Trinamic TMCM-610 User manual

TMCM-610
Hardware Manual
Version: 1.14
2010-APR-30
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D - 20 357 Hamburg, Germany
Phone [phone] - 0
FAX: [phone] - 60
http://www.trinamic.com

TMCM-610 Hardware Manual (V1.14/2010-APR-30) 2
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
Contents
1Life support policy ....................................................................................................................................................... 4
2Features........................................................................................................................................................................... 5
3Order codes.................................................................................................................................................................... 6
4Electrical and mechanical interfacing ..................................................................................................................... 7
4.1 Dimensions ........................................................................................................................................................... 7
4.2 Connecting the TMCM-610 module ................................................................................................................ 7
4.2.1 Power supply ............................................................................................................................................. 8
4.2.2 LED indicators ............................................................................................................................................ 8
4.2.3 Motor connectors...................................................................................................................................... 8
4.2.4 Stop switches / reference switches .................................................................................................... 8
4.2.5 RS232 interface .......................................................................................................................................... 9
4.2.6 USB interface.............................................................................................................................................. 9
4.2.7 General purpose I/Os .............................................................................................................................. 9
4.2.8 Reset button.............................................................................................................................................10
4.2.9 ISP connector –restore to factory default .....................................................................................10
5Operational ratings ....................................................................................................................................................12
6Functional description ..............................................................................................................................................13
6.1 System architecture ..........................................................................................................................................14
6.1.1 Microcontroller.........................................................................................................................................14
6.1.2 TMCL™ EEPROM.......................................................................................................................................14
6.1.3 TMC428 motion controller....................................................................................................................14
6.1.4 Stepper motor drivers ...........................................................................................................................14
6.2 stallGuard™ - sensorless motor stall detection.......................................................................................15
6.2.1 stallGuard™ adjusting tool..................................................................................................................15
6.2.2 stallGuard™ profiler...............................................................................................................................16
6.3 Reference switches ...........................................................................................................................................17
6.3.1 Left and right limit switches...............................................................................................................17
6.3.2 Triple switch configuration..................................................................................................................17
6.3.3 One limit switch for circular systems...............................................................................................18
6.4 Microstep resolution......................................................................................................................................... 18
6.5 USB ........................................................................................................................................................................19
7Putting the TMCM-610 into operation ..................................................................................................................20
8TMCM-610 operational description ........................................................................................................................21
8.1 Calculation: velocity and acceleration vs. microstep- and fullstep-frequency.................................21
9TMCL™ ...........................................................................................................................................................................23
10 Revision history ..........................................................................................................................................................24
10.1 Document revision............................................................................................................................................24
10.2 Firmware Revision ............................................................................................................................................24

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
Figures
Figure 4.1: Dimensions ........................................................................................................................................................ 7
Figure 4.2: Overview of the connectors ......................................................................................................................... 7
Figure 4.3: Motor and reference switch connection ................................................................................................... 8
Figure 4.4: Internal wiring of the I/Os .........................................................................................................................10
Figure 4.5: Restoring all parameters to factory default ...........................................................................................11
Figure 5.1: Main parts of the TMCM-610 .......................................................................................................................13
Figure 6.2: stallGuard™ adjusting tool .........................................................................................................................15
Figure 6.3: The stallGuard™ profiler.............................................................................................................................. 16
Figure 6.4: Left and right limit switches ......................................................................................................................17
Figure 6.5: Limit switch and reference switch ...........................................................................................................17
Figure 6.6: One reference switch....................................................................................................................................18
Tables
Table 3.1: Order codes ......................................................................................................................................................... 6
Table 4.1: General purpose I/Os ....................................................................................................................................... 9
Table 5.1: Operational ratings .........................................................................................................................................12
Table 6.1: stallGuard™ parameter SAP 205 .................................................................................................................15
Table 6.2: Pinout reference switches.............................................................................................................................17
Table 6.3: Microstep resolution setting ........................................................................................................................18
Table 8.1: TMC428 velocity parameters .........................................................................................................................21
Table 10.1: Document revision........................................................................................................................................24
Table 10.2: Firmware revision ......................................................................................................................................... 24

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Copyright © 2010, 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 2010
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 © 2010, TRINAMIC Motion Control GmbH & Co. KG
2Features
The TMCM-610 is a stepper motor controller and driver module that can drive up to six bipolar two-phase stepper
motors with a peak coil current of up to 1.5A for each coil. The module provides a complete motion control
system.
It can be remote operated via an RS232 interface or via a USB interface. The motors and switches can be easily
connected with screw terminals. The connection of the multipurpose I/Os can be done via a dual-in-line pin
connector. Traffic on the interfaces can be kept very low since all time-critical and CPU-intensive operations are
done by the TMC428 stepper motor controller on the module.
The Trinamic Motion Control Language (TMCL™) is used to control the module. This language provides powerful
commands that make it easy to control the module from a PC. The TMCM-610 can also run stand-alone, as
programs written in TMCL™can be stored permanently in an EEPROM on the module that can store programs
which may contain up to 2048 commands.
Most features of this module are directly comparable to the well-known TMCM-303 and TMCM-310 modules. The
TMCM-610 extends this to six motors. It uses a powerful ATmega64 microcontroller and two TMC428 motor
controllers. As stepper motor drivers six TMC246 ICs are used. Their very low heat dissipation guarantees that the
module can operate with no need for additional cooling. Also, the stallGuard™feature can be used.
Applications
Controller/driver board for control of up to six axes
Versatile possibilities of applications in stand alone or pc controlled mode
Motor type
Coil current from 300mA to 1.1A RMS (1.5A peak)
7V… 34V nominal supply voltage
Highlights
Automatic ramp generation in hardware
stallGuard™option for sensorless motor stall detection
Full step frequencies up to 20kHz
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
TRINAMIC driver technology: No heat sink required
Many adjustment possibilities make this module the solution for a great field of demands
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
Motor and switches can be connected with screw terminals
RoHS compliant latest from 1 July 2006
Size: 160x120mm²

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
3Order codes
Order code
Description
Dimensions [mm3]
TMCM-610/SG
6-axis controller/driver, RS232 and USB interfaces
160 x 120 x 29
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
Table 3.1: Order codes

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4Electrical and mechanical interfacing
4.1 Dimensions
TMCM-610
5.00
115.00
120.00
80.00
155.00
160.00
3.00
5.00
Figure 4.1: Dimensions
4.2 Connecting the TMCM-610 module
Figure 4.2 gives an overview of all the connectors. The following sections describe all the connectors in
detail.
RS232
USB
+7.. 34 V DC
GND
General purpose I/O
Reset
button
ISP
Connector
Motor and stop switch connectors
Pin 1
Activity Power
A0 A1
B0 B1
R
L
+ 5 V
Motor 0 Ref 0
A0 A1
B0 B1
R
L
+ 5 V
Motor 6 Ref 6
Pin 1
Figure 4.2: Overview of the connectors

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4.2.1 Power supply
Connect a power supply of max. 34V DC here (the minimum operating voltage is 7V). The device is protected
against wrong polarity by a diode that shorts the power supply when the polarity is wrong.
The onboard connector is a RIACON type 219 two pole connector, fitting mate is for example a RIACON type 249
(see http://www.riaconnect.com).
4.2.2 LED indicators
There are two LEDs on the board. The right LED (Power, on a rev. 1.0 board marked with +5V) lights up when the
unit is powered. The other LED (Activity, on a rev. 1.0 board marked with D101) flashes when the unit is running
normally.
4.2.3 Motor connectors
The stepper motors can either be connected to the screw terminals or to the connectors behind the screw
terminals. They are electrically identical. The pin assignments of the connectors are printed on the board. Connect
one coil of the motor to the terminals marked A0 and A1 and the other coil to the connectors marked B0 and B1.
See Figure 4.2.
Never connect or disconnect a motor while the unit is powered! This may damage the motor drivers and / or
other parts of the unit!
A0 A1
B0 B1
R
L
+5V
Motor 0 Ref 0
M
Figure 4.3: Motor and reference switch connection
4.2.4 Stop switches / reference switches
The stop switches can be connected to the terminals marked Land Rand to the GND terminal. The switches are
normally closed.
The reference switch connectors also have a +5V terminal. This is a 5V output that can be used to supply photo
couplers or digital hall sensors.
The left stop switch is also used as the reference switch.
Attention:
On the version 1.0 of the board the stop switch connectors are marked wrongly (L and R have been interchanged).
So, on a version 1.0 board, connect the left stop switch to the terminal marked with Rand the right stop switch to
the terminal marked with L.
The marking is corrected on the next version of the board.

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4.2.5 RS232 interface
The RS232 interface is one way to connect the unit to a PC or a microcontroller with RS232 interface. All TMCL™
commands can be sent to the unit via this interface. A null modem cable has to be used to connect the TMCM-610
to a PC.
The following connections have to be made:
TMCM-610 pin
PC pin
2
3
3
2
5
5
The pin assignments of the RS232 socket of the TMCM-610 are as follows:
Pin number
Signal name
2
RxD
3
TxD
5
GND
All the other pins of this connector are not connected.
4.2.6 USB interface
The USB interface is also a way to connect the unit to a PC, when higher communication speed is needed. The
interface supports the USB 2.0 standard. Please see chapter 6.5 on how to install the device driver that is needed
to communicate with the TMCM-610 via USB.
The USB interface and the RS232 interface should not be used simultaneously.
4.2.7 General purpose I/Os
The general purpose I/O connector provides eight digital outputs and eight inputs that can either be used as
digital or as analog inputs with 10 bit accuracy (thus there are no pull-ups). All digital inputs and outputs operate
at TTL level, so the maximum voltage is 5V. The maximum current of each digital output is 20mA.
The pin assignments of the connector are as follows:
Pin
Signal
Pin
Signal
1
Output 0
2
Output 1
3
Output 2
4
Output 3
5
Output 4
6
Output 5
7
Output 6
8
Output 7
9
Alarm input
10
GND
11
Input 0
12
Input 1
13
Input 2
14
Input 3
15
Input 4
16
Input 5
17
Input 6
18
Input 7
19
+5V (Output)
20
GND
Table 4.1: General purpose I/Os

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Figure 4.4: Internal wiring of the I/Os
The alarm input also is a digital input with TTL level and an internal pull-up resistor (the other inputs do not have
internal pull-up resistors as it would not be possible to use them as analog inputs then). The functionality of this
input can be configured (please see the TMCL™Firmware Manual for details).
Pin 1 of the connector is shown in Figure 4.2. The pins with odd numbers are those near to the edge of the
board.
GPI
GPO
Figure 4.5: Examples for possible wirings for GPI and GPO
4.2.8 Reset button
Pressing the reset button resets the microcontroller. All motors are then stopped immediately and everything is re-
initialized.
4.2.9 ISP connector –restore to factory default
This connector is used for two purposes:
Programming the CPU via an in-circuit programmer. This is to be done by TRINAMIC only and not by the user!
The user can upgrade the firmware via the RS232 or USB interface using the Install OS function in the TMCL-
IDE.
Restoring all parameters to their factory default values: Nearly all parameters can be stored in the EEPROM of
the CPU. If some parameters have been set wrongly this can lead to a case of miss-configuration where the
module cannot be reached by a PC any more. In such circumstances, all parameters can be reset to their
factory default values by doing the following:
1. Turn OFF the power.
2. Link the pins 1 and 3 of the ISP connector with a jumper (as shown in Figure 4.6).
3. Turn ON the power and wait until the Activity LED flashes fast (much faster than normal).
4. Turn OFF the power.
5. Remove the link between the pins 1 and 3 of the ISP connector.
6. Turn ON the power and wait until the LED flashes normally (this can take some seconds).
Now, all parameters are restored to their factory default values, and the unit should work normally again.

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TMCM-610
Pin 1
Link these two pins
USB
RS232
Figure 4.6: Restoring all parameters to factory default

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5Operational ratings
Symbol
Parameter
Min
Typ
Max
Unit
VS
DC Power supply voltage for operation
7
12 … 28
34
V
ICOIL
Motor coil current for sine wave peak
(chopper regulated, adjustable via
software)
0
0.3 …
1.5
1.5
A
fCHOP
Motor chopper frequency
36.8
kHz
IS
Power supply current (per motor)
<< ICOIL
1.4 *
ICOIL
A
VINPROT
Input voltage for StopL, StopR, GPI0
(internal protection diodes)
-0.5
0 … 5
V+5V+0.5
V
VANA
INx analog measurement range
0 ... 5
V
VINLO
INx, StopL, StopR low level input
0
0.9
V
VINHI
INx, StopL, StopR high level input
(integrated 10k pullup to +5V for StopL /
StopR)
2
5
V
I5VOUT
+5V supply output current for external
devices (sum of all pins)
200
mA
IOUTI
OUTx max +/- output current (CMOS
output) (sum for all outputs max. 50mA)
+/-20
mA
TENV
Environment temperature at rated current
(no cooling)
-40
+70
°C
Table 5.1: Operational ratings

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6Functional description
Figure 6.1 depicts the main parts of the TMCM-610. It uses two TMC428 motion controller, six TMC246 stepper
motor driver, the TMCL™processor, the program memory (EEPROM), and the host interfaces (RS232 and USB).
7… 34V DC
µC
TMCL
Memory
RS232
USB
16
I/Os
TMC
246
progammable
Motion
Controller
with TMC428
3x2 stop
switches
+5V
TMC
246
TMC
246
TMC
246
progammable
Motion
Controller
with TMC428
3x2 stop
switches
+5V
TMC
246
TMC
246
TMCM-610
Figure 6.1: Main parts of the TMCM-610

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
6.1 System architecture
The TMCM-610 integrates a microcontroller with the TMCL™(Trinamic Motion Control Language) operating system.
The motion control real-time tasks are realized by the TMC428.
6.1.1 Microcontroller
On this module, the Atmel Atmega64 is used to run the TMCL™operating system and to control the TMC428. The
CPU has a 64Kbyte flash memory and a 2Kbyte EEPROM. The microcontroller runs the TMCL™operating system
which makes it possible to execute TMCL™commands that are sent to the module from the host via the RS232 or
USB interface. The microcontroller interprets the TMCL™commands and controls the TMC428. The TMC428
calculates and executes the motion commands.
The flash ROM of the microcontroller holds the TMCL™operating system. The EEPROM memory of the
microcontroller is used to permanently store configuration data.
The TMCL™operating system can be updated via the RS232 interface. Use the TMCL-IDE to do this.
6.1.2 TMCL™EEPROM
To store TMCL™programs for stand alone operation the TMCM-610 module is equipped with a 16kByte EEPROM
attached to the microcontroller. The EEPROM can store TMCL™programs consisting of up to 2048 TMCL™
commands.
6.1.3 TMC428 motion controller
The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-stepper-motors.
Motion parameters like speed or acceleration are sent to the TMC428 via SPI by the microcontroller. Calculation of
ramps and speed profiles are done internally by hardware based on the target motion parameters. The TMCM-610
has two TMC428 for 6 axes.
6.1.4 Stepper motor drivers
On TMCM-610 modules the TMCM246 driver chips are used. These chips are fully compatible with the TMC236 chips,
but have the additional stallGuard™feature. These drivers are very easy to use. They can control the currents for
the two phases of the stepper motors. 16 times microstepping and maximum output current of 1500mA are
supported by these driver ICs.
As the power dissipation of the TMC236 and TMC246 chips is very low no heat sink or cooling fan is needed. The
temperature of the chips does not get high. The coils will be switched off automatically when the temperature or
the current exceeds the limits and automatically switched on again when the values are within the limits again.

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6.2 stallGuard™ - sensorless motor stall detection
The TMCM-610/SG modules are equipped with the stallGuard™option. The stallGuard™option makes it possible to
detect if the mechanical load on a stepper motor is too high or if the traveler has been obstructed. The load value
can be read using a TMCL™command or the module can be programmed so that the motor will be stopped
automatically when it has been obstructed or the load has been too high.
stallGuard™can also be used for finding the reference position without the need for a reference switch: Just
activate stallGuard™and then let the traveler run against a mechanical obstacle that is placed at the end of the
way. When the motor has stopped it is definitely at the end of its way, and this point can be used as the
reference position.
To use stallGuard™in an actual application, some manual tests should be done first, because the stallGuard™
level depends upon the motor velocities and on the occurrence of resonances. When switching on stallGuard™,
the motor operation mode is changed and microstep resolution may be worse. Thus, stallGuard™should be
switched off when not in use.
Mixed decay should be switched off when stallGuard™is operational in order to get usable results.
Value
Description
-7… -1
Motor stops when stallGuard™value is reached and position is set zero
(useful for reference run).
0
stallGuard™function is deactivated (default)
1… 7
Motor stops when stallGuard™value is reached and position is not set
zero.
Table 6.1: stallGuard™parameter SAP 205
To activate the stallGuard™feature use the TMCL™ command SAP 205 and set the stallGuard™threshold value
according to Table 6.1. The actual load value is given by GAP 206. The TMCL-IDE has some tools which let you try
out and adjust the stallGuard™function in an easy way. They can be found at stallGuard™ in the setup menu and
are described in the following chapters.
6.2.1 stallGuard™adjusting tool
The stallGuard™adjusting tool helps to find the necessary motor parameters when stallGuard™is to be used. This
function can only be used when a module is connected that features stallGuard™. This is checked when the
stallGuard™adjusting tool is selected in the setup menu. After this has been
successfully checked the stallGuard™adjusting tool is displayed.
First, select the axis that is to be used in the Motor area. Now you can enter a
velocity and an acceleration value in the drive area and then click rotate left or
rotate right. Clicking one of these buttons will send the necessary commands to the
module so that the motor starts running.
The red bar in the stallGuard™area on the right side of the windows displays the
actual load value. Use the slider to set the stallGuard™threshold value. If the load
value reaches this value the motor stops. Clicking the stop button also stops the
motor.
All commands necessary to set the values entered in this dialogue are displayed in
the commands area at the bottom of the window. There, they can be selected,
copied and pasted into the TMCL™ editor.
Figure 6.2: stallGuard™ adjusting tool

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6.2.2 stallGuard™profiler
The stallGuard™profiler is a utility that helps you find the best
parameters for using stall detection. It scans through given velocities
and shows which velocities are the best ones. Similar to the
stallGuard™adjusting tool it can only be used together with a module
that supports stallGuard™. This is checked right after the stallGuard™
profiler has been selected in the setup menu.
After this has been successfully checked the stallGuard™profiler
window will be shown.
First, select the axis that is to be used. Then, enter the start velocity
and the end velocity. The start velocity is used at the beginning of
the profile recording. The recording ends when the end velocity has
been reached. Start velocity and end velocity must not be equal.
After you have entered these parameters, click the start button to start
the stallGuard™profile recording. Depending on the range between
start and end velocity this can take several minutes, as the load value
for every velocity value is measured ten times.
Figure 6.3: The stallGuard™ profiler
The actual velocity value shows the velocity that is currently being tested. It tells you the progress of the profile
recording. You can also abort a profile recording by clicking the abort button. The result can also be exported to
Excel or to a text file by using the export button.
6.2.2.1 The result of the stallGuard™profiler
The result is shown as a graphic in the stallGuard™profiler window. After the profile recording has finished you
can scroll through the profile graphic using the scroll bar below it. The scale on the vertical axis shows the load
value: a higher value means a higher load. The scale on the horizontal axis is the velocity scale. The colour of each
line shows the standard deviation of the ten load values that have been measured for the velocity at that point.
This is an indicator for the vibration of the motor at the given velocity.
There are three colours used:
Green: The standard deviation is very low or zero. This means that there is effectively no vibration at this
velocity.
Yellow: This colour means that there might be some low vibration at this velocity.
Red: The red colour means that there is high vibration at that velocity.
6.2.2.2 Interpreting the result
In order to make effective use of the stallGuard™feature you should choose a velocity where the load value is as
low as possible and where the colour is green. The very best velocity values are those where the load value is
zero (areas that do not show any green, yellow or red line).
Velocities shown in yellow can also be used, but with care as they might cause problems (maybe the motor stops
even if it is not stalled).
Velocities shown in red should not be chosen. Because of vibration the load value is often unpredictable and so
not usable to produce good results when using stall detection.
As it is very seldom that exactly the same result is produced when recording a profile with the same parameters a
second time, always two or more profiles should be recorded and compared against each other.

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6.3 Reference switches
With reference switches, an interval for the movement of the motor or the zero point can be defined. Also a step
loss of the system can be detected, e.g. due to overloading or manual interaction, by using a travel-switch. The
TMCM-610 has one left and one right reference switch input for each motor.
Motor x
Direction
Name
Limits
Description
0, 1, 2, 3, 4, 5
in
R
TTL
Right reference switch input for Motor #X
0, 1, 2, 3, 4, 5
in
L
TTL
Left reference switch input for Motor #X
Table 6.2: Pinout reference switches
Note: 10k pullup resistors for reference switches are included on the module.
6.3.1 Left and right limit switches
The TMCM-610 can be configured so that a motor has a left and a right limit switch (Figure 6.4). The motor stops
when the traveler has reached one of the limit switches.
left stop
switch
right stop
switch
REF _ L_x REF _ R_x
motor
traveler
Figure 6.4: Left and right limit switches
6.3.2 Triple switch configuration
It is possible to program a tolerance range around the reference switch position. This is useful for a triple switch
configuration, as outlined in Figure 6.5. In that configuration two switches are used as automatic stop switches,
and one additional switch is used as the reference switch between the left stop switch and the right stop switch.
The left stop switch and the reference switch are wired together. The center switch (travel switch) allows for a
monitoring of the axis in order to detect a step loss.
left stop
switch
motor
traveler
REF _ L_x
right stop
switch
REF _ R_x
reference
switch
Figure 6.5: Limit switch and reference switch

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6.3.3 One limit switch for circular systems
If a circular system is used (Figure 6.6), only one reference switch is necessary, because there are no end-points in
such a system.
motor
ref switch
REF _L _x
eccentric
Figure 6.6: One reference switch
6.4 Microstep resolution
The microstep resolution can be set using TMCL™software. The default setting is 64 microsteps which is the
highest resolution.
To set the microstep resolution with TMCL™use instruction 5: SAP, type 140: microstep resolution. You can find
the appropriate value in Table 6.3. Please refer to the TMCM-610 TMCL™ Firmware Manual for more information
about TMCL™ commands. This Manual is available on the TechLibCD or on www.trinamic.com.
Value
microsteps
0
Do not use: for fullstep please
see fullstep threshold
1
Halfstep (not recommended)
2
4
3
8
4
16
5
32
6
64
Table 6.3: Microstep resolution setting
Despite the possibility to set up to 64 microsteps, the motor physically will be positioned to a maximum of about
24 Microsteps, when operated in 32 or 64 microstep setting.

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6.5 USB
To make use of the USB interface, a device driver has to be installed first. There is a device driver shipped on the
CD that can be used with Windows 98, Windows ME, Windows 2000 and Windows XP. The device driver cannot be
used with Windows NT4 and Windows 95 as these operating systems do not support USB at all. In most Linux
distributions the driver for the USB IC used on the TMCM-610 device (FT245BM) is already included in the kernel.
When the TMCM-610 module is connected to the USB interface of a PC for the first time, you will be prompted for
a driver by the operating system. Now, insert the CD and select the tmcm-610.inf file there. The driver will then be
installed and is now ready for use.
Please note that the TMCM-610 always needs its own power supply (self-powered) and is not powered by the USB
bus. So the module will not be recognized if it is not powered.
To use the USB connection with the TMCL-IDE, at least version 1.31 of the IDE is needed. In the connection screen
of the options dialog, select USB (TMCM-610) and then select the module in the device list box. Now all
communication between the TMCL-IDE and the module uses the USB interface.
To control the TMCM-610 module form your own PC applications the USB version of the TMCL™Wrapper DLL is
needed.

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7Putting the TMCM-610 into operation
On the basis of a small example it is shown step by step how the TMCM-610 is set into operation. If you need
more detailed information, please refer to the TMCM-610 TMCL™ Firmware Manual (available on the TechLibCD or
on www.trinamic.com). Experienced users could skip this chapter and proceed to chapter 8.
Example: The following application is to implement with the TMCL-IDE Software development environment in the
TMCM-610 module. For data transfer between the host PC and the module the RS232 interface is employed.
A formula how speed is converted into a physical unit like rotations per seconds can be found in 8.1 (Calculation:
velocity and acceleration vs. microstep- and fullstep-frequency)
Turn Motor 0 left with speed 500
Turn Motor 1 right with speed 500
Turn Motor 2 with speed 500, acceleration 5 and move between position +10000 and –10000.
Step 1: Connect the RS232 Interface as specified in 4.2.5.
Step 2: Connect the motors as specified in 4.2.3.
Step 3: Connect the power supply.
Step 4: Switch on the power supply. An on-board LED should start to flash. This indicates the correct
configuration of the microcontroller.
Step 5: Start the TMCL-IDE Software development environment. Type in the following programme:
A description for the TMCL commands can be found in Appendix A.
Step 6: Click on icon assemble to convert the TMCL™ commands into machine code.
Then download the program to the TMCM-610 module via the icon download.
Step 7: Press icon run. The desired program will be executed.
The program is stored to the EEPROM of the microcontroller. If the TMCL™auto start option in configure module
tab other is activated the program will be executed at each power on.
Documentation about the TMCL™operations can be found in the TMCM-610 Firmware Manual (available on the
TechLibCD or on www.trinamic.com). The next chapter discusses additional operations to turn the TMCM-610 into a
high performance motion control system.
//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