Trinamic TMC603-EVAL User manual

EVALUATION FOR ICs EVALUATION BOARD
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Firmware Version V2.05
EVAL BOARD MANUAL
+ + TMC603-EVAL
Evaluation board for TMC603
Three Phase Motor Driver
18.8A RMS / 12… 48V DC
RS232 / UART, USB
Hall Sensor Interface
Encoder Interface
FOC Firmware
+ +

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Table of Contents
1Features........................................................................................................................................................................... 3
2Order Codes ................................................................................................................................................................... 3
3Hardware......................................................................................................................................................................... 4
3.1 Mechanical and Electrical Interfacing ............................................................................................................ 4
3.1.1 Size of TMC603-EVAL and Mounting Holes............................................................................................. 4
3.1.2 Connectors....................................................................................................................................................... 5
3.1.3 Switches and Potentiometer...................................................................................................................... 7
3.1.4 Jumpers ............................................................................................................................................................ 7
3.1.5 LEDs ................................................................................................................................................................... 9
3.1.6 Measuring Points ........................................................................................................................................... 9
4TMCL Overview............................................................................................................................................................10
4.1 TMCM-BLDC ..........................................................................................................................................................10
4.1.1 Getting Started with TMCM-BLDC............................................................................................................11
4.1.2 Dialogues of the TMCM-BLDC...................................................................................................................12
4.1.3 File Menu of TMCM-BLDC...........................................................................................................................17
4.2 TMCL-IDE...............................................................................................................................................................18
4.2.1 BLDC Tool of the TMCL-IDE ......................................................................................................................18
4.3 TMCL Command Overview ..............................................................................................................................21
4.3.1 Motion Commands......................................................................................................................................21
4.3.2 Parameter Commands................................................................................................................................21
4.3.3 I/O Port Commands ....................................................................................................................................21
4.4 Commands...........................................................................................................................................................22
4.4.1 ROR (rotate right).........................................................................................................................................22
4.4.2 ROL (rotate left)............................................................................................................................................23
4.4.3 MST (motor stop).........................................................................................................................................24
4.4.4 MVP (move to position).............................................................................................................................25
4.4.5 SAP (set axis parameter) ...........................................................................................................................26
4.4.6 GAP (get axis parameter)...........................................................................................................................27
4.4.7 STAP (store axis parameter) .....................................................................................................................28
4.4.8 RSAP (restore axis parameter) .................................................................................................................29
4.4.9 SGP (set global parameter).......................................................................................................................30
4.4.10 GGP (get global parameter)......................................................................................................................31
4.4.11 STGP (store global parameter).................................................................................................................31
4.4.12 RSGP (restore global parameter).............................................................................................................32
4.4.13 SIO (set output) and GIO (get input / output) ...................................................................................33
4.4.14 Customer Specific TMCL Command Extension (UF0… UF7 / User Function) ...............................35
4.4.15 TMCL Control Functions .............................................................................................................................35
5Axis Parameter Overview (SAP, GAP, STAP, RSAP)............................................................................................36
5.1 Axis Parameters Sorted by Functionality....................................................................................................40
6Global Parameter Overview (SGP, GGP, STGP, RSGP).......................................................................................45
6.1 Bank 0 ...................................................................................................................................................................45
6.2 Bank 2 ...................................................................................................................................................................46
7Motor Regulation........................................................................................................................................................47
7.1 Structure of the Cascaded Motor Regulation Modes...............................................................................47
7.2 Current Regulation ............................................................................................................................................48
7.3 Velocity Regulation ...........................................................................................................................................49
7.4 Velocity Ramp Generator .................................................................................................................................50
7.5 Position Regulation...........................................................................................................................................50
8Temperature Calculation...........................................................................................................................................52
9I²t Monitoring ..............................................................................................................................................................52
10 Life Support Policy .....................................................................................................................................................53
11 Revision History ..........................................................................................................................................................54
11.1 Firmware Revision.............................................................................................................................................54
11.2 Document Revision ...........................................................................................................................................54
12 References.....................................................................................................................................................................54

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1Features
The TMC603 evaluation board makes it possible to evaluate the features of the TMC603 three phase BLDC
motor driver with hall sensor interface. On the evaluation board the STM32F ARM Cortex-M3 microcontroller
is used to control the TMC603. The FLASH memory of the microcontroller contains a program which
configures the TMC603 and controls the communication with the PC via the USB interface and the RS232
interface. The PC software is based on Windows and allows tuning of all operation parameters for every
three phase BLDC motor.
Application
-Evaluation of the features of the TMC603 three phase motor driver
Electrical data
-Motor current: up to 18.8A RMS nominal motor current
-Supply voltage: 12V… 48V operating voltage
Interfaces
-RS232 (UART)
-USB (type B)
-Inputs for encoder (ABN)
-Three digital hall sensors
Motor type
-Three phase BLDC motor
-Commutation with space vector PWM (SVPWM) based on hall sensor or encoder feedback
-Rotor position feedback (encoder or hall sensor)
Safety features
-Overcurrent / short to GND and undervoltage protection with diagnostics integrated
Software
-TMCL (TMCL-IDE and TMCM-BLDC)
-Firmware update via USB and RS232
Highlights
-Integrated current measurement using power MOS transistor RDSon
-Integrated break-before-make logic. No special microcontroller PWM hardware required
-EMV optimized current controlled gate drivers
-Internal Qgd (Gate-Drain Charge) protection supports latest generation of power MOSFETs
-Integrated supply concept with step down switching regulator
-Common rail charge pump allows for 100% PWM duty cycle
2Order Codes
Order code
Description
Size of unit [mm3]
TMC603-EVAL
Evaluation board for TMC603 three phase motor pre-driver
160 x 100 x 13.5
Table 2.1 Order codes

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3Hardware
3.1 Mechanical and Electrical Interfacing
3.1.1 Size of TMC603-EVAL and Mounting Holes
The board dimensions are 160mm x 100mm. Maximum component height (height above PCB level) without
mating connectors is 13.5mm. There are six mounting holes (hole diameter: 3.2mm) suitable for M3 screws.
20
133 3.4
3.4
160
100
3.4
156.6
6x M3
screws for
mounting
3.4
80
Figure 3.1 TMC603-EVAL dimensions

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3.1.2 Connectors
Power
RS232
USB
UART
JTAG
Hall
Motor
Encoder
1
11
1
1
1
1
Figure 3.2 Connectors of TMC603-EVAL
CONNECTORS OF TMC603-EVAL
Label
Connector type
Mating connector type
Power
RIA 330-02, 2 pol., 5mm pitch, shrouded
header
RIA 349-2, screw type terminal block,
pluggable, centerline 5 mm / 0.197
inches, wire entry parallel to plug
direction
Motor
RIA 330-03, 3 pol., 5mm pitch, shrouded
header
RIA 349-3, screw type terminal block,
pluggable, centerline 5 mm / 0.197
inches, wire entry parallel to plug
direction
Encoder
RIA 182-05, 5 pol., 3.5mm pitch, header
RIA 169-05, screw type terminal block,
pluggable, centerline 3.5 mm / 0.138
inches, wire entry parallel to plug
direction
Hall sensor
RIA 182-05, 5 pol., 3.5mm pitch, header
RIA 169-05, screw type terminal block,
pluggable, centerline 3.5 mm / 0.138
inches, wire entry parallel to plug
direction
USB
USB, type B, 4 pol., female
USB, type B, 4 pol., male
UART
Multi-pin-connector, 3 pol., 2.54mm pitch
Female connector with 2.54mm pitch
RS232
DSUB, vertical, 9 pol., male, US-type
DSUB, 9 pol., female
JTAG
Low profile box header without locking
bar, type 8380, 20 pol., DIN 41651,
2.54mm pitch
Low profile IDC socket connector, 20pol.,
DIN41651, 2.54mm pitch
Table 3.1 Connectors

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3.1.2.1 Power Connector
Pin
Label
Direction
Description
1
GND
Power (GND)
Power supply and signal ground
2
+UB
Power (Supply input)
Supply voltage: +12… +48V DC
Table 3.2 Power connector
3.1.2.2 Motor Connector
Pin
Label
Direction
Description
1
W
Output
Motor coil connection W
2
V
Output
Motor coil connection V
3
U
Output
Motor coil connection U
Table 3.3 Motor connector
3.1.2.3 Hall Sensor Connector
Pin
Label
Direction
Description
1
+5V
Output
Power supply output for hall sensor, nom. +5V DC
2
GND
GND
Power supply and signal ground
3
HALL1
Input (5V TTL)
Hall sensor 1
4
HALL2
Input (5V TTL)
Hall sensor 2
5
HALL3
Input (5V TTL)
Hall sensor 3
Table 3.4 Hall sensor connector
3.1.2.4 Encoder Connector
Pin
Label
Direction
Description
1
+5V
Output
Power supply output for hall sensor, nom. +5V DC
2
GND
GND
Power supply and signal ground
3
ENC_A
Input
Encoder signal A
4
ENC_B
Input
Encoder signal B
5
ENC_N
Input
Encoder signal N
Table 3.5 Encoder connector
3.1.2.5 USB Connector
Pin
Label
Description
1
+5V
Board is self-powered –just use to detect availability of attached host system
(e.g. PC)
2
USB-
Differential USB bus
3
USB+
Differential USB bus
4
GND
System and module ground
Table 3.6 USB connector
3.1.2.6 RS232 Connector
Pin
Label
Description
2
RXD
Received data line
3
TXD
Transmitted data line
5
GND
RS232 signal and system ground
Table 3.7 RS232 connector

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3.1.2.7 UART Connector
Pin
Label
Description
1
RXD
Received data line
2
TXD
Transmitted data line
3
GND
Signal and system ground
Table 3.8 UART connector
3.1.3 Switches and Potentiometer
Reset Switch1 Switch2Potentiometer
Figure 3.3 Switches and potentiometer
Label
Description
Reset
The reset switch is connected to the NRST pin of the µC. Press it to reset the
module.
Potentiometer
The potentiometer is connected to pin PC5 of the µC (ADC_IN15/PC5). It can be
used customer specific with GIO command.
Switch1
Switch1 is connected to pin PB1 of the µC (PB1/ADC_IN9/T3_CH4). The switch can
be used customer specific with GIO command.
Switch2
Switch2 is connected to pin PB0 of the µC (PB0/ADC_IN8/T3_CH3). The switch can
be used customer specific with the GIO command.
Table 3.9 Switches and potentiometer
3.1.4 Jumpers
Jumper
Label
Description
Select +3.3V supply
+3.3V_SEL
Jumper pins
Result
1, 2
+5V supply voltage of additional switching
regulator (default). Precondition: +5V_SEL
jumper on pin 1 and 2.
2, 3
+12V low side driver supply voltage of
TMC603.
Select +5V supply
+5V_SEL
Jumper pins
Result
1, 2
+5V supply voltage of additional switching
regulator (default)
2, 3
+5V Internal supply voltage of TMC603
Short to GND control
resistor
RS2G
The short to GND control resister controls the delay time between
switching on the high side MOSFET and the short to GND check.
Jumper plugged RS2G = 470kΩ(tS2G = 2µs)
Jumper unplugged RS2G = 1.47MΩ(tS2G = 6µs) default
Slope control resistor
RSLP
The slope control resistor sets output current for MOSFET drivers.
Jumper plugged RSLP = 100kΩ(Igate = 100mA)
Jumper unplugged RSLP = 147kΩ(Igate = 68mA) default
Error enable
ERR-EN
Jumper plugged In case of error (e.g. short circuit on
output) the TMC603 turns off
itself by hardware.
Jumper unplugged Without jumper the shutdown has to
be realized by the processor.

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Jumper
Label
Description
Enable/disable shunt
resistors for current
measurement
ENRS
Set this jumper together with the three jumpers Filter/Ext_Shunt.
There are two possibilities.
-Set ENRS jumper together with three jumpers
Filter/Ext_Shunt on pin position 2-3 (extern shunt). Now,
the measurement of the motor current will be done with
the shunt resistors on the board.
-If the ENRS jumper is not set and the three jumpers
Filter/Ext_Shunt are set on pin position 1-2 (filter
position), there will be the filtered, measured motor
voltages on the measuring points F1, F2, and F3.
Spike suppression
time control
capacitor
SP_SUP
An external capacitor on this pin controls the commutation spike
suppression time for hallFX™. This pin charges the capacitor via
an internal current source.
All jumpers unplugged CSP_SUP = 470pF (tSP_SUP = 47µs)
Jumper 1nF plugged CSP_SUP = 1.47nF (tSP_SUP = 147µs)
Jumper 2.2nF plugged CSP_SUP = 2.67nF (tSP_SUP = 267µs)
Jumper 1nF and 2.2nF CSP_SUP = 3.67nF (tSP_SUP = 367µs)
Jumper 4.7nF plugged CSP_SUP = 5.17nF (tSP_SUP = 517µs) Default
Jumper 1nF and 4.7nF CSP_SUP = 6.17nF (tSP_SUP = 617µs)
Jumper 2.2nF and 4.7nF CSP_SUP = 7,37nF (tSP_SUP = 737µs)
All jumpers plugged CSP_SUP = 8,37nF (tSP_SUP = 837µs)
Filter output /
external sense
resistor input
Filter/Ext.Shunt
Selects output signal of internal switched capacitor filters or input
for external sense resistor (default).
When the internal RDSon of optional MOSFETs in TO-220 package
are used to measure the actual motor current, set the jumper to
pin 1 and 2. In that case, the filter outputs of TMC603 are
connected to the measuring points Fx (refer
chapter 9). In addition, set the axis parameter
225 to zero (refer chapter 5), to select the current
measurement by using the internal RDSon of
optional MOSFETs.
When the external sense resistors are used to measure the actual
motor current, set the jumpers to pin 2 and 3 (default). In that
case, the external sense resistors are connected to the analog
inputs RSx of TMC603 (refer TMC603 datasheet).
In addition, set the axis parameter 225 to one
(refer chapter 5), to select the current
measurement by using the external sense
resistor.
RS232 select
RS232_SEL
Both jumpers plugged RS232 usable on D-sub connector
Both jumper unplugged UART TTL usable on D-sub connector
Table 3.10 Jumpers

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3.1.5 LEDs
LEDS OF THE TMC603-EVAL
Status
Label
Description
Error signal
ERROR
This red LED lights up upon an error is occurred by
undervoltage of VLS or VCP as well as by short to ground of
the power MOS half bridge.
Power on
POWER
This green LED lights up upon the power supply is working.
Temperature warning
OVER TEMP
This red LED flashes upon the power state has exceeded a
critical temperature of 100°C (prewarning). This red LED lights
up upon the power stage has exceeded a critical temperature
of 120°C. The motor becomes switched off, until temperature
falls below 110°C.
Current limit
OVER CURRENT
This red LED lights up upon the motor current has exceeded
the current limit.
LED without defined
function
LED1
This yellow LED is applicable and can be used customer
specific. The SIO and GIO commands can be used for setting
and read out.
Table 3.11 LEDs
3.1.6 Measuring Points
MEASURING POINTS OF THE TMC603-EVAL
Measuring point
Label
Description
Charge pump supply
voltage
VCP
Charge pump supply voltage. Provides high side driver
supply.
Low side driver
supply voltage
VLS
Low side driver supply voltage for driving low side gates.
Power supply +5V DC
+5V
Power supply, nom. +5V DC
Power supply +3.3V
DC
+3.3V
Power supply, nom. +3.3V DC
Ground
GND
Power supply and signal ground. There are two ground pins
for the oscilloscope.
Error output
ERROR
Error output (open drain). The TMC603 has three different
sources for signaling an error:
-Undervoltage of the low side supply
-Undervoltage of the charge pump
-Short to GND detection
Upon any of these events the error output is pulled low.
Current output
CUR1/2/3
Output of current measurement amplifier (for phase 1 to 3).
The output signal is centered to 1.65V.
Filter output
F1/2/3
Output of internal switched capacitor filter (for phase 1 to 3).
This signal is available only if filter outputs of TMC603 are
selected (refer chapter 7).
High side output
HS1/2/3
High side MOSFET driver output (for phase 1 to 3)
Bridge output
BM1/2/3
Sensing input for bridge output. Used for MOSFET control and
current measurement. (for phase 1 to 3)
Low side output
LS1/2/3
Low side MOSFET driver output (for phase 1 to 3)
Table 3.12 Measuring points

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4TMCL Overview
As with most TRINAMIC modules the software running on the STM32F ARM Cortex-M3 processor of the
TMC603-EVAL 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. The firmware shipped with this evaluation board
is related to the standard TMCL firmware shipped with most of TRINAMIC modules with regard to protocol
and commands.
There are two software tools: the TMCM-BLDC and the TMCL-IDE. Whereas the TMCM-BLDC is used for testing
different configurations in all modes of operation the TMCL-IDE is mainly designed for conceiving programs
and firmware updates. New versions of the TMCM-BLDC and the TMCL-IDE can be downloaded free of charge
from the TRINAMIC website (http://www.trinamic.com).
4.1 TMCM-BLDC
The TMCM-BLDC is a special small program for adjusting and testing settings of TMCM modules for BLDC
motors. This software tool offers dialogues for all modes of operation. The TMCM-BLDC can be downloaded
from www.trinamic.com and is compatible with the TMCL-IDE.
The TMCM-BLDC is a PC application running under WindowsXP / Vista / Windows 7 (Windows 3.x is not
supported) that includes
-a connection dialogue for connecting the module,
-a dialogue for basic settings (motor settings, encoder settings, commutation mode, trace controller),
-three dialogues for operation modes, each for one mode of operation (torque mode, velocity mode,
positioning mode),
-a dialogue for entering and executing TMCL commands in direct mode,
-a file menu for exporting/importing settings, storing or restoring them. Further, settings can be
exported to TMCL for use with the TMCL-IDE.
The TMCM-BLDC is designed for finding initial settings, e.g. the values for P and I parameters of a specific
mode of operation. Each value can be changed on the fly and the results are shown immediately on the
diagrams. After optimum values are found they can be exported to the TMCL-IDE for developing programs
that run standalone on the module later on. TRINIAMIC recommends using this TMCM-BLDC tool first and
proceed afterwards with the TMCL-IDE.

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4.1.1 Getting Started with TMCM-BLDC
The first step is to connect the module by clicking the Connect button. (Please refer to the specific hardware
and firmware manuals of your module for further information about connecting cables etc. prior to this.)
Proceed if the communication between module and PC is established.
THE PROGRAM SURFACE GIVES AN IMPRESSION HOW TO WORK WITH TMCM-BLDC:
The settings tab is needed for adjusting general settings of the module. The other three tabs are designed
for trying out torque mode, velocity mode, and positioning mode. The last tab is used for controlling the
module with TMCL direct mode. All TMCL commands can be entered as usual.
On the right side of the window are status and error flags. Below the tabs are diagrams for velocity,
position, and current. These diagrams and the status/error information can be used for controlling settings
visually in order to identify best results as well as deficient settings. It is possible to scale each X-axis and
Y-axis to get a comfortable report. Status/error flags and diagrams are for diagnostic tasks only and remain
visible, while the program is used. The input field on top can be chosen by selecting a specific tab.
Please note that the status/error information and the charts have to be activated by starting the trace
controller on the settings tab, which polls the corresponding values from the board on a regular basis.
Figure 4.1 Connection tab of TMCM-BLDC

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4.1.2 Dialogues of the TMCM-BLDC
4.1.2.1 Settings
After connecting the module with the connect button you can choose the settings tab and fill in basic
values: motor settings, encoder settings and commutation mode. All settings correspond to specific axis
parameters of your module.
The trace controller has to be started for displaying the curves on the diagrams below. Clicking the start
button of the trace controller enables the status/error flags, too.
Figure 4.2 Settings tab of TMCM-BLDC

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4.1.2.2 Torque Mode
The torque mode tab offers the possibility to test different current settings and to evaluate the current
control. A target current can be chosen. Further, the current PI control can be adjusted by choosing values
for the P and I parameters.
The drive can be started (in positive and negative direction) and stopped with the buttons in the current
control field. The values can be calibrated on the fly while the drive is still active. The results will be shown
immediately on the diagrams below.
Figure 4.3 Torque mode tab of TMCM-BLDC

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4.1.2.3 Velocity Mode
The input area of the velocity mode tab has three parts: the velocity ramp control, the velocity control and
the velocity PI control. In the middle of the input area is the velocity control, which is used to start the
drive (in positive and negative direction) in velocity mode with a chosen speed [rpm] or stop it. The velocity
ramp control is needed for setting the maximum velocity [rpm] and the acceleration [rpm/s]. Further, the
velocity ramp can be enabled by ticking the appropriate field. Disabling the velocity ramp leads to a hard
stop.
On the right side is the velocity PI control. Here, the P and I parameter values can be set. The values can
be calibrated on the fly while the drive is still active. The results will be shown immediately on the
diagrams.
Figure 4.4 Velocity mode tab of TMCM-BLDC

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4.1.2.4 Positioning Mode
The input area of the positioning mode tab has three parts: the velocity ramp control, the positioning
control, and the position p control.
The velocity ramp control is the same as on the velocity mode tab. Maximum velocity and acceleration can
be chosen and the velocity ramp can be enabled or disabled. In the middle of the positioning mode input
area is the positioning control field. This is adequate designed to the TMCL command MVP (move to
position). There are two possibilities to move in positive or negative direction: move absolutely or relatively
to the actual position. Units for different commutation modes are as follows:
-The unit of the target position for positioning with encoder is encoder steps per motor rotation.
-The unit for positioning with hall sensors is 
steps per motor rotation.
The button clear sets the counter for positioning to zero. Clear on NULL is used with encoder. The actual
position is set to zero when crossing the next N channel.
On the right side of the positioning mode tab input area is the position P control. Here, the value of the P
parameter can be set. The value can be calibrated on the fly while the drive is still active. The results will be
shown immediately on the diagrams.
Figure 4.5 Positioning mode tab of TMCM-BLDC

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4.1.2.5 TMCL
The input area of the TMCL tab has the same structure as the appropriate window for TMCL direct mode of
the TMCL-IDE. Command number, type, motor/bank and a chosen value can be set. By clicking the Send
button the request will be sent to the module. Immediately the reply of the module will be displayed in the
Reply field.
Please refer to the complete lists of axis parameters and global parameters of your module in the
appropriate firmware manual, too.
Figure 4.6 TMCL tab of TMCM-BLDC

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4.1.3 File Menu of TMCM-BLDC
The file menu of the TMCM-BLDC offers the possibility to import and to export settings. This is useful for
transferring settings from one module to another. Settings can be exported (Export settings to *.ini) and
afterwards imported to another module with the command Import settings from *.ini.
Further, it is useful to export evaluated adjustments of the TMCM-BLDC program to a TMCL script used later
in the TMCL-IDE. Therefore choose Export settings to TMCL.
Certainly actual values can be stored and restored on the module.
Figure 4.7 File menu of TMCM-BLDC

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4.2 TMCL-IDE
The TMCL-IDE is an integrated development environment mainly for developing standalone TMCL
applications, but it also includes a function for using the TMCL commands in direct mode. The TMCL-IDE is a
PC application running under Windows 95/98/NT/2000/XP/Vista/Windows 7.
For the TMC603-EVAL in particular the dialogue for configuring BLDC modules is important. Most other
functions can be used, too. Please refer to the TMCL-IDE User Manual (www.trinamic.com) for detailed
information about this.
Please be sure to always use the latest version of the TMCL-IDE as its functionality is being extended
and improved constantly.
4.2.1 BLDC Tool of the TMCL-IDE
The BLDC tool of the TMCL-IDE consists mainly of two parts: the left for adjusting axis parameters and
testing them directly in praxis and the right for reporting generated values.
Figure 4.8 Configuration tool of the TMCL-IDE

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4.2.1.1 Axis Parameters and Motion
Figure 4.9 Values tab of the TMCL-IDE
On the left side of the BLDC tool are two tabs,
which can be chosen:
-Values
-TMCL
The values tab offers a table with two columns:
numbers of the TMCL axis parameters and
appropriate descriptions on the left and given
values on the right. The value of each axis
parameter can be changed directly. If the
overwritten value field is left the new value
becomes valid. The TMCL command behind this
action is set axis parameter (SAP). Immediately
changes will be recognized and shown on the
TMCL tab, where all SAP commands are displayed
as TMCL mnemonics / text strings. The content of
the TMCL™tab can be marked and copied by
clicking the copy button. Certainly it is possible
to paste copied sections into the editor of the
TMCL-IDE in order to create one’s own
application.
Below the two tabs of the axis parameter area is
an input area for motion control. Using its
functionality is important for testing the adjusted
axis parameters directly in praxis. In the middle
of this area are two value input fields: the above
is for setting the speed for the commands rotate
left (ROL) or rotate right (ROR). The value input
field on the bottom is used for positioning. The
TMCL™command behind this action is termed
move to absolute position (MVP ABS).
You will find further information about the TMCL
commands in chapter 4.4.

TMC603-EVAL Manual / Firmware V2.05 (Rev. 2.02 / 2013-APR-03) 20
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4.2.1.2 Value Display
While the TMCL BLDC tool is active the value display offers a smart visualization of all chosen adjustments.
Changes of axis parameters and other commands will be shown immediately in graphics and table.
Figure 4.10 Value display of the TMCL-IDE
All parameter changes and commands which
have been initiated with the help of the values
tab and the motion area will be shown
immediately on the screens and the accordant
table of the value display. These tools offer read
out values used for adjusting positioning
operations, mainly. The TMCL™command behind
this is the get axis parameter command (GAP).
The value display area offers possibilities for
changing its adjustments. Under each graphic are
two buttons for choosing the aspects which have
to be examined.
Select out of the following catalog:
-None
-Target Position
-Actual Position
-Ramp. gen. Velocity
-Actual Velocity
-Actual Current
At all, the curves of up to four aspects can be
shown on the two screens at the same time.
Depending on the targets a customer is engaged
with it might be helpful to equal the scales by
ticking the appropriate fields (default).