MODULE ModuleforStepper TMCM-1278TMCL FirmwareManual FirmwareVersionV1.15 DocumentRevisionV1.042020-NOV-25 The TMCM-1278 is a single axis controller/driver module for 2-phase bipolar stepper motors with with coil currents of up to 9A RMS. The TMCM-1278 TMCL rmware allows to control the module usingTMCLcommands,supportingstandaloneoperationaswellasdirectmodecontrol,making use of the Trinamic TMC5160 motion controller and motor driver. Dynamic current control, and quiet,smoothandecientoperationarecombinedwithStealthChop,DcStep,StallGuardand CoolStepfeatures. Features SingleAxisSteppermotorcontrol Supplyvoltage10...48VDC TMCL MotionContoller CAN SixPointrampmotioncontroller StealthChopsilentPWMmode SpreadCyclesmartmixeddecay StallGuard2loaddetection CoolStep automatic current scal- ing DcStep Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling CNC LiquidHandling SimpliedBlockDiagram 2021TRINAMICMotionControlGmbH&Co. KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat: www.trinamic.com Readentiredocumentation. 2/132 TMCM-1278TMCL FirmwareManualFirmwareVersionV1.15 DocumentRevisionV1.042020-NOV-25 Contents 1 Features 5 1.1 StallGuard2 6 1.2 CoolStep 6 1.3 SixPointMotionController . 7 2 FirstStepswithTMCL 8 2.1 BasicSetup . 8 2.2 UsingtheTMCLDirectMode 8 2.3 ChangingAxisParameters 8 2.4 TestingwithasimpleTMCLProgram . 9 3 TMCLandtheTMCL-IDEAnIntroduction 11 3.1 BinaryCommandFormat 11 3.1.1 ChecksumCalculation . 12 3.2 ReplyFormat . 13 3.2.1 StatusCodes 13 3.3 StandaloneApplications . 14 3.4 TMCLCommandOverview . 15 3.5 TMCLCommandsbySubject 17 3.5.1 MotionCommands . 17 3.5.2 ParameterCommands . 17 3.5.3 BranchCommands . 18 3.5.4 I/OPortCommands 18 3.5.5 CalculationCommands 18 3.5.6 InterruptProcessingCommands . 19 3.5.7 NewTMCLCommands . 21 3.6 DetailedTMCLCommandDescriptions 23 3.6.1 ROR(RotateRight) . 23 3.6.2 ROL(RotateLeft) 24 3.6.3 MST(MotorStop) 25 3.6.4 MVP(MovetoPosition) 26 3.6.5 SAP(SetAxisParameter) . 29 3.6.6 GAP(GetAxisParameter) . 30 3.6.7 SGP(SetGlobalParameter) 31 3.6.8 GGP(GetGlobalParameter) . 32 3.6.9 STGP(StoreGlobalParameter) 33 3.6.10 RSGP(RestoreGlobalParameter) 34 3.6.11 RFS(ReferenceSearch) 35 3.6.12 SIO(SetOutput) . 37 3.6.13 GIO(GetInput) . 39 3.6.14 CALC(Calculate) . 42 3.6.15 COMP(Compare) 44 3.6.16 JC(Jumpconditional) 45 3.6.17 JA(Jumpalways) 47 3.6.18 CSUB(CallSubroutine) . 48 3.6.19 RSUB(ReturnfromSubroutine) . 49 3.6.20 WAIT(WaitforanEventtooccur) 50 3.6.21 STOP(StopTMCLProgramExecutionEndofTMCLProgram) . 52 3.6.22 SCO(SetCoordinate) 53 3.6.23 GCO(GetCoordinate) . 54 3.6.24 CCO(CaptureCoordinate) . 56 3.6.25 ACO(AccutoCoordinate) . 57 2021TRINAMICMotionControlGmbH&Co. KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com