MODULE ModuleforStepperMotors TMCM-6110TMCL FirmwareManual FirmwareVersionV1.42 DocumentRevisionV1.172018-JAN-09 TheTMCM-6110isasixaxiscontroller/drivermodulefor2-phasebipolarsteppermotors. The TMCM-6110TMCLrmwareallowstocontrolthemoduleusingTMCLcommands, supporting standaloneoperationaswellasdirectmodecontrol,makinguseoftheTrinamicTMC429motion controllerandtheTMC262motordriver.Dynamiccurrentcontrol,andquiet,smoothandecient operationarecombinedwithstallGuardandcoolStepfeatures. Features Sixaxissteppermotorcontrol Supplyvoltage9...28VDC TMCL USBinterface RS485interface CANinterface coolStep stallGuard2 Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram 3x 2 reference switches TMCL Memory +5V SPI +5V Motor 0 TMC Step/Dir progammable 260 SPI Motion Step/Dir TMC Motor 1 Controller RS485 260 with TMC429 Step/Dir TMC CAN Motor 2 260 C SPI USB (ARM) Step/Dir TMC Motor 3 260 8 Inputs progammable 8 TMC Step/Dir Outputs Motion 260 Motor 4 SPI Controller Step/Dir TMC with TMC429 260 Motor 5 +5V +5V 9..28V 3x 2 reference TMCMD6110 switches 2018TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation. 2/109 TMCM-6110TMCL FirmwareManualFirmwareVersionV1.42 DocumentRevisionV1.172018-JAN-09 Contents 1 Features 5 1.1 stallGuard2 . 6 1.2 coolStep 6 2 FirstStepswithTMCL 7 2.1 BasicSetup . 7 2.2 UsingtheTMCLDirectMode 7 2.3 ChangingAxisParameters 7 2.4 TestingwithasimpleTMCLProgram 8 3 TMCLandtheTMCL-IDEAnIntroduction 10 3.1 BinaryCommandFormat 10 3.1.1 ChecksumCalculation 11 3.2 ReplyFormat . 12 3.2.1 StatusCodes . 12 3.3 StandaloneApplications . 13 3.4 TheASCIIInterface 14 3.4.1 EnteringandleavingtheASCIIMode . 14 3.4.2 FormatoftheCommandLine . 14 3.4.3 FormatofaReply . 15 3.4.4 ConguringtheASCIIInterface . 15 3.5 TMCLCommandOverview . 16 3.5.1 TMCLCommands . 16 3.6 TMCLCommandsbySubject 17 3.6.1 MotionCommands 17 3.6.2 ParameterCommands 18 3.6.3 BranchCommands 18 3.6.4 I/OPortCommands . 19 3.6.5 CalculationCommands . 19 3.6.6 InterruptProcessingCommands 20 3.7 DetailedTMCLCommandDescriptions 23 3.7.1 ROR(RotateRight) 23 3.7.2 ROL(RotateLeft) . 24 3.7.3 MST(MotorStop) . 25 3.7.4 MVP(MovetoPosition) . 26 3.7.5 SAP(SetAxisParameter) 29 3.7.6 GAP(GetAxisParameter) 30 3.7.7 STAP(StoreAxisParameter) . 31 3.7.8 RSAP(RestoreAxisParameter) . 32 3.7.9 SGP(SetGlobalParameter) . 33 3.7.10GGP(GetGlobalParameter) 34 3.7.11STGP(StoreGlobalParameter) . 35 3.7.12RSGP(RestoreGlobalParameter) . 36 3.7.13RFS(ReferenceSearch) 37 3.7.14SIO(SetOutput) 39 3.7.15GIO(GetInput) 41 3.7.16CALC(Calculate) 44 3.7.17COMP(Compare) . 46 3.7.18JC(Jumpconditional) . 47 3.7.19JA(Jumpalways) . 49 3.7.20CSUB(CallSubroutine) 50 3.7.21RSUB(ReturnfromSubroutine) 51 2018TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com