motors and switches can be connected easily with screw
terminals. The connection of the multipurpose I/Os can be done via a dual-in-line pin connector. The TMCM-
310 comes with the PC based software developer environment TMCL-IDE for the TRINAMIC Motion Control
Language (TMCL™). Using predefined TMCL™ high level commands like move to position or constant
rotation rapid and fast development of motion control applications guaranteed. The TMCM-310 can be
controlled via the RS232 or the CAN interface. Communication traffic is very low since all time critical
operations, e.g. ramp calculation are performed on board. A user TMCL™ program can be stored in the
onboard EEPROM for stand-alone operation. The firmware of the module can be updated via the serial
interface. With the optional stallGuard™ feature it is possible to detect overload and stall of the motor.
Applications
Controller/driver board for control of up to 3 Axis
Versatile possibilities of applications in stand alone or pc controlled mode
Motor type
Coil current from 300mA to 1.1A RMS (1.5A peak)
8V to 34V nominal supply voltage
Highlights
Automatic ramp generation in hardware
stallGuardTM option for sensorless motor stall detection
Full step frequencies up to 20kHz
Fully protected drive
On the fly alteration of motion parameters (e.g. position, velocity, acceleration)
Local reference move using sensorless stallGuard™ feature or reference switch
Coil current adjustable by software
Up to 16 times microstepping
Many adjustment possibilities make this module the solution for a great field of demands
Interfaces
RS232
CAN optional
Software
Stand-alone operation using TMCL™or remote controlled operation
TMCL™program storage: 16 Kbyte EEPROM (2048 TMCL™commands)
PC-based application development software TMCL-IDE included
Other
Pluggable/screw terminal connectors
RoHS compliant
Size: 165 x 100 x 25 mm3

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3Order codes
Order code
Description
Dimensions [mm3]
TMCM-310
3-axis controller/driver, RS232
165 x 100 x 25
TMCM-310-CAN
3-axis controller/driver, RS232, CAN
165 x 100 x 25
TMCM-310/SG
3-axis controller/driver, StallGuard, RS232
165 x 100 x 25
TMCM-310/SG-CAN
3-axis controller/driver, StallGuard, RS232, CAN
165 x 100 x 25
Related products:
QSH4218-35-10-027
QMot stepper motor 42mm, 1A, 0.27Nm
42.3 x 42.3 x 33,5
QSH4218-41-10-035
QMot stepper motor 42mm, 1A, 0.35Nm
42.3 x 42.3 x 38
QSH4218-51-10-049
QMot stepper motor 42mm, 1A, 0.49Nm
42.3 x 42.3 x 47

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4Overview
As with most TRINAMIC modules the software running on the microprocessor of the TMCM-310 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 –normally –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 firmware shipped with this module is related to the standard TMCL™ firmware [TMCL] shipped with
most of TRINAMIC modules with regard to protocol and commands. Corresponding, the module is based on
the TMC428-I stepper motor controller and the TMC236 or TMC246 power driver (with stallGuard™ option)
and supports the standard TMCL™ with a special range of values.
All commands and parameters available with this unit are explained on the following pages.

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5Putting the TMCM-310 into operation
Here you can find basic information for putting your module into operation. The text contains two simple
examples (with and without encoder) for a TMCLTM program and a short description of operating the module
in direct mode.
The things you need:
TMCM-310
Interface (RS232 or CAN) suitable to your TMCM-310 version with cables
Nominal supply voltage +24V DC (+8…+34V DC) for your module
Up to three stepper motors which fit to your module, for example QSH-4218
TMCL-IDE program and PC
Precautions:
Do not mix up connections or short-circuit pins.
Avoid bounding I/O wires with motor power wires as this may cause noise picked up from the
motor supply.
Do not exceed the maximum power supply of 34V DC.
Do not connect or disconnect the motor while powered!
Start with power supply OFF!
5.1 Starting up
1. Connect the motors
The TMCM-310 controls up to three 2-phase stepper motors. The screw terminals for the motors are
marked on the board with Motor 0, Motor 1 and Motor 2 (2.54mm pitch connectors). Additionally there
are electrically identical 4-pin connectors (2.54mm pitch) for motor and stop switches. Connect one coil
of the motor to the terminals marked with A0 and A1 and the other coil to the terminals marked with
B0 and B1. If a stepper motor should run in the wrong direction just change the polarity of one (not
both) of its coils.
Before connecting a motor please make sure which cable belongs to which coil. Wrong
connections may lead to damage of the driver chips or the motor.
Pinning for motors 0, 1, and 2 plus stop-switches 0, 1, and 2:
Motor 0 Motor 1 Motor 2
STOP 0
rev. 2.0
STOP 1
rev. 2.0
STOP 2
rev. 2.0
M M M
4 3 2 1 3 2 14 4 3 2 1 3 2 14
GND
4 3 2 1 3 2 14
B1 B0 A1 A0 LR
+5v
B1 B0 A1 A0
GND
LR
+5v
B1 B0 A1 A0
GND
LR
+5v
Terminal
Pin
Name
Function
Motor X
1
A0
Connection for motor coil A
2
A1
Connection for motor coil A
3
B0
Connection for motor coil B
4
B1
Connection for motor coil B
STOP X
1
R
Right limit switch input (integrated pull up to 5V)
2
L
Left limit switch input (integrated pull up to 5V)
3
GND
Ground
4
+5V
+5V power supply (Rev.2.0 only)

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2. Connect the interface
The module is equipped with an RS-232 interface and optionally with a CAN interface.
To connect the RS232 interface of the module to a PC you can use a standard null modem cable
(with female plugs at both ends).
The optional CAN interface uses an industry standard 10-way box header with the following pin
assignments (all other pins are not connected). Pin 1 is marked with an arrow on the board.
Pinning for RS232, CAN, null modem cable, and modem:
Pin
RS232
CAN
Host
(female)
Null modem
(female)
Modem
(male)
1
1
4
1
2
RxD
CAN_L
2
3
2
3
TxD
GND
3
2
3
4
4
1
4
5
GND
5
5
5
6
GND optional
6
6
6
7
CAN_H
7
8
7
8
8
7
8
9
9
9
9
10
Not available
3. Connect the power supply:
There are two possibilities for connecting the power supply:
The power supply can either be connected to the X504/X505 TRINAMIC standard 5.08mm power
plug
or to the power socket X503 (industry standard power socket with 2.0mm pin diameter). Both
connections are electrically identical.
Plug X504/X505
Socket X503
Function
VS
Pin
+8…34V DC power supply (V2.0)
GND
Ring
Ground
Attention: Do not exceed the maximum power supply of 34V DC (V2.0)!
4. Switch on the power supply
The green power LED (D503) lights steadily now. This indicates that the on-board +5V supply is
available.
If this does not occur, switch power OFF and check your connections as well as the power
supply.
5. Start the TMCL-IDE software development environment
The TMCL-IDE is available on the TechLibCD and 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.

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Choose COM port and type with the parameters shown below (baud rate 9600 for RS232).
Click OK.

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5.2 Testing with a simple TMCLTM program
Open the file test2.tmc. The following source code appears on the screen:
A description for the TMCL™ commands can be found in Appendix A.
Assemble
Download Run
Stop
7. Click on Icon Assemble to convert the TMCL™ into machine code.
8. Then download the program to the TMCM-310 module via the icon Download.
9. Press icon Run. The desired program will be executed.
10. Click Stop button to stop the program.
//A simple example for using TMCL™and TMCL-IDE
ROL 0, 500 //Rotate motor 0 with speed 500
WAIT TICKS, 0, 500
MST 0
ROR 1, 250 //Rotate motor 1 with 250
WAIT TICKS, 0, 500
MST 1
SAP 4, 2, 500 //Set max. Velocity
SAP 5, 2, 50 //Set max. Acceleration
Loop: MVP ABS, 2, 10000 //Move to Position 10000
WAIT POS, 2, 0 //Wait until position reached
MVP ABS, 2, -10000 //Move to Position -10000
WAIT POS, 2, 0 //Wait until position reached
JA Loop //Infinite Loop

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5.3 Operating the module in direct mode
1. Start TMCL™ Direct Mode.
Direct Mode
2. If the communication is established the TMCM-310 is automatically detected. If the module is not
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 500 -> Click Execute. The first motor is rotating now.
MST motor stop, motor 0 -> Click Execute. The first motor stops now.
Please use the TMCL-IDE axis parameter calculation tool for getting best values.

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6TMCL™ and TMCL-IDE
The TMCM-310 module supports TMCL™ direct mode (binary commands or ASCII interface) and stand-alone
TMCL™ program execution. You can store up to 2048 TMCL™ instructions on it.
In direct mode the TMCL™ communication over RS232 and CAN 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
module. The TMCL™ interpreter on it 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 RS232/CAN to the bus master. The
master should not transfer the next command till then. 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-310 to form programs that run stand-alone 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.
The mnemonic format is used for easy usage of the commands when developing stand-alone
TMCL™ applications with 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.
6.1 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 RS232 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 takes place 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 RS232 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 the CAN bus, just leave out the first byte (module address) and the last byte
(checksum).

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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
6.2 Reply format
Every time a command has been sent to a module, the module sends a reply.
The reply format for RS232 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, the first byte (reply address) and the last byte (checksum) are left out.
Do not send the next command before you have received the reply!

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6.2.1 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
6.3 Stand-alone applications
The module is equipped with an EEPROM for storing TMCL™ applications. You can use the TMCL-IDE for
developing stand-alone TMCL™ applications. You can load your program down into the EEPROM and then
they will run on the module. The TMCL-IDE contains an editor and a 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.
6.4 TMCL™ command overview
In this section a short overview of the TMCL™ commands is given.
6.4.1 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 stand-alone 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

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6.4.2 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 stand-alone mode.
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
6.4.3 I/O port commands
These commands control the external I/O ports and can be used in direct mode and in stand-alone mode.
Mnemonic
Command
number
Meaning
SIO
14
Set output
GIO
15
Get input
SAC
29
Access to external SPI device
6.4.4 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 stand-alone mode only.
Mnemonic
Command
number
Meaning
JA
22
Jump always
JC
21
Jump conditional
COMP
20
Compare accumulator with constant
value
CLE
36
Clear error flags
CSUB
23
Call subroutine
RSUB
24
Return from subroutine
WAIT
27
Wait for a specified event
STOP
28
End of a TMCL™ program

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6.4.5 Calculation commands
These commands are intended to be used for calculations within TMCL™ applications. Although they could
also be used in direct mode it does not make much sense to do so.
Mnemonic
Command
number
Meaning
CALC
19
Calculate using the accumulator and a
constant value
CALCX
33
Calculate using the accumulator and the
X register
AAP
34
Copy accumulator to an axis parameter
AGP
35
Copy accumulator to a global parameter
For calculating purposes there is an accumulator (or accu or A register) and an X register. When executed in
a TMCL™ program (in stand-alone mode), all TMCL™ commands that read a value store the result in the
accumulator. The X register can be used as an additional memory when doing calculations. It can be loaded
from the accumulator.
When a command that reads a value is executed in direct mode the accumulator will not be affected. This
means that while a TMCL™ program is running on the module (stand-alone mode), a host can still send
commands like GAP, GGP or GIO to the module (e.g. to query the actual position of the motor) without
affecting the flow of the TMCL™ program running on the module.

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6.5 TMCL™ List of commands
The following TMCL™ commands are currently supported:
Command
Number
Parameter
Description
ROR
1
<motor number>, <velocity>
Rotate right with specified velocity
ROL
2
<motor number>, <velocity>
Rotate left with specified velocity
MST
3
<motor number>
Stop motor movement
MVP
4
ABS|REL|COORD, <motor
number>, <position|offset>
Move to position (absolute or
relative)
SAP
5
<parameter>, <motor number>,
<value>
Set axis parameter (motion control
specific settings)
GAP
6
<parameter>, <motor number>
Get axis parameter (read out motion
control specific settings)
STAP
7
<parameter>, <motor number>
Store axis parameter permanently
(non volatile)
RSAP
8
<parameter>; <motor number>
Restore axis parameter
SGP
9
<parameter>, <bank number>,
<value>
Set global parameter (module specific
settings, e.g. communication settings,
or TMCL™ user variables)
GGP
10
<parameter>, <bank number>
Get global parameter (read out
module specific settings e.g.
communication settings, or TMCL™
user variables)
STGP
11
<parameter>, <bank number>
Store global parameter (TMCL™ user
variables only)
RSGP
12
<parameter>, <bank>
Restore global parameter (TMCL™
user variables only)
RFS
13
START|STOP|STATUS, <motor
number>
Reference search
SIO
14
<port number>, <bank number>,
<value>
Set digital output to specified value
GIO
15
<port number>, <bank number>
Get value of analogue/digital input
CALC
19
<operation>, <value>
Process accumulator & value
COMP
20
<value>
Compare accumulator <-> value
JC
21
<condition>, <jump address>
Jump conditional
JA
22
<jump address>
Jump absolute
CSUB
23
<subroutine address>
Call subroutine
RSUB
24
Return from subroutine
WAIT
27
<condition>, <motor number>,
<ticks>
Wait with further program execution
STOP
28
Stop program execution
SAC
29
<bus number>, <number of
bites>, <send data>
SPI bus access
SCO
30
<coordinate number>, <motor
number>, <position>
Set coordinate

TMCM-310 TMCL™ Firmware Manual (V1.02/2011-JAN-11) 19
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCL™ control commands:
Instruction
Description
Type
Mot/Bank
Value
128 –stop application
a running TMCL™ standalone
application is stopped
(don't care)
(don't care)
(don't care)
129 –run application
TMCL™ execution is started (or
continued)
0 - run from
current address
1 - run from
specified address
(don't care)
(don't care)
starting address
130 –step application
only the next command of a
TMCL™ application is executed
(don't care)
(don't care)
(don't care)
131 –reset application
the program counter is set to
zero, and the standalone
application is stopped (when
running or stepped)
(don't care)
(don't care)
(don't care)
132 –start download
mode
target command execution is
stopped and all following
commands are transferred to
the TMCL™ memory
(don't care)
(don't care)
starting address
of the application
133 –quit download
mode
target command execution is
resumed
(don't care)
(don't care)
(don't care)
134 –read TMCL™
memory
the specified program memory
location is read
(don't care)
(don't care)
<memory
address>
135 –get application
status
one of these values is
returned:
0 –stop
1 –run
2 –step
3 –reset
(don't care)
(don't care)
(don't care)
136 –get firmware
version
return the module type and
firmware revision either as a
string or in binary format
0 –string
1 –binary
(don’t care)
(don’t care)
137 –restore factory
settings
reset all settings stored in the
EEPROM to their factory
defaults
This command does not send
back a reply.
(don’t care)
(don’t care)
must be 1234
138 –reserved
139 –enter ASCII
mode
Enter ASCII command line (see
chapter 6.6)
(don’t care)
(don’t care)
(don’t care)
Command
Number
Parameter
Description
GCO
31
<coordinate number>, <motor
number>
Get coordinate
CCO
32
<coordinate number>, <motor
number>
Capture coordinate
CALCX
33
<operation>
Process accumulator & X-register
AAP
34
<parameter>, <motor number>
Accumulator to axis parameter
AGP
35
<parameter>, <bank>
Accumulator to global parameter

TMCM-310 TMCL™ Firmware Manual (V1.02/2011-JAN-11) 20
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
6.6 The ASCII interface
TMCL™ also offers an ASCII interface that can be used to communicate with the module and to send some
commands as text strings.
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-enter the binary mode enter the command BIN.
6.6.1 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.
Here are some 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.
6.6.2 Format of a reply
After executing the command the module sends back a reply in ASCII format. This 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.
6.6.3 Commands that can be 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, SAC, SCO, GCO, CCO, UF0, UF1, UF2, UF3, UF4, UF5, UF6, and UF7.
There are also special commands that 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.
6.6.4 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 8.1). 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