MODULE ModuleforStepper TMCM-3351TMCL FirmwareManual FirmwareVersionV1.11 DocumentRevisionV1.072019-SEP-19 TheTMCM-3351isathreeaxescontroller/drivermodulesfor2-phasebipolarsteppermotorswith separatedierentialencoderandseparatehomeandstopswitchinputsforeachaxis. Dynamic currentcontrol,andquiet,smoothandecientoperationarecombinedwithStealthChop,Dc- Step,StallGuard2andCoolStepfeatures.Themodulealsooerseightdigitalinputsaswellas fouranalogueinputsandeightdigitaloutputs. Features 3-Axessteppermotorcontrol TMCL Hostinterfaces:RS232,RS485,CAN, USB. Linearramps,SixPointrampsand S-shapedrampsselectable Closedloopencodersupport CoolStep StallGuard2 StealthChop DcStep Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram TMCM-3351 11..28V DC EEPROM DC I2C RS232 3x RS485 MOSFET Motion Pre- Driver E Controller Driver CAN Stage C SPI (ARM) +5V USB +5V REFL, REFR Inputs Outputs A/B/N Encoder 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation. 2/144 TMCM-3351TMCL FirmwareManualFirmwareVersionV1.11 DocumentRevisionV1.072019-SEP-19 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 TMCLCommandOverview . 14 3.5 TMCLCommandsbySubject 16 3.5.1 MotionCommands 16 3.5.2 ParameterCommands . 16 3.5.3 BranchCommands 17 3.5.4 I/OPortCommands . 17 3.5.5 CalculationCommands . 18 3.5.6 InterruptProcessingCommands 18 3.5.7 NewTMCLCommands . 21 3.6 DetailedTMCLCommandDescriptions 22 3.6.1 ROR(RotateRight) 22 3.6.2 ROL(RotateLeft) . 23 3.6.3 MST(MotorStop) . 24 3.6.4 MVP(MovetoPosition) . 25 3.6.5 SAP(SetAxisParameter) 28 3.6.6 GAP(GetAxisParameter) 29 3.6.7 SGP(SetGlobalParameter) . 30 3.6.8 GGP(GetGlobalParameter) 31 3.6.9 STGP(StoreGlobalParameter) . 32 3.6.10 RSGP(RestoreGlobalParameter) . 33 3.6.11 RFS(ReferenceSearch) . 34 3.6.12 SIO(SetOutput) . 36 3.6.13 GIO(GetInput) 38 3.6.14 CALC(Calculate) . 41 3.6.15 COMP(Compare) . 43 3.6.16 JC(Jumpconditional) . 44 3.6.17 JA(Jumpalways) . 46 3.6.18 CSUB(CallSubroutine) . 47 3.6.19 RSUB(ReturnfromSubroutine) 48 3.6.20 WAIT(WaitforanEventtooccur) . 49 3.6.21 STOP(StopTMCLProgramExecution EndofTMCLProgram) 51 3.6.22 SCO(SetCoordinate) . 52 3.6.23 GCO(GetCoordinate) 53 3.6.24 CCO(CaptureCoordinate) 55 3.6.25 ACO(AccutoCoordinate) 56 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com