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PD42-1241 TMCL Firmware Manual Fw1.44 Rev1.01

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171 views107 pages

PD42-1241 TMCL Firmware Manual Fw1.44 Rev1.01

PD42-1241_TMCL_firmware_manual_Fw1.44_Rev1.01

Uploaded by

Deval Pareek

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PANdrive™ for Stepper PANDRIVE™

PD42-1241 TMCL™ Firmware Manual

Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23
The PD42-1241 is a full mechatronic solution, made up of a TMCM-1241 stepper control module and
a NEMA 17 (42mm flange size) motor. The PD42-1241 TMCL firmware allows to control the module
using TMCL™ commands, supporting standalone operation as well as direct mode control, making
use of the Trinamic TMC5160 motion controller and motor driver. Dynamic current control, and
quiet, smooth and efficient operation are combined with StealthChop™, DcStep™, StallGuard2™
and CoolStep™ features.
Features
• Single Axis Stepper motor control
• Supply voltage 24V DC
• TMCL™
• Host interfaces: RS485, CAN, USB
• Step/Direction inputs
• Additional inputs and outputs
• SixPoint™ ramps
• CoolStep™
• StallGuard2™
• StealthChop™
• SensOstep™ encoder
• External (AB) encoder interface
Applications
• Laboratory Automation • Robotics • Life Science
• Manufacturing • Factory Automation • Biotechnology
• Semiconductor Handling • Test & Measurement • Liquid Handling

Simpliﬁed Block Diagram

EEPROM PD42-3-1241
PD42-4-1241 QSH4218-47-28-040
SPI
QSH4218-60-30-080
USB Step
RS485 ARM SPI MOSFET
Cortex-M3TM Motion Driver
microcontroller Energy Efficient
CAN Controller Stage
Driver
+
I/Os
6 TMC262 Motor
Pre-Driver
STOP_L/R, S/D, Encoder

SPI sensOstep™
Encoder
10… 30V DC
DC/DC +3V3
+5V TMCM-1241

©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at: www.trinamic.com

Read entire documentation.

PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 2 / 107

Contents

1 Features 5
1.1 StallGuard2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2 CoolStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 SixPoint Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2 First Steps with TMCL 8

2.1 Basic Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 Using the TMCL Direct Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3 Changing Axis Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.4 Testing with a simple TMCL Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3 TMCL and the TMCL-IDE — An Introduction 11

3.1 Binary Command Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1.1 Checksum Calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2 Reply Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.2.1 Status Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3 Standalone Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4 TMCL Command Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.5 TMCL Commands by Subject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.5.1 Motion Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.5.2 Parameter Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.5.3 Branch Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.5.4 I/O Port Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.5.5 Calculation Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.5.6 Interrupt Processing Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.6 Detailed TMCL Command Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.6.1 ROR (Rotate Right) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.6.2 ROL (Rotate Left) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.6.3 MST (Motor Stop) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.6.4 MVP (Move to Position) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.6.5 SAP (Set Axis Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.6.6 GAP (Get Axis Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.6.7 SGP (Set Global Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.6.8 GGP (Get Global Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.6.9 STGP (Store Global Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.6.10 RSGP (Restore Global Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.6.11 RFS (Reference Search) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.6.12 SIO (Set Output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.6.13 GIO (Get Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.6.14 CALC (Calculate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.6.15 COMP (Compare) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.6.16 JC (Jump conditional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.6.17 JA (Jump always) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.6.18 CSUB (Call Subroutine) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.6.19 RSUB (Return from Subroutine) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.6.20 WAIT (Wait for an Event to occur) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.6.21 STOP (Stop TMCL Program Execution – End of TMCL Program) . . . . . . . . . . . . . . 50
3.6.22 SCO (Set Coordinate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.6.23 GCO (Get Coordinate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.6.24 CCO (Capture Coordinate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
3.6.25 ACO (Accu to Coordinate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
PD42-1241 TMCL™ Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23 3 / 107

3.6.26 CALCX (Calculate using the X Register) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

3.6.27 AAP (Accu to Axis Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.6.28 AGP (Accu to Global Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.6.29 CLE (Clear Error Flags) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3.6.30 EI (Enable Interrupt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3.6.31 DI (Disable Interrupt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.6.32 VECT (Deﬁne Interrupt Vector) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.6.33 RETI (Return from Interrupt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
3.6.34 Customer speciﬁc Command Extensions (UF0. . . UF7 – User Functions) . . . . . . . . . 67
3.6.35 Request Target Position reached Event . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
3.6.36 TMCL Control Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

4 Axis Parameters 72

5 Global Parameters 82
5.1 Bank 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
5.2 Bank 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.3 Bank 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.4 Bank 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

6 Module Speciﬁc Hints 87

6.1 Conversion between PPS, RPM and RPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
6.2 The SensOstep™ Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
6.3 External Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
6.4 Step/Direction Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

7 Hints and Tips 89

7.1 Reference Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
7.1.1 Mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
7.1.2 Mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
7.1.3 Mode 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
7.1.4 Mode 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
7.1.5 Mode 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
7.1.6 Mode 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
7.1.7 Mode 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
7.1.8 Mode 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
7.2 StallGuard2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
7.3 CoolStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
7.4 Velocity and Acceleration Calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
7.5 SixPoint Ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

8 TMCL Programming Techniques and Structure 99

8.1 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
8.2 Main Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
8.3 Using Symbolic Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
8.4 Using Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
8.5 Using Subroutines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
8.6 Combining Direct Mode and Standalone Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
8.7 Make the TMCL Program start automatically . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

9 Figures Index 103

10 Tables Index 104

11 Supplemental Directives 105

11.1 Producer Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
11.2 Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
11.3 Trademark Designations and Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
11.4 Target User . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
11.5 Disclaimer: Life Support Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
11.6 Disclaimer: Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
11.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

12 Revision History 107

12.1 Firmware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
12.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

1 Features
The PANdrive™ PD42-1241 is a full mechatronic solution with state of the art feature set. It is highly
integrated and offers a convenient handling. The PD42-1241 includes a stepper motor, controller/driver
electronics and Trinamic’s SensOstep™ encoder. It can be used in many decentralized applications and has
been designed for 0.20. . . 0.80Nm maximum holding torque and 24V DC nominal supply voltage. With its
high energy eﬃciency from TRINAMICs CoolStep™ technology cost for power consumption is kept down.
The TMCL™ ﬁrmware allows for standalone operation and direct mode control.

Main characteristics
• Motion controller & stepper motor driver:

– Hardware motion proﬁle calculation in real-time.

– On the ﬂy alteration of motion parameters (e.g. position, velocity, acceleration).
– High performance microcontroller for overall system control and communication protocol
handling.
– Up to 256 microsteps per full step.
– High-eﬃcient operation, low power dissipation.
– Dynamic current control.
– Integrated protection.
– StallGuard2™ feature for stall detection.
– CoolStep™ feature for reduced power consumption and heat dissipation.
– StealthChop™ feature for quiet operation and smooth motion.
– DcStep™ feature for load dependent speed control.
• Encoder
– SensOstep™ magnetic encoder with 1024 increments per round.
– Usable for example for step-loss detection under all operating conditions and positioning
supervision.
– Interface for additional external encoder.
• Interfaces

– USB interface.
– RS485 bus.
– CAN bus.
– Step/Direction inputs.
– Three general-purpose digital inputs (Alternate functions: home switch, quadrature encoder
input).
– One dedicated analog input.
– Two stop switch inputs.
– One general purpose digital output (open drain max. 1A).

Software
TMCL remote controlled operation via USB, RS485 or CAN interface and/or stand-alone operation via TMCL
programming. PC-based application development software TMCL-IDE available for free.

Electrical data
• Supply voltage: +24V DC nominal (10. . . 30V DC supply range).
• Motor current: up to 3A RMS / 4.2A peak (programmable).
Please see also the separate Hardware Manual.

1.1 StallGuard2
StallGuard2 is a high-precision sensorless load measurement using the back EMF of the coils. It can be
used for stall detection as well as other uses at loads below those which stall the motor. The StallGuard2
measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum
motor load, the value reaches zero or is near zero. This is the most energy-eﬃcient point of operation for
the motor.

stallGuard2
Load [Nm]

Initial stallGuard2 (SG) value: 100%

Max. load

stallGuard2 (SG) value: 0

Maximum load reached.
Motor close to stall.
Motor stalls

Figure 1: StallGuard2 Load Measurement as a Function of Load

1.2 CoolStep
CoolStep is a load-adaptive automatic current scaling based on the load measurement via StallGuard2
adapting the required current to the load. Energy consumption can be reduced by as much as 75%.
CoolStep allows substantial energy savings, especially for motors which see varying loads or operate at a
high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to 50%,
even a constant-load application allows signiﬁcant energy savings because CoolStep automatically enables
torque reserve when required. Reducing power consumption keeps the ystem cooler, increases motor life,
and allows cost reduction.

0,9
Efficiency with coolStep
0,8 Efficiency with 50v torque reserve

0,7

0,6

0,5
Efficiency
0,4

0,3

0,2

0,1

0
0 50 100 150 200 250 300 350
Velocity [RPM]

Figure 2: Energy Eﬃciency Example with CoolStep

1.3 SixPoint Motion Controller

TRINAMIC’s SixPoint motion controller is a new type of ramp generator which offers faster machine opera-
tion compared to the classical linear acceleration ramps. The SixPoint ramp generator allows adapting the
acceleration ramps to the torque curves of a stepper motor. It uses two different acceleration settings for
the acceleration phase and also tow different deceleration settings for the deceleration phase. Start and
stop speeds greater than zero can also be used.

Figure 3: Typical motion proﬁle with TRINAMIC’s SixPoint motion controller

A six point ramp begins using the start speed VSTART (which can also be zero). Then, the acceleration
value A1 will be used to accelerate the motor to the speed V1. When the speed V1 has been reached,
the motor will be further accelerated using the acceleration value A2 until it has reached the speed VMAX .
The deceleration phase begins using the deceleration value D2. After reaching the speed V1 again the
deceleration value D2 will be used to declerate to the stop speed VSTOP (which can also be zero).

2 First Steps with TMCL

In this chapter you can ﬁnd some hints for your ﬁrst steps with the PD42-1241 and TMCL. You may skip
this chapter if you are already familiar with TMCL and the TMCL-IDE.

Things that you will need

• Your PD42-1241 module.
• A USB cable.
• A power supply (24V DC) for your PD42-1241 module.

• The TMCL-IDE 3.x already installed on your PC.

• A two-phase bipolar stepper motor.

2.1 Basic Setup

First of all, you will need a PC with Windows (at least Windows 7) and the TMCL-IDE 3.x installed on it. If
you do not have the TMCL-IDE installed on your PC then please download it from the TMCL-IDE product
page of Trinamic’s website (http://www.trinamic.com) and install it on your PC.

Please also ensure that your PD42-1241 is properly connected to your power supply and that the stepper
motor is properly connected to the module. Please see the PD42-1241 hardware manual for instructions
on how to do this. Do not connect or disconnect a stepper motor to or from the module while the
module is powered!
Then, please start up the TMCL-IDE. After that you can connect your PD42-1241 via USB and switch on the
power supply for the module (while the TMCL-IDE is running on your PC). The module will be recognized
by the TMCL-IDE, and necessary driver registrations in Windows will automatically done by the TMCL-IDE.

2.2 Using the TMCL Direct Mode

At ﬁrst try to use some TMCL commands in direct mode. In the TMCL-IDE a tree view showing the PD42-
1241 and all tools available for it is displayed. Click on the Direct Mode entry of the tool tree. Now, the
Direct Mode tool will pop up.

In the Direct Mode tool you can choose a TMCL command, enter the necessary parameters and execute
the command. For example, choose the command ROL (rotate left). Then choose the appropriate motor
(motor 0 if your motor is connected to the motor 0 connector). Now, enter the desired speed. Try entering
51200 (pps) as the value and then click the Execute button. The motor will now run. Choose the MST
(motor stop) command and click Execute again to stop the motor.

2.3 Changing Axis Parameters

Next you can try changing some settings (also called axis parameters) using the SAP command in direct
mode. Choose the SAP command. Then choose the parameter type and the motor number. Last, enter
the desired value and click execute to execute the command which then changes the desired parameter.
The following table points out the most important axis parameters. Please see chapter 4 for a complete
list of all axis parameters.

Most important axis parameters

Number Axis Parameter Description Range Access
[Units]
4 Maximum The maximum speed used for positioning ramps. 0. . . 7999774 RW
positioning [pps]
speed
5 Maximum Maximum acceleration in positioning ramps. Ac- 0. . . 7629278 RW
acceleration celeration and deceleration value in velocity [pps2 ]
mode.
6 Maximum Motor current used when motor is running. The 0. . . 255 RW
current maximum value is 255 which means 100% of the
maximum current of the module.
The current can be adjusted in 32 steps:
0. . . 7 79. . . 87 160. . . 167 240. . . 247
8. . . 15 88. . . 95 168. . . 175 248. . . 255
16. . . 23 96. . . 103 176. . . 183
24. . . 31 104. . . 111 184. . . 191
32. . . 39 112. . . 119 192. . . 199
40. . . 47 120. . . 127 200. . . 207
48. . . 55 128. . . 135 208. . . 215
56. . . 63 136. . . 143 216. . . 223
64. . . 71 144. . . 151 224. . . 231
72. . . 79 152. . . 159 232. . . 239
The most important setting, as too high values can
cause motor damage.
7 Standby The current used when the motor is not running. 0. . . 255 RW
current The maximum value is 255 which means 100% of
the maximum current of the module. This value
should be as low as possible so that the motor
can cool down when it is not moving.

Table 1: Most important Axis Parameters

2.4 Testing with a simple TMCL Program

Now, test the TMCL stand alone mode with a simple TMCL program. To type in, assemble and download
the program, you will need the TMCL creator. This is also a tool that can be found in the tool tree of
the TMCL-IDE. Click the TMCL creator entry to open the TMCL creator. In the TMCL creator, type in the
following little TMCL program:
1 ROL 0 , 51200 // Rotate motor 0 with speed 10000
WAIT TICKS , 0 , 500
3 MST 0
ROR 0 , 51200 // Rotate motor 0 with 50000
5 WAIT TICKS , 0 , 500
MST 0

SAP 4 , 0 , 51200 // Set max . Velocity

9 SAP 5 , 0 , 51200 // Set max . Acceleration
Loop :
11 MVP ABS , 0 , 512000 // Move to Position 512000
WAIT POS , 0 , 0 // Wait until position reached
13 MVP ABS , 0 , -512000 // Move to Position -512000
WAIT POS , 0 , 0 // Wait until position reached
15 JA Loop // Infinite Loop
After you have done that, take the following steps:
1. Click the Assemble icon (or choose Assemble from the TMCL menu) in the TMCL creator to assemble
the program.
2. Click the Download icon (or choose Download from the TMCL menu) in the TMCL creator to donwload
the program to the module.
3. Click the Run icon (or choose Run from the TMCL menu) in the TMCL creator to run the program on
the module.
Also try out the debugging functions in the TMCL creator:

1. Click on the Bug icon to start the debugger.

2. Click the Animate button to see the single steps of the program.
3. You can at any time pause the program, set or reset breakpoints and resume program execution.
4. To end the debug mode click the Bug icon again.

3 TMCL and the TMCL-IDE — An Introduction

As with most TRINAMIC modules the software running on the microprocessor of the PD42-1241 consists
of two parts, a boot loader and the ﬁrmware itself. Whereas the boot loader is installed during production
and testing at TRINAMIC and remains untouched throughout the whole lifetime, the ﬁrmware can be
updated by the user. New versions can be downloaded free of charge from the TRINAMIC website
(http://www.trinamic.com).
The PD42-1241 supports TMCL direct mode (binary commands). It also implements standalone TMCL
program execution. This makes it possible to write TMCL programs using the TMCL-IDE and store them in
the memory of the module.

In direct mode the TMCL communication over RS-232, RS-485, CAN, and USB follows a strict master/slave
relationship. That is, a host computer (e.g. PC/PLC) acting as the interface bus master will send a com-
mand to the PD42-1241. The TMCL interpreter on the module will then interpret this command, do the
initialization of the motion controller, read inputs and write outputs or whatever is necessary according to
the speciﬁed command. As soon as this step has been done, the module will send a reply back over the
interface to the bus master. Only then should the master transfer the next command.

Normally, the module will just switch to transmission and occupy the bus for a reply, otherwise it will stay
in receive mode. It will not send any data over the interface without receiving a command ﬁrst. This way,
any collision on the bus will be avoided when there are more than two nodes connected to a single bus.
The Trinamic Motion Control Language [TMCL] provides a set of structured motion control commands.
Every motion control command can be given by a host computer or can be stored in an EEPROM on the
TMCM module to form programs that run standalone on the module. For this purpose there are not only
motion control commands but also commands to control the program structure (like conditional jumps,
compare and calculating).

Every command has a binary representation and a mnemonic. The binary format is used to send com-
mands from the host to a module in direct mode, whereas the mnemonic format is used for easy usage of
the commands when developing standalone TMCL applications using the TMCL-IDE (IDE means Integrated
Development Environment).

There is also a set of conﬁguration variables for the axis and for global parameters which allow individual
conﬁguration of nearly every function of a module. This manual gives a detailed description of all TMCL
commands and their usage.

3.1 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 RS-232, RS-485, RS-422 or USB
interface, it has to be enclosed by an address byte at the beginning and a checksum byte at the end. In
these cases it consists of nine bytes.

The binary command format with RS-232, RS-485, RS-422 and USB is as follows:

TMCL Command Format

Bytes Meaning
1 Module address
1 Command number
1 Type number
1 Motor or Bank number
4 Value (MSB ﬁrst!)
1 Checksum

Table 2: TMCL Command Format

Info The checksum is calculated by accumulating all the other bytes using an 8-bit
addition.

Note When using the CAN interface, leave out the address byte and the checksum byte.
With CAN, the CAN-ID is used as the module address and the checksum is not
needed because CAN bus uses hardware CRC checking.

3.1.1 Checksum Calculation

As mentioned above, the checksum is calculated by adding up all bytes (including the module address
byte) using 8-bit addition. Here are two examples which show how to do this:

Checksum calculation in C:
1 unsigned char i , Checksum ;
unsigned char Command [9];
3

// Set the Command array to the desired command

5 Checksum = Command [0];
for ( i =1; i <8; i ++)
7 Checksum += Command [ i ];

9 Command [8]= Checksum ; // insert checksum as last byte of the command

// Now , send it to the module

Checksum calculation in Delphi:

var
2 i , Checksum : byte ;
Command : array [0..8] of byte ;
4

// Set the Command array to the desired command

// Calculate the Checksum :

8 Checksum := Command [0];
for i :=1 to 7 do Checksum := Checksum + Command [ i ];
10 Command [8]:= Checksum ;
// Now , send the Command array (9 bytes ) to the module

3.2 Reply Format

Every time a command has been sent to a module, the module sends a reply. The reply format with RS-232,
RS-485, RS-422 and USB is as follows:

TMCL Reply Format

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

Table 3: TMCL Reply Format

Info The checksum is also calculated by adding up all the other bytes using an 8-bit
addition. Do not send the next command before having received the reply!

Note When using CAN interface, the reply does not contain an address byte and a
checksum byte. With CAN, the CAN-ID is used as the reply address and the
checksum is not needed because the CAN bus uses hardware CRC checking.

3.2.1 Status Codes

The reply contains a status code. The status code can have one of the following values:

TMCL Status Codes

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

Table 4: TMCL Status Codes

3.3 Standalone Applications

The module is equipped with a TMCL memory for storing TMCL applications. You can use the TMCL-IDE for
developing standalone TMCL applications. You can download a program into the EEPROM and afterwards
it will run on the module. The TMCL-IDE contains an editor and the TMCL assembler where the commands
can be entered using their mnemonic format. They will be assembled automatically into their binary
representations. Afterwards this code can be downloaded into the module to be executed there.

3.4 TMCL Command Overview

This sections gives a short overview of all TMCL commands.

Overview of all TMCL Commands

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>, Move to position (absolute or relative)
<position|offset>
SAP 5 <parameter>, <motor number>, Set axis parameter (motion control
<value> specific settings)
GAP 6 <parameter>, <motor number> Get axis parameter (read out motion
control specific settings)
SGP 9 <parameter>, <bank number>, Set global parameter (module specific
<value> settings e.g. communication settings
or TMCL user variables)
GGP 10 <parameter>, <bank number> Get global parameter (read out mod-
ule specific settings e.g. communica-
tion settings or TMCL user variables)
STGP 11 <parameter>, <bank number> Store global parameter (TMCL user
variables only)
RSGP 12 <parameter>, <bank number> Restore global parameter (TMCL user
variables only)
RFS 13 <START|STOP|STATUS>, <motor num- Reference search
ber>
SIO 14 <port number>, <bank number>, Set digital output to specified value
<value>
GIO 15 <port number>, <bank number> Get value of analog/digital input
CALC 19 <operation>, <value> Aithmetical operation between accu-
mulator and direct value
COMP 20 <value> Compare accumulator with 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
EI 25 <interrupt number> Enable interrupt
DI 26 <interrupt number> Disable interrupt
WAIT 27 <condition>, <motor number>, Wait with further program execution
<ticks>

Command Number Parameter Description

STOP 28 Stop program execution
SCO 30 <coordinate number>, <motor num- Set coordinate
ber>, <position>
GCO 31 <coordinate number>, <motor num- Get coordinate
ber>
CCO 32 <coordinate number>, <motor num- Capture coordinate
ber>
CALCX 33 <operation> Arithmetical operation between accu-
mulator and X-register
AAP 34 <parameter>, <motor number> Accumulator to axis parameter
AGP 35 <parameter>, <bank number> Accumulator to global parameter
CLE 36 <flag> Clear an error flag
VECT 37 <interrupt number>, <address> Define interrupt vector
RETI 38 Return from interrupt
ACO 39 <coordinate number>, <motor num- Accu to coordinate
ber>

Table 5: Overview of all TMCL Commands

3.5 TMCL Commands by Subject

3.5.1 Motion Commands

These commands control the motion of the motor. They are the most important commands and can be
used in direct mode or in standalone mode.

Motion Commands
Mnemonic Command number Meaning
ROL 2 Rotate left
ROR 1 Rotate right
MVP 4 Move to position
MST 3 Motor stop
SCO 30 Store coordinate
CCO 32 Capture coordinate
GCO 31 Get coordinate

Table 6: Motion Commands

3.5.2 Parameter Commands

These commands are used to set, read and store axis parameters or global parameters. Axis parameters
can be set independently for each axis, whereas global parameters control the behavior of the module
itself. These commands can also be used in direct mode and in standalone mode.

Parameter Commands
Mnemonic Command number Meaning
SAP 5 Set axis parameter
GAP 6 Get axis parameter
SGP 9 Set global parameter
GGP 10 Get global parameter
STGP 11 Store global parameter
RSGP 12 Restore global parameter

Table 7: Parameter Commands

3.5.3 Branch Commands

These commands are used to control the program ﬂow (loops, conditions, jumps etc.). Using them in direct
mode does not make sense. They are intended for standalone mode only.

Branch Commands
Mnemonic Command number Meaning
JA 22 Jump always
JC 21 Jump conditional
COMP 20 Compare accumulator with constant value
CSUB 23 Call subroutine
RSUB 24 Return from subroutine
WAIT 27 Wait for a speciﬁed event
STOP 28 End of a TMCL program

Table 8: Branch Commands

3.5.4 I/O Port Commands

These commands control the external I/O ports and can be used in direct mode as well as in standalone
mode.

I/O Port Commands

Mnemonic Command number Meaning
SIO 14 Set output
GIO 15 Get input

Table 9: I/O Port Commands

3.5.5 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.

Calculation Commands
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
ACO 39 Copy accu to coordinate

Table 10: Calculation Commands

For calculating purposes there is an accumulator (also called accu or A register) and an X register. When
executed in a TMCL program (in standalone 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 (standalone mode), a host can still
send commands like GAP and GGP 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.

3.5.6 Interrupt Processing Commands

TMCL also contains functions for a simple way of interrupt processing. Using interrupts, many tasks can
be programmed in an easier way.
The following commands are use to deﬁne and handle interrupts:

Interrupt Processing Commands

Mnemonic Command number Meaning
EI 25 Enable interrupt
DI 26 Disable interrupt
VECT 37 Set interrupt vector
RETI 38 Return from interrupt

Table 11: Interrupt Processing Commands

3.5.6.1 Interrupt Types

There are many different interrupts in TMCL, like timer interrupts, stop switch interrupts, position reached
interrupts, and input pin change interrupts. Each of these interrupts has its own interrupt vector. Each
interrupt vector is identiﬁed by its interrupt number. Please use the TMCL include ﬁle Interrupts.inc in
order to have symbolic constants for the interrupt numbers. Table 12 show all interrupts that are available
on the PD42-1241.

Interrupt Vectors
Interrupt number Interrupt type
0 Timer 0
1 Timer 1
2 Timer 2
3 Target position reached 0
15 StallGuard axis 0
21 Deviation axis 0
27 Left stop switch 0
28 Right stop switch 0
39 Input change 0
40 Input change 1
41 Input change 2
255 Global interrupts

Table 12: Interrupt Vectors

3.5.6.2 Interrupt Processing

When an interrupt occurs and this interrupt is enabled and a valid interrupt vector has been defined
for that interrupt, the normal TMCL program flow will be interrupted and the interrupt handling routine
will be called. Before an interrupt handling routine gets called, the context of the normal program (i.e.
accumulator register, X register, flags) will be saved automatically.
There is no interrupt nesting, i.e. all other interrupts are disabled while an interrupt handling routine is
being executed.
On return from an interrupt handling routine (RETI command), the context of the normal program will
automatically be restored and the execution of the normal program will be continued.

3.5.6.3 Further Conﬁguration of Interrupts

Some interrupts need further conﬁguration (e.g. the timer interval of a timer interrupt). This can be done
using SGP commands with parameter bank 3 (SGP <type> , 3, <value>). Please refer to the SGP command
(chapter 3.6.7) for further information about that.

3.5.6.4 Using Interrupts in TMCL

To use an interrupt the following things have to be done:

• Deﬁne an interrupt handling routine using the VECT command.

• If necessary, conﬁgure the interrupt using an SGP <type>, 3, <value> command.
• Enable the interrupt using an EI <interrupt> command.

• Globally enable interrupts using an EI 255 command.

• An interrupt handling routine must always end with a RETI command.
• Do not allow the normal program ﬂow to run into an interrupt handling routine.

The following example shows the use of a timer interrupt:

1 VECT 0 , Timer0Irq // define the interrupt vector
SGP 0 , 3 , 1000 // configure the interrupt : set its period to 1000 ms
3 EI 0 // enable this interrupt
EI 255 // globally switch on interrupt processing
5

// Main program : toggles output 3 , using a WAIT command for the delay
7 Loop :
SIO 3 , 2 , 1
9 WAIT TICKS , 0 , 50
SIO 3 , 2 , 0
11 WAIT TICKS , 0 , 50
JA Loop
13

// Here is the interrupt handling routine

15 Timer0Irq :
GIO 0 , 2 // check if OUT0 is high
17 JC NZ , Out0Off // jump if not
SIO 0 , 2 , 1 // switch OUT0 high
19 RETI // end of interrupt
Out0Off :
21 SIO 0 , 2 , 0 // switch OUT0 low
RETI // end of interrupt
In the example above, the interrupt numbers are being used directly. To make the program better readable
use the provided include file Interrupts.inc. This file defines symbolic constants for all interrupt numbers
which can be used in all interrupt commands. The beginning of the program above then looks as follows:
# include Interrupts . inc
2 VECT TI_TIMER0 , Timer0Irq
SGP TI_TIMER0 , 3 , 1000
4 EI TI_TIMER0
EI TI_GLOBAL

3.6 Detailed TMCL Command Descriptions

The module speciﬁc commands are explained in more detail on the following pages. They are listed
according to their command number.

3.6.1 ROR (Rotate Right)

The motor is instructed to rotate with a speciﬁed velocity in right direction (increasing the position counter).
The velocity is given in microsteps per second (pulse per second [pps]).

Internal function:
• First, velocity mode is selected.
• Then, the velocity value is transferred to axis parameter #2 (target velocity).
Related commands: ROL, MST, SAP, GAP.

Mnemonic: ROR <axis>, <velocity>

Binary Representation
Instruction Type Motor/Bank Value
1 0 0 -2147483648. . . 2147583647

Reply in Direct Mode

Status Value
100 - OK don’t care

Example
Rotate right motor 0, velocity 51200.
Mnemonic: ROR 0, 51200.

Binary Form of ROR 0, 51200

Field Value
Target address 01h
Instruction number 01h
Type 00h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) C8h
Value (Byte 0) 00h
Checksum CAh

3.6.2 ROL (Rotate Left)

The motor is instructed to rotate with a speciﬁed velocity in left direction (decreasing the position counter).
The velocity is given in microsteps per second (pulse per second [pps]).

Internal function:

• First, velocity mode is selected.

• Then, the velocity value is transferred to axis parameter #2 (target velocity).
Related commands: ROR, MST, SAP, GAP.

Mnemonic: ROL <axis>, <velocity>

Binary Representation
Instruction Type Motor/Bank Value
2 0 0 -2147483648. . . 2147583647

Reply in Direct Mode

Status Value
100 - OK don’t care

Example
Rotate left motor 0, velocity 51200.
Mnemonic: ROL 0, 51200.

Binary Form of ROL 0, 51200

Field Value
Target address 01h
Instruction number 02h
Type 00h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) C8h
Value (Byte 0) 00h
Checksum CBh

3.6.3 MST (Motor Stop)

The motor is instructed to stop with a soft stop.

Internal function: The velocity mode is selected. Then, the target speed (axis parameter #0) is set to zero.
Related commands: ROR, ROL, SAP, GAP.

Mnemonic: MST <axis>

Binary Representation
Instruction Type Motor/Bank Value
3 0 0 0

Reply in Direct Mode

Status Value
100 - OK don’t care

Example
Stop motor 0.
Mnemonic: MST 0.

Binary Form of MST 0

Field Value
Target address 01h
Instruction number 03h
Type 00h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 00h
Checksum 04h

3.6.4 MVP (Move to Position)

With this command the motor will be instructed to move to a speciﬁed relative or absolute position. It
will use the acceleration/deceleration ramp and the positioning speed programmed into the unit. This
command is non-blocking - that is, a reply will be sent immediately after command interpretation and
initialization of the motion controller. Further commands may follow without waiting for the motor
reaching its end position. The maximum velocity and acceleration as well as other ramp parameters are
deﬁned by the appropriate axis parameters. For a list of these parameters please refer to section 4.
The range of the MVP command is 32 bit signed (-2147483648. . . 2147483647). Positioning can be inter-
rupted using MST, ROL or ROR commands.

Three operation types are available:

• Moving to an absolute position in the range from -2147483648. . . 2147483647 (−231 ...231 − 1).
• Starting a relative movement by means of an offset to the actual position. In this case, the new
resulting position value must not exceed the above mentioned limits, too.
• Moving the motor to a (previously stored) coordinate (refer to SCO for details).

Note The distance between the actual position and the new position must not be
more than 2147483647 (231 − 1) microsteps . Otherwise the motor will run in
the opposite direction in order to take the shorter distance (caused by 32 bit
overﬂow).

Internal function: A new position value is transferred to the axis parameter #0 (target position).
Related commands: SAP, GAP, SCO, GCO, CCO, ACO, MST.

Mnemonic: MVP <ABS|REL|COORD>, <axis>, <position|offset|coordinate>

Binary Representation
Instruction Type Motor/Bank Value
0 – ABS – absolute 0 <position>
4 1 – REL – relative 0 <offset>
2 – COORD – coordinate 0. . . 255 <coordinate number (0..20)>

Reply in Direct Mode

Status Value
100 - OK don’t care

Example
Move motor 0 to position 90000.
Mnemonic: MVP ABS, 0, 90000

Binary Form of MVP ABS, 0, 90000

Field Value
Target address 01h
Instruction number 04h
Type 00h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 01h
Value (Byte 1) 5Fh
Value (Byte 0) 90h
Checksum F5h

Example
Move motor 0 from current position 10000 steps backward.
Mnemonic: MVP REL, 0, -10000

Binary Form of MVP REL, 0, -10000

Field Value
Target address 01h
Instruction number 04h
Type 01h
Motor/Bank 00h
Value (Byte 3) FFh
Value (Byte 2) FFh
Value (Byte 1) D8h
Value (Byte 0) F0h
Checksum CCh

Example
Move motor 0 to stored coordinate #8.

Mnemonic: MVP COORD, 0, 8

Binary Form of MVP COORD, 0, 8

Field Value
Target address 01h
Instruction number 04h
Type 02h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 08h
Checksum 0Fh

Note Before moving to a stored coordinate, the coordinate has to be set using an SCO,
CCO or ACO command.

3.6.5 SAP (Set Axis Parameter)

With this command most of the motion control parameters of the module can be speciﬁed. The settings
will be stored in SRAM and therefore are volatile. That is, information will be lost after power off.

Info For a table with parameters and values which can be used together with this
command please refer to section 4.

Internal function: The speciﬁed value is written to the axis parameter speciﬁed by the parameter number.
Related commands: GAP, AAP.

Mnemonic: SAP <parameter number>, <axis>, <value>

Binary representation

Binary Representation
Instruction Type Motor/Bank Value
5 see chapter 4 0 <value>

Reply in Direct Mode

Status Value
100 - OK don’t care

Example Set the maximum positioning speed for motor 0 to 51200 pps.
Mnemonic: SAP 4, 0, 51200.

Binary Form of SAP 4, 0, 51200

Field Value
Target address 01h
Instruction number 05h
Type 04h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) C8h
Value (Byte 0) 00h
Checksum D2h

3.6.6 GAP (Get Axis Parameter)

Most motion / driver related parameters of the PD42-1241 can be adjusted using e.g. the SAP command.
With the GAP parameter they can be read out. In standalone mode the requested value is also transferred
to the accumulator register for further processing purposes (such as conditional jumps). In direct mode
the value read is only output in the value ﬁeld of the reply, without affecting the accumulator.

This command is used to store TMCL global parameters permanently in the EEPROM of the module. This
command is mainly needed to store the TMCL user variables (located in bank 2) in the EEPROM of the
module, as most other global parameters (located in bank 0) are stored automatically when being modiﬁed.
The contents of the user variables can either be automatically or manually restored at power on.

Info For a table with parameters and values which can be used together with this
command please refer to dection 5.3.

Internal function: The global parameter speciﬁed by the type and bank number will be stored in the
EEPROM.

Related commands: SGP, AGP, GGP, RSGP.

Mnemonic: STGP <parameter number>, <bank>

Binary Representation
Instruction Type Motor/Bank Value
11 see chapter 5.3 2 0 (don’t care)

Reply in Direct Mode

Status Value
100 - OK 0 (don’t care)

Example
Store user variable #42.
Mnemonic: STGP 42, 2.

Binary Form of STGP 42, 2

Field Value
Target address 01h
Instruction number 0Bh
Type 2Ah
Motor/Bank 02h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 00h
Checksum 38h

3.6.10 RSGP (Restore Global Parameter)

With this command the contents of a TMCL user variable can be restored from the EEPROM. By default, all
user variables are automatically restored after power up. A user variable that has been changed before
can be reset to the stored value by this instruction.

Info For a table with parameters and values which can be used together with this
command please refer to section 5.3.

Internal function: The global parameter speciﬁed by the type and bank number will be restored from
the EEPROM.

Related commands: SGP, AGP, GGP, STGP.

Mnemonic: RSGP <parameter number>, <bank>

Binary Representation
Instruction Type Motor/Bank Value
12 see chapter 5.3 2 0 (don’t care)

Reply in Direct Mode

Status Value
100 - OK 0 (don’t care)

Example
Restore user variable #42.
Mnemonic: RSGP 42, 2.

Binary Form of RSGP 42, 2

Field Value
Target address 01h
Instruction number 0Ch
Type 2Ah
Motor/Bank 02h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 00h
Checksum 39h

3.6.11 RFS (Reference Search)

The PD42-1241 has a built-in reference search algorithm. The reference search algorithm provides different
refrence search modes. This command starts or stops the built-in reference search algorithm. The status
of the reference search can also be queried to see if it already has ﬁnished. (In a TMCL program it mostly is
better to use the WAIT RFS command to wait for the end of a reference search.) Please see the appropriate
parameters in the axis parameter table to conﬁgure the reference search algorithm to meet your needs
(please see chapter 4).

Internal function: The internal reference search state machine is started or stoped, or its state is queried.

Related commands: SAP, GAP, WAIT.

Mnemonic: RFS <START|STOP|STATUS>, <motor>

Binary Representation
Instruction Type Motor/Bank Value
0 START — start reference search
13 1 STOP — stop reference search 0 0 (don’t care)
2 STATUS — get status

Reply in Direct Mode (RFS START or RFS STOP)

Status Value
100 - OK 0 (don’t care)

Reply in Direct Mode (RFS STATUS)

Status Value
0 no ref. search active
100 - OK
other values reference search active

Example
Start reference search of motor 0.
Mnemonic: RFS START, 0.

Binary Form of RFS START

Field Value
Target address 01h
Instruction number 0Dh
Type 00h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 00h
Checksum 0Eh

3.6.12 SIO (Set Output)

This command sets the states of the general purpose digital outputs.

Internal function: The state of the output line speciﬁed by the type parameter is set according to the
value passed to this command.

Related commands: GIO.

Mnemonic: SIO <port number>, <bank number>, <value>

Binary Representation
Instruction Type Motor/Bank Value
14 <port number> <bank number> (2) 0/1

Reply in Direct Mode

Status Value
100 - OK 0 (don’t care)

Example
Set output 0 (bank 2) to high.
Mnemonic: SIO 0, 2, 1.

Binary Form of SIO 0, 2, 1

Field Value
Target address 01h
Instruction number 0Eh
Type 00h
Motor/Bank 02h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 01h
Checksum 12h

Bank 2 – Digital Outputs

The following output lines can be set by the SIO commands) using bank 2.

Digital Outputs in Bank 2

Port Command Range
OUT0 SIO 0, 2, <value> 0/1

Pull-up Resistor Control

The SIO command can also be used to program the pull-up resistors of the IN0, IN1 and IN2 inputs. The
pull-up resistor of the IN0/HOME input can separately be switched on and off whereas the pull-up resistors
of the IN1 and IN2 inputs can be switched on and off together. Use the command SIO 0, 0, <x> to control
the pull-up resistor setting. The value <x> will be interpreted as a bit vector: bit 0 controls the pull-up
resistor of the IN0/HOME input, and bit 1 controls the pull-up resistors of the IN1 and IN2 inputs. So the
following settings are possible:

Pull-up Resistor Control

Command Setting
SIO 0, 0, 0 All pull-up resistors off.
SIO 0, 0, 1 Pull-up resistor on for IN0/HOME.
Pull-up resistors off for IN1/IN2.
SIO 0, 0, 2 Pull-up resistor off for IN0/HOME.
Pull-up resistors on for IN1/IN2.
SIO 0, 0, 3 All pull-up resistors on.

All pull-up resistors are on by default.

3.6.13 GIO (Get Input)

With this command the status of the available general purpose outputs of the module can be read. The
function reads a digital or an analog input port. Digital lines will read as 0 or 1, while the ADC channels
deliver their 12 bit result in the range of 0. . . 4095. In standalone mode the requested value is copied to
the accumulator register for further processing purposes such as conditional jumps. In direct mode the
value is only output in the value ﬁeld of the reply, without affecting the accumulator. The actual status of a
digital output line can also be read.

Internal function: The state of the i/o line speciﬁed by the type parameter and the bank parameter is read.

Related commands: SIO.

Mnemonic: GIO <port number>, <bank number>

Binary Representation
Instruction Type Motor/Bank Value
15 <port number> <bank number> (0/1/2) 0 (don’t care)

Reply in Direct Mode

Status Value
100 - OK status of the port

Example
Get the value of ADC channel 0.
Mnemonic: GIO 0, 1.

Binary Form of GIO 0, 1

Field Value
Target address 01h
Instruction number 0Fh
Type 00h
Motor/Bank 01h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 00h
Checksum 11h

Reply (Status=no error, Value=302)

Field Value
Host address 02h
Target address 01h
Status 64h
Instruction 0Fh
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 01h
Value (Byte 0) 2Eh
Checksum A5h

Bank 0 – Digital Inputs

The analog input lines can be read as digital or analog inputs at the same time. The digital input states can
be accessed in bank 0.

Digital Inputs in Bank 0

Port Command Range
IN0 GIO 0, 0 0/1
IN1 GIO 1, 0 0/1
IN2 GIO 2, 0 0/1

Special case: GIO 255, 0 reads all general purpose inputs simulataneously and puts the result into the the
accumulator register. The result is a bit vector where each bit represents one input.

Bank 1 – Analog Inputs

The analog input lines can be read back as digital or analog inputs at the same time. The analog values
can be accessed in bank 1.

Analog Inputs in Bank 1

Port Command Range / Units
IN0 GIO 0, 1 0. . . 4095
Voltage GIO 8, 1 [1/10V]
Temperature GIO 9, 1 [°C]

Bank 2 – States of the Digital Outputs

The states of the output lines (that have been set by SIO commands) can be read back using bank 2.

Digital Outputs in Bank 2

Port Command Range
OUT0 GIO 0, 2 0/1

3.6.14 CALC (Calculate)

A value in the accumulator variable, previously read by a function such as GAP (get axis parameter) can
be modiﬁed with this instruction. Nine different arithmetic functions can be chosen and one constant
operand value must be speciﬁed. The result is written back to the accumulator, for further processing like
comparisons or data transfer. This command is mainly intended for use in standalone mode.

Related commands: CALCX, COMP, AAP, AGP, GAP, GGP, GIO.

Mnemonic: CALC <operation>, <operand>

Binary representation

Binary Representation
Instruction Type Motor/Bank Value
19 0 ADD – add to accumulator 0 (don’t care) <operand>
1 SUB – subtract from accumulator
2 MUL – multiply accumulator by
3 DIV – divide accumulator by
4 MOD – modulo divide accumulator by
5 AND – logical and accumulator with
6 OR – logical or accumulator with
7 XOR – logical exor accumulator with
8 NOT – logical invert accumulator
9 LOAD – load operand into accumulator

Reply in Direct Mode

Status Value
100 - OK the operand (don’t care)

Example
Multiply accumulator by -5000.
Mnemonic: CALC MUL, -5000

Binary Form of CALC MUL, -5000

Field Value
Target address 01h
Instruction number 13h
Type 02h
Motor/Bank 00h
Value (Byte 3) FFh
Value (Byte 2) FFh
Value (Byte 1) ECh
Value (Byte 0) 78h
Checksum 78h

Reply (Status=no error, value=-5000:

Field Value
Host address 02h
Target address 01h
Status 64h
Instruction 13h
Value (Byte 3) FFh
Value (Byte 2) FFh
Value (Byte 1) ECh
Value (Byte 0) 78h
Checksum DCh

3.6.15 COMP (Compare)

The speciﬁed number is compared to the value in the accumulator register. The result of the comparison
can for example be used by the conditional jump (JC) instruction. This command is intended for use in
standalone operation only.

Internal function: The accumulator register is compared with the sepciﬁed value. The internal arithmetic
status ﬂags are set according to the result of the comparison. These can then control e.g. a conditional
jump.
Related commands: JC, GAP, GGP, GIO, CALC, CALCX.

Mnemonic: COMP <operand>

Binary Representation
Instruction Type Motor/Bank Value
20 0 (don’t care) 0 (don’t care) <operand>

Example
Jump to the address given by the label when the position of motor #0 is greater than or equal to 1000.
1 GAP 1 , 0 // get actual position of motor 0
COMP 1000 // compare actual value with 1000
3 JC GE , Label // jump to Lable if greter or equal to 1000

Binary Form of COMP 1000

Field Value
Target address 01h
Instruction number 14h
Type 00h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 03h
Value (Byte 0) E8h
Checksum 00h

3.6.16 JC (Jump conditional)

The JC instruction enables a conditional jump to a ﬁxed address in the TMCL program memory, if the
speciﬁed condition is met. The conditions refer to the result of a preceding comparison. Please refer to
COMP instruction for examples. This command is intended for standalone operation only.

Internal function: The TMCL program counter is set to the value passed to this command if the status
ﬂags are in the appropriate states.

Related commands: JA, COMP, WAIT, CLE.

Mnemonic: JC <condition>, <label>

Binary Representation
Instruction Type Motor/Bank Value
21 0 ZE - zero 0 (don’t care) <jump address>
1 NZ - not zero
2 EQ - equal
3 NE - not equal
4 GT - greater
5 GE - greater/equal
6 LT - lower
7 LE - lower/equal
8 ETO - time out error
9 EAL - external alarm
10 EDV - deviation error
11 EPO - position error

Binary form of JC GE, Label as-

suming Label at address 10
Field Value
Target address 01h
Instruction number 15h
Type 05h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 0Ah
Checksum 25h

3.6.17 JA (Jump always)

Jump to a ﬁxed address in the TMCL program memory. This command is intended for standalone operation
only.

Internal function: The TMCL program counter is set to the value passed to this command.

Related commands: JC, WAIT, CSUB.

Mnemonic: JA <label>

Binary Representation
Instruction Type Motor/Bank Value
22 0 (don’t care) 0 (don’t care) <jump address>

Example
An inﬁnite loop in TMCL:
1 Loop :
MVP ABS , 0 , 51200
3 WAIT POS , 0 , 0
MVP ABS , 0 , 0
5 WAIT POS , 0 , 0
JA Loop
Binary form of the JA Loop command when the label Loop is at address 10:

Binary Form of JA Loop (assum-

ing Loop at address 10)
Field Value
Target address 01h
Instruction number 16h
Type 00h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 0Ah
Checksum 21h

3.6.18 CSUB (Call Subroutine)

This function calls a subroutine in the TMCL program memory. It is intended for standalone operation only.

Internal function: the actual TMCL program counter value is saved to an internal stack, afterwards
overwritten with the passed value. The number of entries in the internal stack is limited to 8. This also
limits nesting of subroutine calls to 8. The command will be ignored if there is no more stack space left.

Related commands: RSUB, JA.

Mnemonic: CSUB <label>

Binary Representation
Instruction Type Motor/Bank Value
23 0 (don’t care) 0 (don’t care) <subroutine address>

Example
Call a subroutine:
Loop :
2 MVP ABS , 0 , 10000
CSUB SubW // Save program counter and jump to label SubW
4 MVP ABS , 0 , 0
CSUB SubW // Save program counter and jump to label SubW
6 JA Loop

8 SubW :
WAIT POS , 0 , 0
10 WAIT TICKS , 0 , 50
RSUB // Continue with the command following the CSUB command

Binary form of CSUB SubW

(assuming SubW at address
100)
Field Value
Target address 01h
Instruction number 17h
Type 00h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 64h
Checksum 7Ch

3.6.19 RSUB (Return from Subroutine)

Return from a subroutine to the command after the CSUB command. This command is intended for use in
standalone mode only.

Internal function: the TMCL program counter is set to the last value saved on the stack. The command
will be ignored if the stack is empty.

Related commands: CSUB.

Mnemonic: RSUB

Binary Representation
Instruction Type Motor/Bank Value
24 0 (don’t care) 0 (don’t care) 0 (don’t care)

Example
Please see the CSUB example (section 3.6.18).
Binary form:

Binary Form of RSUB

Field Value
Target address 01h
Instruction number 18h
Type 00h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 00h
Checksum 19h

3.6.20 WAIT (Wait for an Event to occur)

This instruction interrupts the execution of the TMCL program until the specified condition is met. This
command is intended for standalone operation only.
There are five different wait conditions that can be used:
• TICKS: Wait until the number of timer ticks specified by the <ticks> parameter has been reached.

• POS: Wait until the target position of the motor specified by the <motor> parameter has been
reached. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.
• REFSW: Wait until the reference switch of the motor specified by the <motor> parameter has been
triggered. An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.

• LIMSW: Wait until a limit switch of the motor specified by the <motor> parameter has been triggered.
An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.
• RFS: Wait until the reference search of the motor specified by the <motor> field has been reached.
An optional timeout value (0 for no timeout) must be specified by the <ticks> parameter.
Special case for the <ticks> parameter: When this parameter is set to -1 the contents of the accumulator
register will be taken for this value. So for example WAIT TICKS, 0, -1 will wait as long as specified by the
value store in the accumulator. The accumulator must not contain a negative value when using this option.

The timeout ﬂag (ETO) will be set after a timeout limit has been reached. You can then use a JC ETO
command to check for such errors or clear the error using the CLE command.

Internal function: the TMCL program counter will be held at the address of this WAIT command until the
condition is met or the timeout has expired.

Related commands: JC, CLE.

Mnemonic: WAIT <condition>, <motor number>, <ticks>

Binary Representation
Instruction Type Motor/Bank Value
0 TICKS – timer ticks 0 (don’t care) <no. of ticks to wait1 >
1 POS – target position reached <motor number> <no. of ticks for timeout1 >
0 for no timeout
2 REFSW – reference switch <motor number> <no. of ticks for timeout1 >
27 0 for no timeout
3 LIMSW – limit switch <motor number> <no. of ticks for timeout1 >
0 for no timeout
4 RFS – reference search completed <motor number> <no. of ticks for timeout1 >
0 for no timeout

Example
1 one tick is 10 milliseconds

Wait for motor 0 to reach its target position, without timeout.

Mnemonic: WAIT POS, 0, 0

Binary Form of WAIT POS, 0, 0

Field Value
Target address 01h
Instruction number 1Bh
Type 01h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 00h
Checksum 1Dh

3.6.21 STOP (Stop TMCL Program Execution – End of TMCL Program)

This command stops the execution of a TMCL program. It is intended for use in standalone operation only.

Internal function: Execution of a TMCL program in standalone mode will be stopped.

Related commands: none.

Mnemonic: STOP

Binary Representation
Instruction Type Motor/Bank Value
28 0 (don’t care) 0 (don’t care) 0 (don’t care)

Example
Mnemonic: STOP

Binary Form of STOP

Field Value
Target address 01h
Instruction number 1Ch
Type 00h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 00h
Checksum 1Dh

3.6.22 SCO (Set Coordinate)

Up to 20 position values (coordinates) can be stored for every axis for use with the MVP COORD command.
This command sets a coordinate to a speciﬁed value. Depending on the global parameter 84, the
coordinates are only stored in RAM or also stored in the EEPROM and copied back on startup (with the
default setting the coordinates are stored in RAM only).

Note Coordinate #0 is always stored in RAM only.

Internal function: the passed value is stored in the internal position array.

Related commands: GCO, CCO, ACO, MVP COORD.

Mnemonic: SCO <coordinate number>, <motor number>, <position>

Binary Representation
Instruction Type Motor/Bank Value
30 <coordinate number> <motor number> <position>
0. . . 20 0 −231 . . . 231 − 1

Example
Set coordinate #1 of motor #0 to 1000.
Mnemonic: SCO 1, 0, 1000

Binary Form of SCO 1, 0, 1000

Field Value
Target address 01h
Instruction number 1Eh
Type 01h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 03h
Value (Byte 0) E8h
Checksum 0Bh

Two special functions of this command have been introduced that make it possible to copy all coordinates
or one selected coordinate to the EEPROM. These functions can be accessed using the following special
forms of the SCO command:
• SCO 0, 255, 0 copies all coordinates (except coordinate number 0) from RAM to the EEPROM.
• SCO <coordinate number>, 255, 0 copies the coordinate selected by <coordinate number> to the
EEPROM. The coordinate number must be a value between 1 and 20.

3.6.23 GCO (Get Coordinate)

Using this command previously stored coordinate can be read back. In standalone mode the requested
value is copied to the accumulator register for further processing purposes such as conditional jumps.
In direct mode, the value is only output in the value ﬁeld of the reply, without affecting the accumulator.
Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in the
EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only).

Note Coordinate #0 is always stored in RAM only.

Internal function: the desired value is read out of the internal coordinate array, copied to the accumulator
register and – in direct mode – returned in the value ﬁeld of the reply.

Related commands: SCO, CCO, ACO, MVP COORD.

Mnemonic: GCO <coordinate number>, <motor number>

Binary Representation
Instruction Type Motor/Bank Value
31 <coordinate number> <motor number> 0 (don’t care)
0. . . 20 0

Reply in Direct Mode

Status Value
100 - OK value read by this command

Example
Get coordinate #1 of motor #0.
Mnemonic: GCO 1, 0

Binary Form of GCO 1, 0

Field Value
Target address 01h
Instruction number 1Fh
Type 01h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 00h
Checksum 21h

Two special functions of this command have been introduced that make it possible to copy all coordinates
or one selected coordinate from the EEPROM to the RAM.
These functions can be accessed using the following special forms of the GCO command:
• GCO 0, 255, 0 copies all coordinates (except coordinate number 0) from the EEPROM to the RAM.
• GCO <coordinate number>, 255, 0 copies the coordinate selected by <coordinate number> from the
EEPROM to the RAM. The coordinate number must be a value between 1 and 20.

3.6.24 CCO (Capture Coordinate)

This command copies the actual position of the axis to the selected coordinate variable. Depending on the
global parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM and copied
back on startup (with the default setting the coordinates are stored in RAM only). Please see the SCO and
GCO commands on how to copy coordinates between RAM and EEPROM.

Note Coordinate #0 is always stored in RAM only.

Internal function: the actual position of the selected motor is copied to selected coordinate array entry.

Related commands: SCO, GCO, ACO, MVP COORD.

Mnemonic: CCO <coordinate number>, <motor number>

Binary Representation
Instruction Type Motor/Bank Value
32 <coordinate number> <motor number> 0 (don’t care)
0. . . 20 0

Reply in Direct Mode

Status Value
100 - OK value read by this command

Example
Store current position of motor #0 to coordinate array entry #3.

Mnemonic: CCO 3, 0

Binary Form of CCO 3, 0

Field Value
Target address 01h
Instruction number 20h
Type 01h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 00h
Checksum 22h

3.6.25 ACO (Accu to Coordinate)

With the ACO command the actual value of the accumulator is copied to a selected coordinate of the
motor. Depending on the global parameter 84, the coordinates are only stored in RAM or also stored in
the EEPROM and copied back on startup (with the default setting the coordinates are stored in RAM only).

Note Coordinate #0 is always stored in RAM only.

Internal function: the actual position of the selected motor is copied to selected coordinate array entry.

Related commands: SCO, GCO, CO, MVP COORD.

Mnemonic: ACO <coordinate number>, <motor number>

Binary Representation
Instruction Type Motor/Bank Value
39 <coordinate number> <motor number> 0 (don’t care)
0. . . 20 0

Reply in Direct Mode

Status Value
100 - OK don’t care

Example
Copy the actual value of the accumulator to coordinate #1 of motor #0.

Mnemonic: ACO 1, 0

Binary Form of ACO 1, 0

Field Value
Target address 01h
Instruction number 27h
Type 01h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 00h
Checksum 29h

3.6.26 CALCX (Calculate using the X Register)

The VECT command deﬁnes an interrupt vector. It takes an interrupt number and a label (just like with
JA, JC and CSUB commands) as parameters. The label must be the entry point of the interrupt handling
routine for this interrupts. Interrupt vectors can also be re-deﬁned. This command is intended for use in
standalone mode only.

Info Please see table 12 for a list of interrupts that can be used on the PD42-1241
module.

Related commands: EI, DI, RETI.

Mnemonic: VECT <interrupt number>, <label>

Binary Representation
Instruction Type Motor/Bank Value
37 <interrupt number> 0 (don’t care) <label>

Reply in Direct Mode

Status Value
100 - OK don’t care

Example
Deﬁne interrupt vector for timer #0 interrupt:

1 VECT 0 , Timer0Irq
...
3 Loop :
...
5 JA Loop
...
7 Timer0Irq :
SIO 0 , 2 , 1
9 RETI

Binary form of VECT (assuming

label is at 50)
Field Value
Target address 01h
Instruction number 25h
Type FFh
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 32h
Checksum 58h

3.6.33 RETI (Return from Interrupt)

This command terminates an interrupt handling routine. Normal program ﬂow will be continued then.
This command is intended for use in standalone mode only.

An interrupt routine must always end with a RETI command. Do not allow the normal program ﬂow to run
into an interrupt routine.

Internal function: The saved registers (accumulator, X registers, ﬂags and program counter) are copied
back so that normal program ﬂow will continue.

Related commands: EI, DI, VECT.

Mnemonic: RETI

Binary Representation
Instruction Type Motor/Bank Value
38 <interrupt number> 0 (don’t care) 0 (don’t care)

Reply in Direct Mode

Status Value
100 - OK don’t care

Example
Return from an interrup handling routine.
Mnemonic: RETI

Binary Form of RETI

Field Value
Target address 01h
Instruction number 26h
Type FFh
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 00h
Checksum 27h

3.6.34 Customer speciﬁc Command Extensions (UF0. . . UF7 – User Functions)

These commands are used for customer speciﬁc extensions of TMCL. They will be implemented in C by
Trinamic. Please contact the sales department of Trinamic Motion Control GmbH & Co KG if you need a
customized TMCL ﬁrmware.

Related commands: none.

Mnemonic: UF0. . . UF7

Binary Representation
Instruction Type Motor/Bank Value
64. . . 71 <user defined> 0 <user defined> 0 <user defined>

Reply in Direct Mode

Status Value
100 - OK user deﬁned

3.6.35 Request Target Position reached Event

This command is the only exception to the TMCL protocol, as it sends two replies: One immediately after
the command has been executed (like all other commands also), and one additional reply that will be
sent when the motor has reached its target position. This instruction can only be used in direct mode (in
standalone mode, it is covered by the WAIT command) and hence does not have a mnemonic.

Internal function: send an additional reply when a motor has reached its target position.

Related commands: none.

Binary Representation
Instruction Type Motor/Bank Value
138 0/1 0 (don’t care) always 1

With command 138 the value field is a bit vector. It shows for which motors one would like to have a
position reached message. The value field contains a bit mask where every bit stands for one motor. For
one motor modules like the PD42-1241 it only makes sense to have bit 0 set. So, always set this parameter
to 1 with the PD42-1241 module. With the type field set to 0, only for the next MVP command that follows
this command a position reached message will be generated. With type set to 1 a position reached
message will be generated for every MVP command that follows this command. It is recommended to use
the latter option.

Example
Get a target position reached message for each MVP command that follows.

Binary Form for this example

Field Value
Target address 01h
Instruction number 8Ah
Type 01h
Motor/Bank 00h
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) 01h
Checksum 8Dh

Reply in Direct Mode

Field Value
Target address 01h
Host address 02h
Status 64h (100)
Command 8Ah (138)
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) Motor bit mask
Checksum depends also on motor bit mask

Additional Reply after Motor has reached Target Position

Field Value
Target address 01h
Host address 02h
Status 80h (128)
Command 8Ah (138)
Value (Byte 3) 00h
Value (Byte 2) 00h
Value (Byte 1) 00h
Value (Byte 0) Motor bit mask
Checksum depends also on motor bit mask

3.6.36 TMCL Control Commands

There is a set of TMCL commands which are called TMCL control commands. These commands can
only be used in direct mode and not in a standalone program. For this reason they only have opcodes,
but no mnemonics. Most of these commands are only used by the TMCL-IDE (in order to implement
e.g. the debugging functions in the TMCL creator). Some of them are also interesting for use in custom
host applications, for example to start a TMCL routine on a module, when combining direct mode and
standalone mode (please see also section 8.6. The following table lists all TMCL control commands.

The motor/bank parameter is not used by any of these functions and thus is not listed in the table. It
should always be set to 0 with these commands.

TMCL Control Commands

Instruction Description Type Value
128 – stop application stop a running TMCL 0 (don’t care) 0 (don’t care)
application
129 – run application start or continue 0 – from current 0 (don’t care)
TMCL program address
execution
1 – from specific starting ad-
address dress
130 – step application execute only the next 0 (don’t care) 0 (don’t care)
TMCL command
131 – reset application Stop a running TMCL 0 (don’t care) 0 (don’t care)
program.
Reset program
counter and stack
pointer to zero.
Reset accumulator
and X register to zero.
Reset all flags.
132 – enter download mode All following 0 (don’t care) start address
commands (except for download
control commands)
are not executed but
stored in the TMCL
memory.
133 – exit download mode End the download 0 (don’t care) 0 (don’t care)
mode. All following
commands are
executed normally
again.
134 – read program memory Return contents of 0 (don’t care) address of
the specified memory loca-
program memory tion
location (special reply
format).

Instruction Description Type Value

135 – get application status Return information 0 - return mode, 0 (don’t care)
about the current wait flag, memory
status, depending on pointer
the type field. 1 - return mode,
wait flag, program
counter
2 - return
accumulator
3 - return X
register
136 – get firmware version Return firmware 0 - string format 0 (don’t care)
version in string 1 - binary format
format (special reply)
or binary format).
137 – restore factory settings Reset all settings in 0 (don’t care) set to 1234
the EEPROM to their
factory defaults.
This command does
not send a reply.
255 – software reset Restart the CPU of 0 (don’t care) set to 1234
the module (like a
power cycle).
The reply of this
command might not
always get through.

Table 13: TMCL Control Commands

Especially the commands 128, 129, 131, 136 and 255 are interesting for use in custom host applications.
The other control commands are mainly being used by the TMCL-IDE.

4 Axis Parameters
Most motor controller features of the PD42-1241 module are controlled by axis parameters. Axis pa-
rameters can be modiﬁed or read using SAP, GAP and AAP commands. This chapter describes all axis
parameters that can be used on the PD42-1241 module.

Meaning of the Letters in the Access Column

Access type Command Description
R GAP Parameter readable
W SAP, AAP Parameter writable

Table 14: Meaning of the Letters in the Access Column

All Axis Parameters of the PD42-1241 Module

Number Axis Parameter Description Range [Units] Access
0 Target position The desired target position in position mode -2147483648 RW
. . . 2147483647
[µsteps]
1 Actual position The actual position of the motor. Stop the motor -2147483648 RW
before overwriting it. Should normally only be . . . 2147483647
overwritten for reference position setting. [µsteps]
2 Target speed The desired speed in velocity mode. Not valid in -7999774 RW
position mode. . . . 7999774
[pps]
3 Actual speed The actual speed of the motor. -7999774 R
. . . 7999774
[pps]
4 Maximum The maximum speed used for positioning 0. . . 7999774 RW
positioning ramps. [pps]
speed
5 Maximum Maximum acceleration in positioning ramps. Ac- 0. . . 7629278 RW
acceleration celeration and deceleration value in velocity [pps2 ]
mode.

Number Axis Parameter Description Range [Units] Access

6 Maximum Motor current used when motor is running. The 0. . . 255 RW
current maximum value is 255 which means 100% of
the maximum current of the module.
The current can be adjusted in 32 steps:
0. . . 7 79. . . 87 160. . . 167 240. . . 247
8. . . 15 88. . . 95 168. . . 175 248. . . 255
16. . . 23 96. . . 103 176. . . 183
24. . . 31 104. . . 111 184. . . 191
32. . . 39 112. . . 119 192. . . 199
40. . . 47 120. . . 127 200. . . 207
48. . . 55 128. . . 135 208. . . 215
56. . . 63 136. . . 143 216. . . 223
64. . . 71 144. . . 151 224. . . 231
72. . . 79 152. . . 159 232. . . 239
The most important setting, as too high values can
cause motor damage.
7 Standby The current used when the motor is not running. 0. . . 255 RW
current The maximum value is 255 which means 100% of
the maximum current of the module. This value
should be as low as possible so that the motor
can cool down when it is not moving. Please see
also parameter 214.
8 Position This ﬂag is always set when target position and 0/1 R
reached ﬂag actual position are equal.
9 Home switch The logical state of the home switch input. 0/1 R
state
10 Right limit The logical state of the right limit switch input. 0/1 R
switch state
11 Left limit The logical state of the left limit switch input. 0/1 R
switch state
12 Right limit Deactivates the stop function of the right limit 0/1 RW
switch disable switch if set to 1.
13 Left limit Deactivates the stop function of the left limit 0/1 RW
switch disable switch if set to 1.
14 Swap limit Swap the left and right limit switches when set 0/1 RW
switches to 1.
15 Acceleration A1 First acceleration between VSTART and V1 (in 0. . . 7629278 RW
position mode only). [pps2 ]

Number Axis Parameter Description Range [Units] Access

16 Velocity V1 First acceleration / decelaration phase target ve- 0. . . 1000000 RW
locizy (in position mode only). Setting this value [pps]
to 0 turns off the ﬁrst acceleration / deceleration
phase, maximum acceleration (axis parameter
5) and maximum decleration (axis parameter 17)
are used only.
17 Maximum Maximum deceleration in positioning ramps. 0. . . 7629278 RW
deceleration Used to decelerate from maximum positiong [pps2 ]
speed (axis parameter 4) to velocity V1.
18 Deceleration Deceletation bewteen V1 and VSTOP (in position- 0. . . 7629278 RW
D1 ing mode only). [pps2 ]
19 Velocity Motor start velocity (in position mode only). Do 0. . . 249999 RW
VSTART not set VSTART higher than VSTOP. [pps]
20 Velocity VSTOP Motor stop velocity (in position mode only). 0. . . 249999 RW
[pps]
21 Ramp wait time Deﬁnes the waiting time after ramping down to 0. . . 65535 RW
zero velocity before next movement or direction [0.000032s]
inversion can start. Time range is 0 to 2 seconds.
This setting avoids excess acceleration e.g. from
VSTOP to -VSTART.
22 Speed Speed threshold for de-activating CoolStep or 0. . . 7999774 RW
threshold for switching to fullstep mode. [pps]
CoolStep /
fullstep
23 Minimum Minimum speed for switching to DcStep 0. . . 7999774 RW
speed for [pps]
DcStep
24 Right limit Setting this parameter to 1 inverts the logic state 0/1 RW
switch polarity of the right limit switch input.
25 Left limit Setting this parameter to 1 inverts the logic state 0/1 RW
switch polarity of the left limit switch input.
26 Soft stop Use soft stop when motor is stopped by a limit 0/1 RW
enable switch.
27 High speed Switch to other chopper mode when measured 0/1 RW
chopper mode speed is higher than axis parameter 22 when set
to 1.
28 High speed Switch to fullstep mode when measured speed 0/1 RW
fullstep mode is higher than axis parameter 22 when set ot 1.
29 Measured Speed measured by the motor driver. 0. . . 7999774 R
speed [pps]

Number Axis Parameter Description Range [Units] Access

31 Power down Controls the number of clock cycles for motor 0. . . 15 RW
ramp power down after a motion as soon as the motor [0.16384s]
has stopped and the setting time has expired.
The smooth transition avoids a motor jerk upon
power down. 0=instant power down, 15=longest
possible power down ramp.
32 DcStep time This setting controls the reference pulse width 0. . . 1023 RW
for DcStep load measurement. It must be opti-
mized for robust operation with maximum mo-
tor torque. A higher value allows higher torque
and higher velocity, a lower value allows oper-
ation down to a lower velocity as set by axis
parameter #23.
33 DcStep This setting controls stall detection in DcStep 0. . . 255 RW
StallGuard mode. Increase for higher sensitivity.
127 Relative Start position for MVP REL command: 0/1 RW
positioning 0 last target position
option
1 actual position
140 Microstep Microstep resolutions per full step: 0..8 RW
resolution 0 fullstep
1 halfstep
2 4 microsteps
3 8 microsteps
4 16 microsteps
5 32 microsteps
6 64 microsteps
7 128 microsteps
8 256 microsteps
160 Step Step interpolation is supported with 16 mi- 0/1 RW
interpolation crostep setting only. With this option activated,
enable each microstepstep will internally be executed
as 16 1/256 microsteps. This causes the motor
to run as smooth as with 256 microsteps resolu-
tion.
0 - step interpolation off
1 - step interpolation on
161 Double step With this option turned on, each microstep will 0/1 RW
enable be executed twice. Normally, use this option
only together with the step/direction input. Ev-
ery edge of the step signal then causes a mi-
crostep to be executed.
0 - double step off
1 - double step on

Number Axis Parameter Description Range [Units] Access

162 Chopper blank Selects the comparator blank time. This time 0..3 RW
time needs to safely cover the switching event and
the duration of the ringing on the sense resistor.
Normally leave at the default value.
163 Constant TOff Selection of the chopper mode: 0/1 RW
mode 0 – spread cycle
1 – classic constant off time
164 Disable fast See parameter 163. For ”classic const. off time” 0/1 RW
decay setting this parameter to ”1” will disable current
comperator comparator usage for termination of fast decay
cycle.
165 Chopper See parameter 163. For ”spread cycle” chopper 0. . . 15 RW
hysteresis end / mode this parameter will set / return the hys-
fast decay time teresis end setting (hysteresis end value after a
number of decrements). For ”classic const. off
time” chopper mode this parameter will set /
return the fast decay time.
166 Chopper See parameter 163. For ”spread cycle” chopper 0. . . 8 RW
hysteresis start mode this parameter will set / return the Hys-
/ sine wave teresis start setting (please note that this value is
offset an offset to the hysteresis end value). For ”clas-
sic const. off time” chopper mode this parameter
will set / return the sine wave offset.
167 Chopper off The off time setting controls the minimum 0. . . 15 RW
time (TOff) chopper frequency. An off time within the range
of 5µs to 20µs will ﬁt.

Off time setting for constant t Off chopper:

NCLK = 12 + 32 ∗ tOF F (Minimum is 64 clocks)
Setting this parameter to zero completely dis-
ables all driver transistors and the motor can
free-wheel.
168 SmartEnergy Sets the lower motor current limit for CoolStep 0/1 RW
current operation by scaling the maximum current (see
minimum axis parameter 6) value.
(SEIMIN) Minimum motor current:
0 - 12 of CS
1 - 14 of CS
169 SmartEnergy Sets the number of StallGuard2 readings above 0. . . 3 RW
current down the upper threshold necessary for each current
step decrement of the motor current. Number of
StallGuard2 measurements per decrement:
Scaling: 0. . . 3: 32, 8, 2, 1
0: slow decrement
3: fast decrement

Number Axis Parameter Description Range [Units] Access

170 SmartEnergy Sets the distance between the lower and the 0. . . 15 RW
hysteresis upper threshold for StallGuard2 reading. Above
the upper threshold the motor current becomes
decreased. Hysteresis: ([AP 172] + 1) ∗ 32
Upper StallGuard threshold: ([AP 172]+[AP 170]+
1) ∗ 32
171 SmartEnergy Sets the current increment step. The current 0. . . 3 RW
current up step becomes incremented for each measured Stall-
Guard2 value below the lower threshold see
SmartEnergy hysteresis start). Current incre-
ment step size:
Scaling: 0. . . 3: 1, 2, 4, 8
0: slow increment
3: fast increment / fast reaction to rising load
172 SmartEnergy The lower threshold for the StallGuard2 value 0..15 RW
hysteresis start (see SmartEnergy current up step).
173 StallGuard2 Enables the StallGuard2 filter for more precision 0/1 RW
filter enable of the measurement. If set, reduces the mea-
surement frequency to one measurement per
four fullsteps. In most cases it is expedient to
set the filtered mode before using CoolStep. Use
the standard mode for step loss detection.
0 - standard mode
1 - filtered mode

174 StallGuard2 This signed value controls StallGuard2 threshold -64. . . +63 RW
threshold level for stall output and sets the optimum mea-
surement range for readout. A lower value gives
a higher sensitivity. Zero is the starting value.
A higher value makes StallGuard2 less sensitive
and requires more torque to indicate a stall.
180 SmartEnergy This status value provides the actual motor cur- 0. . . 31 R
actual current rent setting as controlled by CoolStep. The value
goes up to the CS value and down to the portion
of CS as speciﬁed by SEIMIN.
Actual motor current scaling factor:
0. . . 31: 1/32, 2/32, . . . 32/32
181 Stop on stall Below this speed motor will not be stopped. 0. . . 7999774 RW
Above this speed motor will stop in case Stall- [pps]
Guard2 load value reaches zero.
182 SmartEnergy Above this speed CoolStep becomes enabled. 0. . . 7999774 RW
threshold [pps]
speed
184 Random TOff 0 - Chopper off time is ﬁxed 0/1 RW
mode 1 - Chopper off time is random

Number Axis Parameter Description Range [Units] Access

185 Chopper syn- This parameter allows synchronization of the 0. . . 15 RW
chronization chopper for both phases of a two phase motor
in order to avoid the occurrence of a beat, espe-
cially at low velocities.
0: chopper sync function chopSync off
1. . . 15: chopper synchronization

186 PWM threshold The StealthChop feature will be switched off 0. . . 7999774 RW
speed when the actual velocity is higher than this value. [pps]
It will be switched on when the actual velocity is
below this value (and parameter #187 is greater
than zero).
187 PWM gradient Velocity dependent gradient for PWM amplitude 0..15 RW
(StealthChop). Setting this value to 0 turns off
StealthChop.
188 PWM Maximum PWM amplitude when switching to 0..255 RW
amplitude StealthChop mode. Do not set too low. Values
above 64 recommended.
189 PWM scale Actual PWM amplitude scaler (255=maximum 0. . . 255 R
voltage). In voltage mode PWM, this value allows
to detect a motor stall.
190 PWM mode Status of StealthChop voltage PWM mode (de- 0/1 R
pending on velocity thresholds).
0 - StealthChop disabled
1 - StealthChop enabled
191 PWM PWM frequency selection for StealthChop. 0. . . 3 RW
frequency 0 - fPWM = 15.625kHz
1 - fPWM = 23.426kHz
2 - fPWM = 31.250kHz
3 - fPWM = 39.024kHz
192 PWM autoscale PWM automatic amplitude scaling for Stealth- 0. . . 1 RW
Chop.
0 - User deﬁned PWM amplitude. The current
settings do not have any inﬂuence.
1 - Enable automatic current control.

Number Axis Parameter Description Range [Units] Access

1 Search left stop switch only.
2 Search right stop switch, then
search left stop switch.
3 Search right stop switch, then
search left stop switch from both
sides.
4 Search left stop switch from both
sides.

193 Reference 5 Search home switch in negative di- 1..8 RW

search mode rection, reverse the direction when
left stop switch reached.
6 Search home switch in positive di-
rection, reverse the direction when
right stop switch reached.
7 Search home switch in positive di-
rection, ignore end switches.
8 Search home switch in negative di-
rection, ignore end switches.
Additional functions:

• Add 128 to a mode value for inverting

the home switch (can be used with mode
5. . . 8).
• Add 64 to a mode for searching the right
instead of the left reference switch (can be
used with mode 1. . . 4).

194 Reference This value speciﬁes the speed for roughly search- 0. . . 7999774 RW
search speed ing the reference switch. [pps]
195 Reference This parameter speciﬁes the speed for searching 0. . . 7999774 RW
switch speed the switching point. It should be slower than [pps]
parameter 194.
196 End switch This parameter provides the distance between -2147483648 R
distance the end switches after executing the RFS com- . . . 2147483647
mand (with reference search mode 2 or 3). [µsteps]
197 Last reference This parameter contains the last position value -2147483648 R
position before the position counter is set to zero during . . . 2147483647
reference search. [µsteps]
202 Motor fullstep The fullstep resolution of the stepper motor 0. . . 32768 RW
resolution used with the drive. The default value is 200. [full steps]

Number Axis Parameter Description Range [Units] Access

204 Freewheeling Stand still option when the standby current (pa- 0. . . 3 RW
mode rameter 7) is set to zero and StealthChop is ac-
tive.
0 normal operation
1 freewheeling
2 coil shorted using low side drivers
3 coil shorted using high side drivers
206 Actual load Readout of the actual load value used for stall 0. . . 1023 R
value detection (StallGuard2).
207 Extended error A combination of the following values: 0. . . 3 R
flags 1 StallGuard error
2 deviation error
These error flags are cleared automatically
when this parameter has been read out or when
a motion command has been executed.
208 Motor driver A combination of the following values: 0. . . 255 R
error flags Bit 0 StallGuard2 status
(1: stall detected)
Bit 1 Overtemperature
(1: driver is shut down due to overtemper-
ature)
Bit 2 Overtemperature pre-warning
(1: temperature threshold is exceeded)
Bit 3 Short to ground A
(1: short condition detected, driver cur-
rently shut down)
Bit 4 Short to ground B
(1: short condition detected, driver cur-
rently shut down)
Bit 5 Open load A
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 6 Open load B
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 7 Stand still
(1: no step pulse occurred during the last
220 clock cycles)

209 Encoder Encoder counter value of the built-in SensOstep -2147483648 RW

position encoder. Please see also section 6.2. . . . 2147483647
[µsteps]
210 Encoder clear If this parameter is set to 1 the encoder counter 0/1 RW
on null of the SensOstep encoder will be cleared when
the encoder reaches its zero position. After clear-
ing this parameter will also set be back to 0 au-
tomatically. Please see also section 6.2.

Number Axis Parameter Description Range [Units] Access

212 Maximum When the actual position (parameter #1) and the 0 RW
internal encoder position (parameter #209) differ more . . . 2147483647
encoder than set here the motor will be stopped. Set- [encoder
deviation ting this parameter to zero turns off this feature. steps]
Please see also 6.2.
214 Power down Standstill period before the current will be 0. . . 417 RW
delay ramped down to standby current. The standard [10ms]
value is 0 which means that the current will be
immediately ramped down to standby current
using the power down ramp (see parameter #31)
after the motor has stopped. The delay time is
given in units of 10ms which means that for ex-
ample a value of 200 results in a delay time of
2000ms.
215 Absolute Absolute position of the internal SensOstep en- 0. . . 1023 R
resolver value coder. The absolute position is within one motor
rotation.
216 External Encoder counter value of the externally con- -2147483648 RW
encoder nected AB encoder. Please see also section 6.3. . . . 2147483647
position [µsteps]
217 External Resolution (counts per revolution) of the exter- 0 RW
encoder nally connected AB encoder. Please see also . . . 2147483647
resolution section 6.3. [cpr]
218 Maximum When the actual position (parameter #1) and the 0 RW
external external encoder position (parameter #216) dif- . . . 2147483647
encoder fer more than set here the motor will be stopped. [encoder
deviation Setting this parameter to zero turns off this fea- steps]
ture. Please see also section 6.3.
251 Reverse shaft Reverse the rotation direction of the motor 0/1 RW
shaft.
254 Step/Direction Select between normal (ramp generator) mode 0/1 RW
Mode and step/direction mode:
0 - Normal mode
1 - Step/Direction mode
Please see also section 6.4.
255 Unit mode Units of velocity and acceleration/deceleration 0/1 RW
settings:
0 - the internal units of the TMC5130 are used
directly
1 - the units are pps for velocity and pps2 for
acceleration/deceleration
Default value is 1 (pps units).

Table 15: All PD42-1241 Axis Parameters

5 Global Parameters
The following sections describe all global parameters that can be used with the SGP, GGP, AGP, STGP and
RSGP commands. Global parameters are grouped into banks:
• Bank 0: Global conﬁguration of the module.
• Bank 1: Not used.

• Bank 2: TMCL user variables.

• Bank 3: TMCL interrupt conﬁguration.

5.1 Bank 0
Parameters with numbers from 64 on conﬁgure all settings that affect the overall behaviour of a module.
These are things like the serial address, the RS485 baud rate or the CAN bit rate (where appropriate).
Change these parameters to meet your needs. The best and easiest way to do this is to use the appropriate
functions of the TMCL-IDE. The parameters with numbers between 64 and 128 are automatically stored in
the EEPROM.

Note • An SGP command on such a parameter will always store it permanently and
no extra STGP command is needed.
• Take care when changing these parameters, and use the appropriate func-
tions of the TMCL-IDE to do it in an interactive way.
• Some conﬁgurations of the interface (for example baud rates that are not
supported by the PC) may leed to the fact that the module cannot be reached
any more. In such a case please see the PD42-1241 Hardware Manual on
how to reset all parameters to factory default settings.
• Some settings (especially interface bit rate settings) do not take effect im-
mediately. For those settings, power cycle the module after changing them
to make the changes take effect.

There are different parameter access types, like read only or read/write. Table 16 shows the different
parameter access types used in the global parameter tables.

Meaning of the Letters in the Access Column

Access type Command Description
R GGP Parameter readable
W SGP, AGP Parameter writable
E STGP, RSGP Parameter can be stored in the EEPROM
A SGP Automatically stored in the EEPROM

Table 16: Meaning of the Letters in the Access Column

All Global Parameters of the PD42-1241 Module in Bank 0

Number Global Parameter Description Range [Units] Access
0 9600 Default
1 14400
2 19200
3 28800
65 RS485 baud rate 4 38400 0. . . 8 RWA
5 57600
6 76800
7 115200
8 230400
66 Serial address Module (target) address for RS485. 1. . . 255 RWA
68 Serial heartbeat Serial heartbeat for RS485 interface and 0. . . 65535 [ms] RWA
USB interface. If this time limit is up and no
further command is received by the mod-
ule the motor will be stopped. Setting this
parameter to 0 (default) turns off the serial
heartbeat function.
2 20kBit/s
3 50kBit/s
4 100kBit/s
69 CAN bit rate 5 125kBit/s 2. . . 8 RWA
6 250kBit/s
7 500kBit/s
8 1000kBit/s (Default)
70 CAN reply ID The CAN ID for replies from the board (de- 0. . . 2047 RWA
fault: 2).
71 CAN ID The module (target) address for CAN (de- 0. . . 2047 RWA
fault: 1).
75 Telegram pause Pause time before the reply via RS485 is 0. . . 255 RWA
time sent. For use with older RS485 interfaces it
is often necessary to set this parameter to
15 or more (e.g. RS485 adapters controlled
by the RTS pin). For CAN interface this pa-
rameter has no effect!
76 Serial host Host address used in the reply telegrams 0. . . 255 RWA
address sent back via RS485.

Number Global Parameter Description Range [Units] Access

77 Auto start mode 0 - Do not start TMCL application after 0/1 RWA
power up (default).
1 - Start TMCL application automatically af-
ter power up.
81 TMCL code Protect a TMCL program against disassem- 0/1/2/3 RWA
protection bling or overwriting.
0 - no protection
1 - protection against disassembling
2 - protection against overwriting
3 - protection against disassembling and
overwriting
When switching off the protection
against disassembling (changing this
parameter from 1 or 3 to 0 or 2, the
program will be erased ﬁrst!
82 CAN heartbeat Heartbeat for CAN interface. If this time 0. . . 65535 [ms] RWA
limit is up and no further command is re-
ceived the motor will be stopped. Setting
this parameter to 0 (default) turns off the
CAN heartbeat function.
83 CAN secondary Second CAN ID for the module. Switched 0. . . 2047 RWA
address off when set to zero.
84 Coordinate 0 - coordinates are stored in RAM only (but 0/1 RWA
storage can be copied explicitly between RAM and
EEPROM)
1 - coordinates are always also stored in the
EEPROM
85 Do not restore Determines if TMCL user variables are to be 0/1 RWA
user variables restored from the EEPROM automatically on
startup.
0 - user variables are restored (default)
1 - user variables are not restored
87 Serial secondary Second module (target) address for RS485. 0. . . 255 RWA
address Setting this parameter to 0 switches off the
seconndary address.
128 TMCL application 0 - stop 0. . . 3 R
status 1 - run
2 - step
3 - reset
129 Download mode 0 - normal mode 0/1 R
1 - download mode
130 TMCL program Contains the address of the currently exe- R
counter cuted TMCL command.
132 TMCL tick timer A 32 bit counter that gets incremented by 0. . . 2147483647 RW
one every millisecond. It can also be reset
to any start value.

Number Global Parameter Description Range [Units] Access

133 Random number Returns a random number. The seed value 0. . . 2147483647 RW
can be set by writing to this parameter.
255 Suppress reply The reply in direct mode will be suppressed 0/1 RW
when this parameter is set to 1. This pa-
rameter cannot be stored to EEPROM and
will be reset to 0 on startup. The reply will
not be suppressed for GAP, GGP and GIO
commands.

Table 17: All Global Parameters of the PD42-1241 Module in Bank 0

5.2 Bank 1
The global parameter bank 1 is normally not available. It may be used for customer specific extensions
of the firmware. Together with user definable commands these variables form the interface between
extensions of the firmware (written by Trinamic in C) and TMCL applications.

5.3 Bank 2
Bank 2 contains general purpose 32 bit variables for use in TMCL applications. They are located in RAM
and the ﬁrst 56 variables can also be stored permanently in the EEPROM. After booting, their values are
automatically restored to the RAM. Up to 256 user variables are available. Please see table 16 for an
explanation of the different parameter access types.

User Variables in Bank 2

Number Global Parameter Description Range [Units] Access
0. . . 55 user variables TMCL user variables -2147483648 . . . RWE
#0. . . #55 2147483647
56. . . 255 user variables TMCL user variables -2147483648 . . . RW
#56. . . #255 2147483647

Table 18: User Variables in Bank 2

5.4 Bank 3
Bank 3 contains interrupt parameters. Some interrupts need conﬁguration (e.g. the timer interval of
a timer interrupt). This can be done using the SGP commands with parameter bank 3 (SGP <type>, 3,
<value>). The priority of an interrupt depends on its number. Interrupts with a lower number have
a higher priority.
Table 19 shows all interrupt parameters that can be set. Please see table 16 for an explanation of the
parameter access types.

Interrupt Parameters in Bank 3

Number Global Parameter Description Range [Units] Access
0 Timer 0 period Time between two interrupts 0. . . 4294967295 RW
(ms) [ms]

Number Global Parameter Description Range [Units] Access

1 Timer 1 period Time between two interrupts 0. . . 4294967295 RW
(ms) [ms]
2 Timer 2 period Time between two interrupts 0. . . 4294967295 RW
(ms) [ms]
27 Stop left 0 trigger 0=off, 1=low-high, 2=high-low, 3=both 0. . . 3 RW
transition
28 Stop right 0 trigger 0=off, 1=low-high, 2=high-low, 3=both 0. . . 3 RW
transition
39 Input 0 trigger 0=off, 1=low-high, 2=high-low, 3=both 0. . . 3 RW
transition
40 Input 1 trigger 0=off, 1=low-high, 2=high-low, 3=both 0. . . 3 RW
transition
41 Input 2 trigger 0=off, 1=low-high, 2=high-low, 3=both 0. . . 3 RW
transition

Table 19: Interrupt Parameters in Bank 3

6 Module Speciﬁc Hints

This section contains some hints that are speciﬁc to the PD42-1241 module.

6.1 Conversion between PPS, RPM and RPS

In order to convert between pps units and units like rounds per second (rps) or rounds per minute (rpm),
one has to know the fullstep resolution of the motor (full steps per round) and the microstep resolution
setting of the module (axis parameter #140, default setting is 256 microsteps per full step).
So to convert from pps to rps, use the following formula:
vpps
vrps =
rf ullstep · rmicrostep

To convert from rps to rpm, use:

vrpm = vrps · 60
With the following symbols:
• vrps : velocity in rounds per second
• vrpm : velocity in rounds per minute
• vpps : velocity in pulses (microsteps) per second
• rf ullstep : fullstep resolution of the motor (with most motors 200 (1.8°))
• rmicrostep : microstep setting of the module (default 256)
So, with a 200 fullsteps motor and a microstep setting of 256 (axis parameter #140 = 8), a velocity of
51200pps will result in 1rps (60rpm).

6.2 The SensOstep™ Encoder

The PD42-1241 module offers an integrated SensOstep encoder. This built-in encoder has a resolution of
1024 steps per rotation. Please consider the following hints when using the built-in encoder:

• The encoder counter can be read by software and can be used to monitor the current position of the
motor.
• To read out or to change the position value of the encoder use axis parameter #209. To read out the
position of the internal encoder use GAP 209, 0. The encoder position register can also be changed
using command SAP 209, 0, <n>, with n = -2147483648 . . . 2147483647.
• The resolution of the SensOstep encoder is automatically matched to the microstep resolution of the
motor. This is achieved by an internal pre-scaler that will automatically set to the appropriate value
whenever the microstep resolution (axis parameter #140) gets changed.
• Using axis parameter #210 a clear-on-null function can be activated. This is useful for ﬁnding the
absolute zero-position of the encoder. Set this parameter to 1 to activate the clear-on-null function.
After the clear-on-null function has been executed this parameter will automatically be set back to 0.
• The motor can be stopped automatically if motor position and encoder position differ too much
(deviation error). This can be set using axis parameter #212 (maximum deviation). Setting this
parameter to 0 turns off this feature.
• As the built-in encoder is a magnetic encoder, the absolute position value can also be read. Use GAP
215, 0 to read the absolute (single-turn) position value. This always is a value between 0 and 1023
(independent of any other setting).

6.3 External Encoders

External encoders with ABN interface can also be attached to the PD42-1241 module. Please see the
Hardware Manual on how to connect an external encoder. Consider the following things when using an
external ABN encoder:

• The motor can be stopped automatically if motor position and encoder position differ too much
(deviation error). This can be set using axis parameter #218 (maximum deviation). Setting this
parameter to 0 turns off this feature.

The encoder counter increments / decrements will be aligned to the position (microstep) counter when the
encoder resolution (axis parameter #216) is set to the appropriate value (counts per revolution). This is
essential when using the deviation error supervision (axis parameter #218) and simpliﬁes encoder counter
versus position/microstep counter comparisons (1:1).
Encoder resolutions are often (but not always) given in lines per rotation (lpr) by the manufaturer of the
encoder. Convert this value to counts per rotation (cpr) by multiplying it by four (because of the quadrature
interface).

6.4 Step/Direction Mode

The PD42-1241 is also equipped with a step/direction interface. In order to use this interface it is necessary
to select step/direction mode by setting axis parameter #254 to 1 (using the command SAP 254, 0, 1). This
will activate step/direction mode. In this mode, motion commands like ROL, ROR, MST and MVP will not
work (as motion will only be controlled by the step/direction signals then), but most motor parameters
like standby current, run current, microstep resolution and chopper settings can still be used. Automatic
switching between run current and standby current also works in step/direction mode.

In order to permanently switch the module to step/direction mode, write a short initialization program in
TMCL that contains the necessary SAP commands, download this program to the PD42-1241 and activate
autostart mode in order to make the program start automatically on power-up. An initialization program
for step/direction mode can simply look like this (replace the motor current settings by the values that you
need):

1 SAP 6 , 0 , 200 // Set run current

SAP 7 , 0 , 8 // Set standby current
3 SAP 254 , 0 , 1 // Activate step / direction mode
STOP // End of this program

Note Always leave input IN2 unconnected when using step/direction mode.

7 Hints and Tips

This chapter gives some hints and tips on using the functionality of TMCL, for example how to use
and parameterize the built-in reference search algorithm. You will also ﬁnd basic information about
StallGuard2™ and CoolStep™ in this chapter.

7.1 Reference Search

The built-in reference search features switching point calibration and support for a home switch and/or
one or two end switches. The internal operation is based on a state machine that can be started, stopped
and monitored (instruction RFS, opcode 13). The settings of the automatic stop functions corresponding to
the end switches (axis parameters 12 and 13) do not inﬂuence the reference search.

Notes:

• Until the reference switch is found for the ﬁrst time, the searching speed set by axis parameter 194 is
used.
• After hitting the reference switch, the motor slowly moves until the switch is released. Finally the
switch is re-entered in the other direction, setting the reference point to the center of the two
switching points. The speed used for this calibration is deﬁned by axis parameter 195.

Axis parameter 193 deﬁnes the reference search mode to be used. Choose one of the reference search
modes shown in table 20 and in the following subsections:

right limit / end / stop switch

: reference search speed (axis parameter 194)

: reference switch speed (axis parameter 195)

Figure 6: Reference Search Mode 3

7.1.4 Mode 4

7.2 StallGuard2
The module is equipped with motor driver chips that feature load measurement. This load measurement
can be used for stall detection. StallGuard2 delivers a sensorless load measurement of the motor as well
as a stall detection signal. The measured value changes linear with the load on the motor in a wide range
of load, velocity and current settings. At maximum motor load the StallGuard value goes to zero. This
corresponds to a load angle of 90° between the magnetic ﬁeld of the stator and magnets in the rotor. This
also is the most energy eﬃcient point of operation for the motor.

Stall detection means that the motor will be stopped automatically when the load gets too high. This
function is conﬁgured mainly using axis parameters #174 and #181.

Stall detection can for example be used for ﬁnding the reference point without the need for reference
switches. A short routine written in TMCL is needed to use StallGuard for reference searching.

7.3 CoolStep
This section gives an overview of the CoolStep related parameters. Please bear in mind that the ﬁgure
only shows one example for a drive. There are parameters which concern the conﬁguration of the current.
Other parameters are there for velocity regulation and for time adjustment.

Figure 12 shows all the adjustment points for CoolStep. It is necessary to identify and conﬁgure the
thresholds for current (I6, I7 and I183) and velocity (V182). Furthermore the StallGuard2 feature has to be
adjusted (SG170). It can also be enabled if needed (SG181).

The reduction or increasing of the current in the CoolStep area (depending on the load) has to be conﬁg-
ured using parameters I169 and I171.

In this chapter only basic axis parameters are mentioned which concern CoolStep and StallGuard2. The
complete list of axis parameters in chapter 4 contains further parameters which offer more conﬁguration
options.

Velocity Current

I6 The current depends on

the load of the motor.
SG170 I 183 I6
SG181
I 6/2*
V182
I7
I 183 I 183 I7
I7 Time
T214
coolStep™ area

area w ithout coolStep™

I 123 Current and parameter

V123 Velocity and parameter
T123 Time parameter
SG123 stallGuard2™ parameter
* The lower threshold of the coolStep™ current can be adjusted up to I6/4. Refer to parameter 168.

Figure 12: CoolStep Adjustment Points and Thresholds

CoolStep Adjustment Points and Thresholds

Number Axis Parameter Description
I6 Absolute maximum current The maximum value is 255. This value
means 100% of the maximum current of the
module. The current adjustment is within
the range 0. . . 255 and can be adjusted in 32
steps (0. . . 255 divided by eight; e.g. step 0 =
0. . . 7, step 1 = 8. . . 15 and so on).
Too high values may cause motor damage!
I7 Standby current The current limit two seconds after the mo-
tor has stopped.
I168 smartEnergy current minimum Sets the lower motor current limit for Cool-
Step operation by scaling the CS (Current
Scale, see axis parameter 6) value.
Minimum motor current:
0 - 1/2 of CS
1 - 1/4 of CS
I169 smartEnergy current down step Sets the number of StallGuard2 readings
above the upper threshold necessary for
each current decrement of the motor cur-
rent. Number of StallGuard2 measure-
ments per decrement:
Scaling: 0. . . 3: 32, 8, 2, 1
0: slow decrement
3: fast decrement
I171 smartEnergy current up step Sets the current increment step. The
current becomes incremented for each
measured StallGuard2 value below the
lower threshold (see smartEnergy hystere-
sis start).
current increment step size:
Scaling: 0. . . 3: 1, 2, 4, 8
0: slow increment
3: fast increment
SG170 smartEnergy hysteresis Sets the distance between the lower and
the upper threshold for StallGuard2 read-
ing. Above the upper threshold the motor
current becomes decreased.
SG181 Stop on stall Below this speed motor will not be stopped.
Above this speed motor will stop in case
StallGuard2 load value reaches zero.
V182 smartEnergy threshold speed Above this speed CoolStep becomes en-
abled.
T214 Power down delay Standstill period before the current is
changed down to standby current. The stan-
dard value is 200 (which means 2000msec).

Table 21: CoolStep Adjustment Points and Thresholds

7.4 Velocity and Acceleration Calculation

When the unit mode (axis parameter #255) is set to 1 (which is also the default value), all velocity parameters
on the PD42-1241 are given in microsteps per second (also called pulse per second or pps). Acceleration
and deceleration units are given in pps2 .
When axis parameter #255 is set to 0 the internal units of the ramp generators are directly used. But this
is only necessary in very special cases. Normally one should leave axis parameter #255 at 1 and use the
pps units.
In order to convert between pps units and units like rounds per second (rps) or rounds per minute (rpm),
one has to know the fullstep resolution of the motor (full steps per round) and the microstep resolution
setting of the module (axis parameter #140, default setting is 256 microsteps per full step).
So to convert from pps to rps, use the following formula:
vpps
vrps =
rf ullstep · rmicrostep

To convert from rps to rpm, use:

vrpm = vrps · 60
With the following symbols:
• vrps : velocity in rounds per second

• vrpm : velocity in rounds per minute

• vpps : velocity in pulses (microsteps) per second
• rf ullstep : fullstep resolution of the motor (with most motors 200 (1.8°))

• rmicrostep : microstep setting of the module (default 256)

So, with a 200 fullsteps motor and a microstep setting of 256 (axis parameter #140 = 8), a velocity of
51200pps will result in 1rps (60rpm).

7.5 SixPoint Ramp

The PD42-1241 is equipped with a motion controller that supports TRINAMIC’s SixPoint ramp technology.
Please see also section 1.3 for more information about the SixPoint ramp. The sixPoint ramp can be
conﬁgured using the following axis parameters:

Parameter Name TMCL Axis Parameter Number

Start velocity (VSTART ) 19
Acceleration A1 15
Velocity V1 16
Acceleration A2 5
Maximum positioning velocity (VMAX ) 4
Deceleration D2 17
Deceleration D1 18
Stop velocity VSTOP 20
Wait time WAIT 21

Table 22: SixPoint Ramp Parameters

Setting the velocity V1 (axis parameter #16) to zero switches off the SixPoint ramp. In this case, a trape-
zoidal ramp deﬁned by parameters 5, 4, 15, 19, 20 and 21 will be used.

Note The SixPoint ramp will only be used in positioning mode (MVP command). Velocity
mode (ROR/ROL commands) will always use a trapezoidal ramp, deﬁned just by
the acceleration (axis parameter 5), the speed given with the ROR or ROL com-
mand and the start and stop speed (axis parameters 19 and 20). The deceleration
parameters will not be used in velocity mode.

8 TMCL Programming Techniques and Structure

8.1 Initialization
The ﬁrst task in a TMCL program (like in other programs also) is to initialize all parameters where different
values than the default values are necessary. For this purpose, SAP and SGP commands are used.

8.2 Main Loop

Embedded systems normally use a main loop that runs inﬁnitely. This is also the case in a TMCL application
that is running stand alone. Normally the auto start mode of the module should be turned on. After power
up, the module then starts the TMCL program, which ﬁrst does all necessary initializations and then enters
the main loop, which does all necessary tasks end never ends (only when the module is powered off or
reset).

There are exceptions to this, e.g. when TMCL routines are called from a host in direct mode.

So most (but not all) stand alone TMCL programs look like this:
// Initialization
2 SAP 4 , 0 , 50000 // define maximum positioning speed
SAP 5 , 0 , 10000 // define maximum acceleration
4

MainLoop :
6 // do something , in this example just running between two positions
MVP ABS , 0 , 5000
8 WAIT POS , 0 , 0
MVP ABS , 0 , 0
10 WAIT POS , 0 , 0
JA MainLoop // end of the main loop = > run infinitely

8.3 Using Symbolic Constants

To make your program better readable and understandable, symbolic constants should be taken for all
important numerical values that are used in the program. The TMCL-IDE provides an include ﬁle with
symbolic names for all important axis parameters and global parameters. Please consider the following
example:

1 // Define some constants

# include TMCLParam . tmc
3 MaxSpeed = 50000
MaxAcc = 10000
5 Position0 = 0
Position1 = 500000
7

// Initialization
9 SAP APMaxPositioningSpeed , Motor0 , MaxSpeed
SAP APMaxAcceleration , Motor0 , MaxAcc
11

MainLoop :
13 MVP ABS , Motor0 , Position1
WAIT POS , Motor0 , 0
15 MVP ABS , Motor0 , Position0

WAIT POS , Motor0 , 0

17 JA MainLoop
Have a look at the ﬁle TMCLParam.tmc provided with the TMCL-IDE. It contains symbolic constants that
deﬁne all important parameter numbers.

Using constants for other values makes it easier to change them when they are used more than once in a
program. You can change the deﬁnition of the constant and do not have to change all occurrences of it in
your program.

8.4 Using Variables

The user variables can be used if variables are needed in your program. They can store temporary values.
The commands SGP, GGP and AGP as well as STGP and RSGP are used to work with user variables:

• SGP is used to set a variable to a constant value (e.g. during initialization phase).
• GGP is used to read the contents of a user variable and to copy it to the accumulator register for
further usage.

• AGP can be used to copy the contents of the accumulator register to a user variable, e.g. to store the
result of a calculation.
• The STGP command stores the contents of a user varaible in the EEPROM.
• The RSGP command copies the value stored in the EEPROM back to the user variable.

• Global parameter 85 controls if user variables will be restored from the EEPROM automatically on
startup (default setting) or not (user variables will then be initialized with 0 instead).

Please see the following example:

1 MyVariable = 42
// Use a symbolic name for the user variable
3 // ( This makes the program better readable and understandable .)

5 SGP MyVariable , 2 , 1234 // Initialize the variable with the value 1234
...
7 ...
GGP MyVariable , 2 // Copy contents of variable to accumulator register
9 CALC MUL , 2 // Multiply accumulator register with two
AGP MyVariable , 2 // Store contents of accumulator register to variable
11 ...
...
Furthermore, these variables can provide a powerful way of communication between a TMCL program
running on a module and a host. The host can change a variable by issuing a direct mode SGP command
(remember that while a TMCL program is running direct mode commands can still be executed, without
interfering with the running program). If the TMCL program polls this variable regularly it can react on
such changes of its contents.

The host can also poll a variable using GGP in direct mode and see if it has been changed by the TMCL
program.

8.5 Using Subroutines

The CSUB and RSUB commands provide a mechanism for using subroutines. The CSUB command branches
to the given label. When an RSUB command is executed the control goes back to the command that
follows the CSUB command that called the subroutine.

This mechanism can also be nested. From a subroutine called by a CSUB command other subroutines can
be called. In the current version of TMCL eight levels of nested subroutine calls are allowed.

8.6 Combining Direct Mode and Standalone Mode

Direct mode and standalone mode can also be combined. When a TMCL program is being executed in
standalone mode, direct mode commands are also processed (and they do not disturb the ﬂow of the
program running in standalone mode). So, it is also possible to query e.g. the actual position of the motor
in direct mode while a TMCL program is running.

Communication between a program running in standalone mode and a host can be done using the TMCL
user variables. The host can then change the value of a user variable (using a direct mode SGP command)
which is regularly polled by the TMCL program (e.g. in its main loop) and so the TMCL program can react
on such changes. Vice versa, a TMCL program can change a user variable that is polled by the host (using a
direct mode GGP command).

A TMCL program can be started by the host using the run command in direct mode. This way, also a set
of TMCL routines can be deﬁned that are called by a host. In this case it is recommended to place JA
commands at the beginning of the TMCL program that jump to the speciﬁc routines. This assures that
the entry addresses of the routines will not change even when the TMCL routines are changed (so when
changing the TMCL routines the host program does not have to be changed).

Example:
// Jump commands to the TMCL routines
2 Func1 : JA Func1Start
Func2 : JA Func2Start
4 Func3 : JA Func3Start

6 Func1Start :
MVP ABS , 0 , 1000
8 WAIT POS , 0 , 0
MVP ABS , 0 , 0
10 WAIT POS , 0 , 0
STOP
12

Func2Start :
14 ROL 0 , 500
WAIT TICKS , 0 , 100
16 MST 0
STOP
18

Func3Start :
20 ROR 0 , 1000
WAIT TICKS , 0 , 700
22 MST 0
STOP

This example provides three very simple TMCL routines. They can be called from a host by issuing a run
command with address 0 to call the ﬁrst function, or a run command with address 1 to call the second
function, or a run command with address 2 to call the third function. You can see the addresses of the
TMCL labels (that are needed for the run commands) by using the ”Generate symbol ﬁle function” of the
TMCL-IDE.

8.7 Make the TMCL Program start automatically

For stand-alone operation the module has to start the TMCL program in its memory automatically after
power-on. In order to achieve this, switch on the Autostart option of the module. This is controlled by
global parameter #77. There are different ways to switch on the Autostart option:
• Execute the command SGP 77, 0, 1 in direct mode (using the Direct Mode tool in the TMCL-IDE).
• Use the Global Parameters tool in the TMCL-IDE to set global parameter #77 to 1.

• Use the Autostart entry in the TMCL menu of the TMCL Creator in the TMCL-IDE. Go to the Autostart
entry in the TMCL menu and select "’On"’.

9 Figures Index
1 StallGuard2 Load Measurement as a 7 Reference Search Mode 4 . . . . . . . . 91
Function of Load . . . . . . . . . . . . . 6 8 Reference Search Mode 5 . . . . . . . . 92
2 Energy Eﬃciency Example with CoolStep 7 9 Reference Search Mode 6 . . . . . . . . 92
3 Typical motion proﬁle with TRINAMIC’s 10 Reference Search Mode 7 . . . . . . . . 93
SixPoint motion controller . . . . . . . . 7 11 Reference Search Mode 8 . . . . . . . . 93
4 Reference Search Mode 1 . . . . . . . . 90 12 CoolStep Adjustment Points and
5 Reference Search Mode 2 . . . . . . . . 90 Thresholds . . . . . . . . . . . . . . . . . 95
6 Reference Search Mode 3 . . . . . . . . 91

10 Tables Index
1 Most important Axis Parameters . . . . 9 15 All PD42-1241 Axis Parameters . . . . . 81
2 TMCL Command Format . . . . . . . . . 12 16 Meaning of the Letters in the Access
3 TMCL Reply Format . . . . . . . . . . . . 13 Column . . . . . . . . . . . . . . . . . . . 82
4 TMCL Status Codes . . . . . . . . . . . . 13 17 All Global Parameters of the PD42-1241
5 Overview of all TMCL Commands . . . 16 Module in Bank 0 . . . . . . . . . . . . . 85
6 Motion Commands . . . . . . . . . . . . 16 18 User Variables in Bank 2 . . . . . . . . . 85
7 Parameter Commands . . . . . . . . . . 17 19 Interrupt Parameters in Bank 3 . . . . . 86
8 Branch Commands . . . . . . . . . . . . 17 20 Reference Search Modes . . . . . . . . 89
9 I/O Port Commands . . . . . . . . . . . 18 21 CoolStep Adjustment Points and
10 Calculation Commands . . . . . . . . . 18 Thresholds . . . . . . . . . . . . . . . . . 96
11 Interrupt Processing Commands . . . . 19 22 SixPoint Ramp Parameters . . . . . . . 98
12 Interrupt Vectors . . . . . . . . . . . . . 19 23 Firmware Revision . . . . . . . . . . . . 107
13 TMCL Control Commands . . . . . . . . 71 24 Document Revision . . . . . . . . . . . . 107
14 Meaning of the Letters in the Access
Column . . . . . . . . . . . . . . . . . . . 72

11 Supplemental Directives
11.1 Producer Information
11.2 Copyright
TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos,
trademarks, and resources. © Copyright 2019 TRINAMIC. All rights reserved. Electronically published by
TRINAMIC, Germany.

Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup
Language) must retain the above copyright notice, and the complete Datasheet User Manual docu-
mentation of this product including associated Application Notes; and a reference to other available
product-related documentation.

11.3 Trademark Designations and Symbols

Trademark designations and symbols used in this documentation indicate that a product or feature is
owned and registered as trademark and/or patent either by TRINAMIC or by other manufacturers, whose
products are used or referred to in combination with TRINAMIC’s products and TRINAMIC’s product docu-
mentation.

This TMCL™ Firmware Manual is a non-commercial publication that seeks to provide concise scientiﬁc
and technical user information to the target user. Thus, trademark designations and symbols are only
entered in the Short Spec of this document that introduces the product at a quick glance. The trademark
designation /symbol is also entered when the product or feature name occurs for the ﬁrst time in the
document. All trademarks and brand names used are property of their respective owners.

11.4 Target User

The documentation provided here, is for programmers and engineers only, who are equipped with the
necessary skills and have been trained to work with this type of product.

The Target User knows how to responsibly make use of this product without causing harm to himself or
others, and without causing damage to systems or devices, in which the user incorporates the product.

11.5 Disclaimer: Life Support Systems

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.

Information given in this document is believed to be accurate and reliable. However, no 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.

11.6 Disclaimer: Intended Use

The data speciﬁed in this user manual is intended solely for the purpose of product description. No repre-
sentations or warranties, either express or implied, of merchantability, ﬁtness for a particular purpose

or of any other nature are made hereunder with respect to information/speciﬁcation or the products to
which information refers and no guarantee with respect to compliance to the intended use is given.

In particular, this also applies to the stated possible applications or areas of applications of the product.
TRINAMIC products are not designed for and must not be used in connection with any applications where
the failure of such products would reasonably be expected to result in signiﬁcant personal injury or death
(safety-Critical Applications) without TRINAMIC’s speciﬁc written consent.

TRINAMIC products are not designed nor intended for use in military or aerospace applications or environ-
ments or in automotive applications unless speciﬁcally designated for such use by TRINAMIC. TRINAMIC
conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes
no liability for any patent and/or other trade mark rights of a third party resulting from processing or
handling of the product and/or any other use of the product.

11.7 Collateral Documents & Tools

This product documentation is related and/or associated with additional tool kits, ﬁrmware and other
items, as provided on the product page at: www.trinamic.com.

12 Revision History
12.1 Firmware Revision

Version Date Author Description

V1.44 2018-MAY-03 OK First release version.

Table 23: Firmware Revision

12.2 Document Revision

Version Date Author Description

V1.00 2018-MAY-03 OK First release version.
V1.01 2019-MAY-23 OK Motor current values corrected.

Table 24: Document Revision

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