MODULE ModuleforStepper TMCM-6212TMCL FirmwareManual FirmwareVersionV1.11 DocumentRevisionV1.072019-JAN-25 TheTMCM-6212isasixaxescontroller/drivermodulefor2-phasebipolarsteppermotorswith separatedierentialencoderandseparatehomeandstopswitchinputsforeachaxis. Dynamic currentcontrol,andquiet,smoothandecientoperationarecombinedwithStealthChop,Dc- Step,StallGuardandCoolStepfeatures. Themoduleoersfouranalogordigitalinputsas wellasfourdigitaloutputsincombinationwithabreakchopperunit. Features 6-AxesStepperMotorControl TMCL EncoderSupport SixPointramps CoolStep StallGuard2 StealthChop DcStep Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram TMCM-6212 10..35V DC DC EEPROM I2C 6x RS485 TMC5130 E CAN +5V SPI USB C +5V +5V HOME, REFL, REFR (ARM) Inputs Outputs A/B/N Encoder 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation. 2/140 TMCM-6212TMCL FirmwareManualFirmwareVersionV1.11 DocumentRevisionV1.072019-JAN-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 . 19 3.5.6 InterruptProcessingCommands 19 3.5.7 NewTMCLCommands . 22 3.6 DetailedTMCLCommandDescriptions 24 3.6.1 ROR(RotateRight) 24 3.6.2 ROL(RotateLeft) . 25 3.6.3 MST(MotorStop) . 26 3.6.4 MVP(MovetoPosition) . 27 3.6.5 SAP(SetAxisParameter) 30 3.6.6 GAP(GetAxisParameter) 31 3.6.7 SGP(SetGlobalParameter) . 32 3.6.8 GGP(GetGlobalParameter) 33 3.6.9 STGP(StoreGlobalParameter) . 34 3.6.10 RSGP(RestoreGlobalParameter) . 35 3.6.11 RFS(ReferenceSearch) . 36 3.6.12 SIO(SetOutput) . 38 3.6.13 GIO(GetInput) 40 3.6.14 CALC(Calculate) . 43 3.6.15 COMP(Compare) . 45 3.6.16 JC(Jumpconditional) . 46 3.6.17 JA(Jumpalways) . 48 3.6.18 CSUB(CallSubroutine) . 49 3.6.19 RSUB(ReturnfromSubroutine) 50 3.6.20 WAIT(WaitforanEventtooccur) . 51 3.6.21 STOP(StopTMCLProgramExecution EndofTMCLProgram) 53 3.6.22 SCO(SetCoordinate) . 54 3.6.23 GCO(GetCoordinate) 55 3.6.24 CCO(CaptureCoordinate) 57 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com