TMCM BLDC MODULE. Reference and Programming Manual

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1 TMCM BLDC MODULE Referece ad Programmig Maual (modules: TMCM-160, TMCM-163) Versio 1.09 August 10 th, 2007 Triamic Motio Cotrol GmbH & Co. KG Sterstraße 67 D Hamburg, Germay INFO@TRINAMIC.COM

2 TMCM BLDC MODULE Referece ad Programmig Maual 2 Cotets 1 Fuctioal descriptio Itroductio Optios for stad aloe operatio Demostratio Applicatio Iterface Protocol Assigmet of the commad bytes set from the host to the BLDC-module: Assigmet of the reply bytes set from the BLDC-module: TMCL Commad Set TMCL Motio Cotrol Commads ROR - Rotate Right ROL - Rotate Left MST - Motor Stop MVP - Move to Positio TMCL Axis Parameter Commads SAP - TMCL Set Axis Parameter GAP - TMCL Get Axis Parameters STAP Store Axis Parameter Global Parameters SGP - Set Global Parameter Get Versio Documetatio Revisio Refereces...18 Tables Table 3.1: TMCL commad overview...5 Table 3.2: TMCL Commads, Set Axis Parameter (SAP)...10 Table 3.3: Max. Curret Regulatio with differet modules...11 Table 3.4: Example how to chage the remote cotrol mode...11 Table 3.5: TMCL Commads, Get Axis Parameter (GAP)...13 Table 3.6: Error Status...14 Table 3.7: TMCL Commads, Set Global Parameters (SGP)...16 Table 3.8: Baud Rate...17 Table 4.1: Documetatio Revisio...18

3 TMCM BLDC MODULE Referece ad Programmig Maual 3 1 Fuctioal descriptio 1.1 Itroductio The TMCM BLDC modules ca either be remote cotrolled via the PC demostratio software or a user specific program, or they ca be cotrolled by a aalog voltage (stad aloe mode). The fuctio of the stad aloe mode ca be modified by the user by writig iitializatio values to the o-board EEPROM, e.g. a maximum rotatio velocity, motor curret limit ad rotatio directio. For a detailed hardware iformatio refer to the specific hardware mauals (5 Refereces). 1.2 Optios for stad aloe operatio Mode Fuctioality Software settigs PWM cotrol PID eforced velocity Costat velocity Curret cotrol Motor PWM cotrolled by the aalog iput VIN. Motor directio cotrolled by DIR i pi. Maximum motor velocity v max set via software. This velocity is scaled by VIN pi voltage ad eforced by the PID velocity regulator. Desired motor velocity v set via software With firmware versio 1.07 or higher the maximum motor curret ca also be cotrolled by a aalog sigal o iput AIN1. The velocity ca either also be cotrolled by a aalog sigal o AIN0 or set by software. Remote cotrol flag = 0 Power o velocity = 0 Remote cotrol flag = 0 Power o velocity = v max Remote cotrol flag = 1 Power o velocity = v Remote cotrol flag: set bit 1 (i.e. remote cotrol flag=2 or 3) I all modes, the motor torque is limit by the maximum curret settig. The polarity of the DIR pi ca be iversed by the directio iput reverse flag settig. Refer to 3.2.1, Table 3.2, Type Demostratio Applicatio You ca use the demostratio applicatio for the TMCM-BLDC modules to set the module ito operatio. Please remark that you should as a first step switch the module to remote cotrolled mode. You ca use the TRINAMIC TMCL IDE to update the modules firmware ad to test set all the parameters of the module.

4 TMCM BLDC MODULE Referece ad Programmig Maual 4 2 Iterface Protocol The TMCM modules use the TMCL 9 byte protocol. The iterface parameters are 9600 baud, 8 bit, 1 stop bit (default values). Please refer to the TMCL maual for a more detailed descriptio of the TMCL basics. However, the BLDC modules defie a differet fuctio set, detailed i the followig. 2.1 Assigmet of the commad bytes set from the host to the BLDC-module: Cmd[0]: Cmd[1]: Cmd[2]: Cmd[3]: Cmd[4], Cmd[5], Cmd[6], Cmd[7]: Cmd[8]: Module address (set to oe for the RS232 module) Commad byte Istructio umber "Type" byte (e.g. parameter umber) "Axis" byte (always set to zero for a oe axis module) optioal parameter (CMD[4] is the MSB, Cmd[7] is the LSB) Parameters ca have oe to four bytes. Check sum (1 byte sum of the complete datagram) Example: Rotate right, motor #0, velocity = 350 (refer to ROR - Rotate Right) Fuctio Istructio Value (hex) $01 $01 $00 $00 $00 $00 $01 $5e $ Assigmet of the reply bytes set from the BLDCmodule: Reply[0]: Reply[1]: Reply[2]: Reply[3]: Reply[4],Reply[5],Reply[6],Reply[7]: Reply[8]: Host Address Module Address Status Last commad byte which was received by the module Value (Reply[4] is the MSB, Reply[7] is the LSB) All reply values are exteded to 32 bit Check sum Example: get the actual positio of motor #0 (refer to GAP - TMCL Get Axis Parameters) Set: Fuctio Istructio Value (hex) $01 $06 $01 $00 $00 $00 $00 $00 $08 Reply: Fuctio Host- Target- Status Istructio address address Value (hex) $02 $01 $64 $06 $00 $00 $02 $c7 $36

5 TMCM BLDC MODULE Referece ad Programmig Maual 5 3 TMCL Commad Set To eable TMCL cotrol set SAP Type 128 to 1 (refer to 3.2.1). This chapter describes all TMCL commads. The commads are sorted by their commad umbers. For every commad the memoic with its sytax ad the biary represetatio are give. Rages for the parameters are also give. Last but ot least some examples are give at the ed of every commad descriptio. I the examples for the biary represetatio always RS232 commuicatio (9 byte) format is used with module address 1 ad host address 2. The motor umber is always zero for a oe axis module. Please ote: All RPM values (v rpm8) are calculated for a 8 pole motor, i.e. 4 electrical field rotatios per motor rotatio, to make optimum use of the 16 bit velocity cotrol parameters. To get the velocity v i uit [rpm] for a differet motor, multiply the value v rpm8 by the umber of actual poles ( poles) ad divide the result by 8. So, oe gets v rpm8 * poles v[rpm] = 8 poles: umber of poles of the actually used motor. Positio values (x pos) are i uits of 16 electrical periods per secod x pos2 x pos1 x[rotatios] = 6* * 1 2 poles The TMCM-160 module efolds a TMCL commad set as outlied i Table 1. The commads itself are described afterwards ad withi the tables Table 2 ad Table 4. TMCL Commad Istructio Fuctio ROR 1 Rotate Right ROL 2 Rotate Left MST 3 Motor Stop MVP 4 Move to Positio SAP 5 Set Axis Parameter GAP 6 Get Axis Parameter STAP 7 Store Axis Parameter SGP 9 Set Global Parameter Table 3.1: TMCL commad overview

6 TMCM BLDC MODULE Referece ad Programmig Maual TMCL Motio Cotrol Commads ROR - Rotate Right Descriptio: This istructio starts rotatio i "right" directio, i.e. icreasig the positio couter. Iteral fuctio: First, velocity mode is selected. The, the velocity value is trasferred to axis parameter #0 ("target velocity"). Memoic: ROR <motor umber>, <velocity> Value Rage: Related commads: ROL, MST, SAP, GAP Biary represetatio: INSTRUCTION NO. TYPE MOTBANK VALUE 1 (do't care) <motor umber> <velocity> Example: Rotate right, motor #0, velocity = 350 Memoic: ROR 0, 350 Biary: Fuctio Istructio Value (hex) $01 $01 $00 $00 $00 $00 $01 $5e $61

7 TMCM BLDC MODULE Referece ad Programmig Maual ROL - Rotate Left Descriptio: This istructio starts rotatio i "left" directio, i.e. decreasig the positio couter. Iteral fuctio: First, velocity mode is selected. The, the velocity value is trasferred to axis parameter #0 ("target velocity"). Memoic: ROL <motor umber>, <velocity> Value Rage: Related commads: ROR, MST, SAP, GAP Biary represetatio: INSTRUCTION NO. TYPE MOTBANK VALUE 2 (do't care) <motor umber> <velocity> Example: Rotate left, motor #0, velocity = 1200 Memoic: ROL 0, 1200 Biary: Fuctio Istructio Value (hex) $01 $02 $00 $00 $00 $00 $04 $b0 $b MST - Motor Stop Descriptio: This istructio stops the motor. Iteral fuctio: the axis parameter "target velocity" is set to zero. Related commads: ROL, ROR, SAP, GAP Memoic: MST <motor umber> Biary represetatio: INSTRUCTION NO. TYPE MOTBANK VALUE 3 (do't care) <motor umber> (do't care) Example: Stop motor #0 Memoic: MST 0 Biary: Fuctio Istructio Value (hex) $01 $03 $00 $00 $00 $00 $00 $00 $04

8 TMCM BLDC MODULE Referece ad Programmig Maual MVP - Move to Positio Descriptio: A movemet towards the specified positio is started, with automatic geeratio of acceleratio- ad deceleratio ramps. The maximum velocity ad acceleratio are defied by axis parameters #4 ad #5. Two operatio types are available: Type 0: Movig to a absolute positio i the rage from to (-2 23 to+2 23 ). Type 1: Startig a relative movemet by meas of a offset to the actual positio. I this case, the resultig ew positio value must ot exceed the above metioed limits, too. Iteral fuctio: A ew positio value is trasferred to the axis parameter #2 target positio. Related commads: SAP, GAP, MST Memoic: MVP <ABS REL >, <motor umber>, <positio offset> Biary represetatio: INSTRUCTION NO. TYPE MOTBANK VALUE 4 0 ABS absolute <motor umber> <positio> 1 REL relative <motor umber> <offset> Examples: Move motor #0 to (absolute) positio Memoic: MVP ABS, 0, 9000 Biary: Fuctio Istructio Value (hex) $01 $04 $00 $00 $00 $01 $5f $90 $f5 Move motor #0 from curret positio 1000 steps backward (move relative 1000) Memoic: MVP REL, 0, Biary: Fuctio Istructio Value (hex) $01 $04 $01 $00 $ff $ff $fc $18 $18 Note: Before usig the MVP commad, oe has to set MVP specific parameters (please refer commad SAP (set axis parameter), Type 4, 8-10).

9 TMCM BLDC MODULE Referece ad Programmig Maual TMCL Axis Parameter Commads SAP - TMCL Set Axis Parameter Descriptio: Most parameters of a TMCM module ca be adjusted idividually for each axis. Although these parameters vary widely i their formats (1 to 24 bits, siged or usiged) ad physical locatios (cotroller RAM, cotroller EEPROM), they all ca be set by this fuctio. See STAP (sectio 3.2.3) for permaet storage of a modified value. Iteral fuctio: the parameter format is coverted igorig leadig zeros (or oes for egative values). The parameter is trasferred to the correct positio i the appropriate device. Related commads: GAP, STAP Memoic: SAP <parameter umber>, <motor umber>, <value> Biary represetatio: INSTRUCTION NO. TYPE MOTBANK VALUE 5 <parameter umber> <motor umber> <value> Example: set the absolute maximum curret of motor #0 to 200mA Memoic: SAP 6, 0, 200 Biary: Fuctio Istructio Value (hex) $01 $05 $06 $00 $00 $00 $00 $c8 $d4

10 TMCM BLDC MODULE Referece ad Programmig Maual List of Set Axis Parameter Commads Type Axis Parameter Value Rage Descriptio 1 Actual positio 24 bit siged 4 Max. positioig velocity 5 PWM limit 6 1 Max. curret 7 Active brake speed Mi. speed positioig MVP Slow dow dist. MVP Target reached distace Remote cotrol flag Directio iput reverse flag P Parameter I Parameter D Parameter 3 PID regulatio 133 loop delay Curret regulatio 134 loop delay 16 bit usiged bit usiged bit usiged 0 250, bit usiged bit usiged Chage the positio ad ecoder couter without movig the motor The maximum velocity used for MVP commad whe executig a ramp to a positio. Set PWM limit, % 100% Max. curret settig, refer , Table 3.3 Set to 255 ad store parameter, to restore factory default values for all stored parameter upo ext power o. Velocity, below which the motor is braked actively. Below this velocity, the motor is reversed upo directio chage commad. It is short circuited upo motor stop commad or after positioig, if the hard stop flag is set. Miimum Positioig speed for MVP commad: Positioig velocity, whe motor positio is withi the slow-dow distace of the target 16 bit usiged Slow-dow distace for MVP commad 16 bit usiged 2 bits Boolea 16 bit usiged bit usiged bit usiged Disable stop switch Boolea 149 Hard stop flag Boolea 8 bit usiged bit usiged Power o velocity 16 bit siged Target reached distace for MVP commad: Distace to the target, below which the motor is switched off braked ad the MVP commad fiishes. Bit 0: Eable exteral velocity cotrol Bit 1: Eable exteral curret cotrol (see sect ) Directio iput reverse flag for directio cotrol pi i stad aloe mode P Parameter of PID regulator, Velocity deviatio is divided by this value ad the result is added to the actual PWM o each PID clock I-Parameter: Itegrated velocity deviatio is divided by this value ad added to PWM o each PID clock D-Parameter: Chage of velocity deviatio betwee two calculatios is divided by this value ad added to PWM o each PID clock PID calculatio delay (0-255 * 10ms): Betwee each two PID calculatio at least this delay is used Delay of curret limitatio algorithm Set (1) to disable stop switch fuctio. This parameter ca ot be stored for security reasos. Hard stop flag: Set (1) to break motor hard, if velocity is below or equal active break velocity Power o velocity: Velocity after power o, if RS232 is eabled. Maximum velocity i potetiometer mode if value is differet from 0. Otherwise potetiometer mode uses direct PWM cotrol. Table 3.2: TMCL Commads, Set Axis Parameter (SAP) 1 refer Table 3 ad to the specific Hardware mauals (5 Refereces) 2 refer to the specific Hardware mauals (5 Refereces) 3 refer to the specific Hardware mauals (5 Refereces)

11 TMCM BLDC MODULE Referece ad Programmig Maual Maximum Curret Regulatio I Limit A Limit [ A] = A [ A] 250 max I Limit A Limit A max A Resolutio TMCM A (9,0A) (250) 9,25A 36mA TMCM A (13,5A) (250) 13,8A 54mA Table 3.3: Max. Curret Regulatio with differet modules Remote Cotrol Flag The remote cotrol flag is iterpreted bitwise. Bit 0 cotrols the aalog cotrol mode for the velocity, ad bit 1 cotrols the aalog cotrol mode for the maximum motor curret. Bit 0: Clearig this bit turs o the aalog cotrol mode for the velocity. The velocity ca the be cotrolled by the potetiometer (o TMCM-160 evaluatio kits) or the aalog iput pi AIN0. The speed rage ca be defied usig SAP 157. Settig this bit disables the aalog cotrol mode for the velocity. The velocity ca the oly be cotrolled by TMCL commads. Bit 1 (Firmware V1.07 or higher): Settig this bit eables the aalog cotrol mode for the maximum motor curret. The maximum motor curret ca the be cotrolled by the aalog iput pi AIN1. The motor curret rage ca be defied usig SAP 6. The motor curret is ear zero whe there is 0V at AIN1, ad it is at the value set by SAP 6 whe AIN1 is at its maximum iput voltage. Clearig this bit disables this mode. This meas that there are four possible values for the remote cotrol flag: 0: Velocity cotrolled by iput AIN0, curret cotrolled by TMCL commads oly. 1: Velocity ad curret cotrolled by TMCL commads oly. 2: Velociyt cotrolled by iput AIN0, curret cotrolled by iput AIN1 (firmware V1.07 or higher). 3: Velocity cotrolled by TMCL commads oly, curret cotrolled by iput AIN1 (firmware V1.07 or higher). Chagig this value also clears the stop switch flag ad the positio reached flag. The followig example shows how to chage the remote cotrol mode. The address is 1 ad the Motor umber is 0. Address Istructio Value Fuctio sets aalog velocity cotrol mode sets TMCL velocity cotrol mode Table 3.4: Example how to chage the remote cotrol mode

12 TMCM BLDC MODULE Referece ad Programmig Maual GAP - TMCL Get Axis Parameters Descriptio: Most parameters of a TMCM module ca be adjusted idividually for each axis. Although these parameters vary widely i their formats (1 to 24 bits, siged or usiged) ad physical locatios (cotroller RAM, cotroller EEPROM), they all ca be read by this fuctio. All parameters are exteded to 32 bit value for the ease of use. Related commads: SAP, STAP Memoic: GAP <parameter umber>, <motor umber> Biary represetatio: INSTRUCTION NO. TYPE MOTBANK VALUE 6 <parameter umber> <motor umber> (do't care) Example: get the actual positio of motor #0 Memoic: GAP 1, 0 Biary: Fuctio Istructio Value (hex) $01 $06 $01 $00 $00 $00 $00 $00 $08 Reply: Fuctio Host- Target- Status Istructio address address Value (hex) $02 $01 $64 $06 $00 $00 $02 $c7 $36

13 TMCM BLDC MODULE Referece ad Programmig Maual List of Get Axis Parameter Commads Type Axis Parameter Value Rage Descriptio 0 Target positio 24 bit siged The target positio of a curretly executed ramp. 1 Actual positio 24 bit siged The actual positio of the motor. 2 Target speed 16 bit siged Programmed target velocity 3 Actual speed 16 bit siged The actual velocity of the motor. 4 Max. positioig 16 bit usiged velocity See associated SAP commad 5 Duty cycle limit 8 bit usiged Limit duty cycle to a defied value Max. curret 8 bit usiged See associated SAP commad, refer Active brake 16 bit usiged speed Active brake velocity 8 Mi. positioig 16 bit usiged speed See associated SAP commad 9 MVP slow dow 16 bit usiged distace See associated SAP commad 10 MVP target 16 bit usiged reached distace See associated SAP commad 128 Remote cotrol 2 bits flag See associated SAP commad 129 Directio iput Boolea reverse flag See associated SAP commad 130 P-Parameter 16 bit usiged See associated SAP commad 131 I-Parameter 16 bit usiged See associated SAP commad 132 D-Parameter 16 bit usiged See associated SAP commad 133 PID regulatio 8 bit usiged loop delay See associated SAP commad Curret 134 regulatio loop 8 bit usiged See associated SAP commad delay 148 Disable stop Boolea switch See associated SAP commad 149 Hard stop flag Boolea See associated SAP commad 150 actual motor curret (value limited to rage of about 2 Actual motor 8 bit usiged ad 253), same calculatio formula as for max. curret curret regulatio, refer Actual voltage 16 bit usiged Actual Voltage (i 100mV steps) 152 Actual actual temperature, uses calculatio formula for Value Temperature T[ C] = Roud( * Power(value, )) 153 Actual PWM duty 8 bit usiged cycle Actual PWM duty cycle 154 ADC readout 8 bit usiged Potetiometer readout (aalog iput AIN0) 155 Stop flag Boolea Stop flag status: 1= Motor stopped due to stop switch 156 Error status 16 bit Error status readout, refer , Table Power o 16 bit siged velocity See associated SAP commad 158 Actual curret 16 bit usiged Actual motor curret limitatio factor: 256: curretly o limit limit 159 AIN1 readout 8 bit usiged Readout of exteral aalog iput AIN1 Table 3.5: TMCL Commads, Get Axis Parameter (GAP)

14 TMCM BLDC MODULE Referece ad Programmig Maual Error Status Readout bit Descriptio 0 UNDERVOLT Set if supply voltage too low for motor operatio 1 OVERTEMP Set if overtemperature is limit is exceeded 2 TEMPWARN Set if temperature warig level is reached 3 STOPSWITCH Set if motor stopped due to stop switch or stop commad 4 HALTED Set if motor is actively braked 5 HALLERR Set upo a hall sesor error (also upo power o of the module) Reset upo read of error status 6 POSMOD This flag is set whe the module is i positioig mode 7 POSEND This flag becomes set if the motor has stopped at the ed positio Table 3.6: Error Status

15 TMCM BLDC MODULE Referece ad Programmig Maual STAP Store Axis Parameter Descriptio: Axis parameters are located i RAM memory, so modificatios are lost at power dow. This istructio eables permaet storig of the previously with SAP altered parameter. All parameters alterable with SAP Set Axis Parameter ca be stored, except Type 1 Set Actual Positio (refer to 3.2.1). Iteral fuctio: The specified parameter is copied from its RAM locatio the cofiguratio EEPROM. Related commads: SAP, GAP Memoic: STAP <parameter umber> Biary represetatio: INSTRUCTION NO. TYPE MOTBANK VALUE 7 <parameter umber> <motor umber> (do't care) Example: store the maximum speed of motor #0 Memoic: STAP 4, 0 Biary: Fuctio Istructio Value (hex) $01 $07 $04 $00 $00 $00 $00 $00 $0c Note: The STAP commad will ot have ay effect whe the cofiguratio EEPROM is locked

16 TMCM BLDC MODULE Referece ad Programmig Maual Global Parameters SGP - Set Global Parameter Descriptio: Global parameters are related to the host iterface, peripherals or applicatio specific variables. The differet groups of these parameters are orgaized i "baks" to allow a larger total umber for future products. Curretly, oly bak 0 ad 1 are used for global parameters. Iteral fuctio: the parameter format is coverted igorig leadig zeros (or oes for egative values). The parameter is trasferred to the correct positio i the appropriate (o board) device. Memoic: SGP <parameter umber>, <bak umber>, <value> Biary represetatio: INSTRUCTION NO. TYPE MOTBANK VALUE 9 <parameter umber> <motor umber> <value> Example: Set the actual temperature to 25 C Memoic: SGP 255, 0, 25 Biary: Fuctio Istructio Value (hex) $01 $09 $ff $00 $00 $00 $00 $19 $ List of Global Parameter Commads Type Axis Parameter Value Rage Descriptio 65 RS232 ad RS485 baud rate 66 Serial address Telegram time Serial address pause host Byte 8 bit usiged, Byte Byte 254 Hall sesor ivert Boolea 255 Actual Temperature Byte Chage of RS232 ad RS485 Baud Rate, refer , Table 3.8 Set address of module (default=1) Telegram pause time for RS485 RS232 iterface (default=0). Sets delay after telegram receipt, util data becomes set out (time i ms, 0=immediately). Importat for RS485 iterface, set to zero for RS232. A RS232 to RS485 coverter used with Widows requires a settig of about 20. Set host address to reply to host (default=2) Hall sesor ivert (1=ivert) Sets oe of the motors with iverted hall scheme, e.g. Maxo Actual temperature for temperature correctio, value rage 20 C 40 C Calibrated at factory - It might be ecessary to recalibrate after a firmware update Table 3.7: TMCL Commads, Set Global Parameters (SGP)

17 TMCM BLDC MODULE Referece ad Programmig Maual Chage of RS232 ad RS485 Baud Rate New settig becomes active after ext power o. byte value Baud Rate baud (default) baud baud baud baud baud baud baud baud Table 3.8: Baud Rate 3.4 Get Versio Descriptio: Provides umber of the actual firmware versio istalled o the module. Related commads: GAP, SAP Memoic: GAP <parameter umber> Biary represetatio: INSTRUCTION NO. TYPE MOTBANK VALUE 136 (do't care) (do't care) (do't care) Example: request Versio (i.e. 160V1.03) Memoic: GAP 136 Biary: Fuctio Istructio Value (hex) $01 $88 $00 $00 $00 $00 $00 $00 $89 Reply: 160V1.03, Note: this reply is ot i the stadard TMCL sytax Fuctio Host- Versio address Byte7 Byte6 Byte5 Byte4 Value (hex) $02 $31 $36 $30 $56 $31 $2e $30 $33

18 TMCM BLDC MODULE Referece ad Programmig Maual 18 4 Documetatio Revisio Versio Commet Author Descriptio 1.07 New Release HC Revised iitial versio 1.08 Revised HC Some format chages 1.09 Updated OK New features of firmware versio 1.07 added Table 4.1: Documetatio Revisio 5 Refereces [TMCL] TMCM Hardware TMCM Hardware TMCL Maual, Hardware Descriptio of TMCM 160, Hardware Descriptio of TMCM 163,

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