EtherCAT TMCM-1310 Manuale per l'uso e la cura

MODULE FOR STEPPER MOTORS MODULE

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

Firmware Version V1.11

TMCL™ FIRMWARE MANUAL

+ + TMCM-1310

+ +

1-Axis Stepper

Closed Loop Controller / Driver

3A RMS / 48 V

ABN and SSI Encoder Input

18 GPIOs

USB, EtherCAT®

TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 2

www.trinamic.com

Table of Contents

1Features........................................................................................................................................................................... 4

2Overview......................................................................................................................................................................... 6

3Communication via EtherCAT ................................................................................................................................... 7

3.1 SyncManager ......................................................................................................................................................... 7

3.1.1 Buffered Mode................................................................................................................................................ 7

3.1.2 Mailbox Mode, used for TMCL-Applications........................................................................................... 8

3.2 EtherCAT Slave State Machine ......................................................................................................................... 9

3.3 EtherCAT Firmware Update............................................................................................................................. 11

3.4 Process Data ....................................................................................................................................................... 11

3.5 TMCL Mailbox ...................................................................................................................................................... 13

3.6 Binary Command Format ................................................................................................................................ 13

3.7 Status Codes ....................................................................................................................................................... 13

4Operation with USB Interface ................................................................................................................................ 14

4.1 Binary Command Format for USB Interface.............................................................................................. 14

4.2 Reply Format....................................................................................................................................................... 15

4.2.1 Status Codes ................................................................................................................................................. 15

4.3 Standalone Applications.................................................................................................................................. 15

5The ASCII Interface ................................................................................................................................................... 16

5.1 Format of the Command Line ....................................................................................................................... 16

5.2 Format of a Reply.............................................................................................................................................. 16

5.3 Commands Used in ASCII Mode................................................................................................................... 16

5.4 Configuring the ASCII Interface.................................................................................................................... 17

6TMCL Commands ........................................................................................................................................................ 18

6.1 Motion Commands............................................................................................................................................ 18

6.2 Parameter Commands...................................................................................................................................... 18

6.3 Control Commands ........................................................................................................................................... 18

6.4 I/O Port Commands .......................................................................................................................................... 18

6.5 Calculation Commands .................................................................................................................................... 19

6.6 Interrupt Commands ........................................................................................................................................ 19

6.6.1 Interrupt Types ............................................................................................................................................ 19

6.6.2 Interrupt Processing................................................................................................................................... 19

6.6.3 Interrupt Vectors ......................................................................................................................................... 20

6.6.4 Further Configuration of Interrupts....................................................................................................... 20

6.6.5 Using Interrupts in TMCL .......................................................................................................................... 20

6.7 ASCII Commands............................................................................................................................................... 21

6.8 Commands........................................................................................................................................................... 22

6.8.1 ROR (rotate right) ........................................................................................................................................ 22

6.8.2 ROL (rotate left) ........................................................................................................................................... 23

6.8.3 MST (motor stop)......................................................................................................................................... 24

6.8.4 MVP (move to position) ............................................................................................................................ 25

6.8.5 SAP (set axis parameter) ........................................................................................................................... 27

6.8.6 GAP (get axis parameter) .......................................................................................................................... 28

6.8.7 STAP (store axis parameter) ..................................................................................................................... 29

6.8.8 RSAP (restore axis parameter) ................................................................................................................. 30

6.8.9 SGP (set global parameter) ...................................................................................................................... 31

6.8.10 GGP (get global parameter)...................................................................................................................... 32

6.8.11 STGP (store global parameter) ................................................................................................................ 33

6.8.12 RSGP (restore global parameter) ............................................................................................................ 34

6.8.13 RFS (reference search)................................................................................................................................ 35

6.8.14 SIO (set input / output)............................................................................................................................. 36

6.8.15 GIO (get input /output) ............................................................................................................................. 38

6.8.16 CALC (calculate)............................................................................................................................................ 41

6.8.17 COMP (compare)........................................................................................................................................... 42

6.8.18 JC (jump conditional) ................................................................................................................................. 43

6.8.19 JA (jump always) ......................................................................................................................................... 44

6.8.20 CSUB (call subroutine) ............................................................................................................................... 45

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6.8.21 RSUB (return from subroutine)................................................................................................................ 46

6.8.22 WAIT (wait for an event to occur)......................................................................................................... 47

6.8.23 STOP (stop TMCL program execution) ................................................................................................... 48

6.8.24 SCO (set coordinate)................................................................................................................................... 49

6.8.25 GCO (get coordinate).................................................................................................................................. 50

6.8.26 CCO (capture coordinate) .......................................................................................................................... 51

6.8.27 ACO (accu to coordinate) .......................................................................................................................... 52

6.8.28 CALCX (calculate using the X register) .................................................................................................. 53

6.8.29 AAP (accumulator to axis parameter).................................................................................................... 54

6.8.30 AGP (accumulator to global parameter) ............................................................................................... 55

6.8.31 CLE (clear error flags) ................................................................................................................................. 56

6.8.32 VECT (set interrupt vector)........................................................................................................................ 57

6.8.33 EI (enable interrupt) ................................................................................................................................... 58

6.8.34 DI (disable interrupt).................................................................................................................................. 59

6.8.35 RETI (return from interrupt) ..................................................................................................................... 60

6.8.36 Customer Specific TMCL Command Extension (user function)....................................................... 61

6.8.37 Request Target Position Reached Event ............................................................................................... 62

6.8.38 BIN (return to binary mode).................................................................................................................... 62

6.8.39 TMCL Control Functions............................................................................................................................. 63

7Axis Parameters .......................................................................................................................................................... 64

7.1 Velocity Calculation........................................................................................................................................... 76

8stallGuard2 Related Parameters ............................................................................................................................. 77

9Closed-Loop Operation Related Axis Parameter................................................................................................ 78

9.1 General Closed Loop Axis Parameters ........................................................................................................ 78

9.2 General Structure of the Closed Loop System ......................................................................................... 79

9.3 Setting Encoder Resolution and Motor Resolution ................................................................................. 80

9.4 Positioning Mode .............................................................................................................................................. 81

9.5 Position Maintenance and Standstill Mode ............................................................................................... 84

9.6 Velocity Mode ..................................................................................................................................................... 86

9.7 Torque Mode....................................................................................................................................................... 87

9.8 Current Regulation ............................................................................................................................................ 88

9.9 Field Weakening ................................................................................................................................................ 92

9.10 Status and Feedback Information ................................................................................................................ 93

9.11 Example Programs: Closed Loop Operation .............................................................................................. 94

9.11.1 Example Program 1..................................................................................................................................... 94

9.11.2 Example Program 2..................................................................................................................................... 95

10 Reference Search ........................................................................................................................................................ 96

10.1.1 Reference Search Modes (Axis Parameter 193)................................................................................... 97

11 Global Parameters...................................................................................................................................................... 99

11.1 Bank 0 ................................................................................................................................................................... 99

11.2 Bank 1 .................................................................................................................................................................100

11.3 Bank 2 .................................................................................................................................................................101

11.4 Bank 3 .................................................................................................................................................................101

12 TMCL Programming Techniques and Structure ...............................................................................................102

12.1 Initialization ......................................................................................................................................................102

12.2 Main Loop.......................................................................................................................................................... 102

12.3 Using Symbolic Constants ............................................................................................................................102

12.4 Using Variables ................................................................................................................................................103

12.5 Using Subroutines........................................................................................................................................... 103

12.6 Mixing Direct Mode and Standalone Mode..............................................................................................104

13 Life Support Policy...................................................................................................................................................105

14 Revision History........................................................................................................................................................ 106

14.1 Firmware Revision ..........................................................................................................................................106

14.2 Document Revision .........................................................................................................................................106

15 References ..................................................................................................................................................................107

TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 4

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1Features

The TMCM-1310 is a single axis stepper motor controller/driver standalone board with closed loop support.

For communication an USB interface and EtherCAT®* are provided. The module supports motor currents up

to 3A RMS and supply voltages up to 48V nominal. The module offers inputs for one incremental a/b/n

(TTL, open-collector and differential inputs) or absolute SSI encoders (selectable in software). There are

dedicated stop switch inputs, 8 general purpose inputs, and 8 general purpose outputs.

MAIN CHARACTERISTICS

Bipolar stepper motor driver

-Up to 256 microsteps per full step

-High-efficient operation, low power dissipation

-Dynamic current control

-Integrated protection: overtemperature and undervoltage

-stallGuard2™ feature for stall detection (for open loop operation)

Encoder

-Encoder input for incremental a/b/n (TTL, open-collector and differential inputs) and absolute SSI

encoders (selectable in software)

Interfaces

-USB 2.0 full-speed (12Mbit/s) communication interface (mini-USB connector)

-EtherCAT LINK IN and LINK OUT (RJ45)

-Dedicated STOP_L / STOP_R inputs

-Up to 8 multi-purpose inputs (+24V compatible, incl. 2 dedicated analog inputs)

-Up to 8 multi-purpose outputs (open-drain, incl. 2 outputs for currents up to 1A)

Software

-TMCL™ remote (direct mode) and standalone operation with memory for up to 1024 TMCL commands

-Closed-loop support

-Fully supported by TMCL-IDE (PC based integrated development environment)

Electrical data

-Supply voltage: +12V… +48V DC

-Motor current: up to 3A RMS (programmable)

Mechanical data

-Board size: 110mm x 110mm, height 26.3mm

Please refer to separate TMCM-1310 Hardware Manual for additional information.

* EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,

Germany.

TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 5

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TRINAMIC FEATURES –CLOSED LOOP MODE

The TMCM-1310 is mainly designed to run 2-phase stepper motors in closed loop mode. It offers an

automatic motor load adaption in positioning mode, velocity mode, and torque mode, which is based on

encoder feedback and closed loop control software for analysis, error detection and error correction.

The closed loop mode operation combines the advantages of a stepper driver system with the benefits of

a servo drive. Thus, the TMCM-1310 is able to satisfy ambitious requirements in reliability and precision

and can be used in several industrial demanding applications.

Benefits of Stepper Drive

High torque without gearing

No feedback loop oscillations

High precision

Precise velocity control

Benefits of Servo Drive

Reaction to any impact

No position loss

Torque control

TMCM-1310

Figure 1.1 TMCM-1310 characteristics in closed loop mode

THE TRINAMIC CLOSED LOOP MODE OPERATION

-prevents the motor from stall and step loss caused by too high load or high velocity.

-adapts the current amplitude to each motor load which is within the ranges predetermined by motor

and controller/driver board characteristics.

-achieves a higher torque output than in open loop mode.

-guarantees a precise and fast positioning.

-enables velocity and positioning error compensation.

Using the TMCM-1310, energy will be saved and the motor will be kept cool.

TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 6

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2Overview

The software running on the microprocessor of the TMCM-1310 consists of two parts, a boot loader and

the firmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC and

remains untouched throughout the whole lifetime, the firmware can be updated by the user. New versions

can be downloaded free of charge from the TRINAMIC website (http://www.trinamic.com).

The TMCM-1310 can be used as an EtherCAT slave device. The whole communication with the EtherCAT

master follows a strict master-slave-relationship. Via the TMCL mailbox motor parameters are written

and/or read using TRINAMICs TMCL protocol.

The firmware of this module is related to the standard TMCL firmware with a special range of values. The

TRINAMIC Motion Control Language [TMCL] provides a set of structured motion control commands. Every

motion control command can be given by a host computer or can be stored in an EEPROM on the module

to form programs that run standalone. For this purpose there are not only motion control commands but

also commands to control the program structure (like conditional jumps, compare and calculating).

Every command has a binary representation and a mnemonic. The binary format is used to send

commands from the host to a module in direct mode, whereas the mnemonic format is used for easy

usage of the commands when developing standalone TMCL applications using the TMCL-IDE (IDE means

Integrated Development Environment).

There is also a set of configuration variables for the axis and for global parameters which allow individual

configuration of nearly every function of the module. This manual gives a detailed description of all TMCL

commands and their usage.

TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 7

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3Communication via EtherCAT

3.1 SyncManager

The SyncManager enables consistent and secure data exchange between the EtherCAT master and the local

application, and it generates interrupts to inform both sides of changes. The SyncManager is configured by

the EtherCAT master. The communication direction is configurable, as well as the communication mode

(buffered mode and mailbox mode). The SyncManager uses a buffer located in the memory area for

exchanging data. Access to this buffer is controlled by the hardware of the SyncManager.

A buffer has to be accessed beginning with the start address, otherwise the access is denied. After

accessing the start address, the whole buffer can be accessed, even the start address again, either as a

whole or in several strokes. A buffer access finishes by accessing the end address, the buffer state changes

afterwards. The end address cannot be accessed twice inside a frame. Two communication modes are

supported by SyncManagers, the buffered mode and the mailbox mode.

3.1.1 Buffered Mode

The buffered mode allows both sides, EtherCAT master and local application, to access the communication

buffer at any time. The consumer gets always the latest consistent buffer which was written by the

producer, and the producer can always update the content of the buffer. The buffered mode is used for

cyclic process data.

Data transfer between EtherCAT master (PC etc.) und slave (TMCM-1310) is done using the dual port

memory of the ET1100 EtherCAT-IC on the slave. The buffered mode allows writing and reading data

simultaneously without interference. If the buffer is written faster than it is read out, old data will be

dropped. The buffered mode is also known as 3-buffermode. One buffer of the three buffers is allocated to

the producer (for writing), one buffer to the consumer (for reading), and the third buffer keeps the last

consistently written data of the producer.

0x1000

0x10FF

0x1100

0x11FF

0x1200

0x12FF

0x1300

Buffer 0

(visible)

Buffer 1

(invisible, shall not be used)

Buffer 2

(invisible, shall not be used)

Next usable RAM space

All buffers are

controlled by the

SyncManager. Only

buffer 0 is configured

by the SyncManager

and addressed by

ECAT and μController.

Figure 3.1 SyncManager buffer allocation

As an example, Figure 3.1 demonstrates a configuration with start address 0x1000 and length 0x100. The

other buffers shall not be read or written. Access to the buffer is always directed to addresses in the range

of buffer 0.

TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 8

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ECAT NEXT PDI µControllerMaster

Exchange buffer

(if frame is o.k.)

Load next buffer

if new data are

available

Load next buffer

if new data are

available

Exchange buffer

Read begin

Read end

Read begin

Read end

Write begin

Write end

Write begin

Write end

Figure 3.2 SyncManager buffered mode interaction

3.1.2 Mailbox Mode, used for TMCL-Applications

The mailbox mode implements a handshake mechanism for data exchange, so that no data will be lost.

Each side, EtherCAT master or local application will get access to the buffer only after the other side has

finished its access. The mailbox mode only allows alternating reading and writing. This assures that all

data from the producer will reach the consumer. The mailbox mode uses just one buffer of the configured

size. At first, after initialization/activation, the buffer (mailbox, MBX) is writeable. Once it is written

completely, write access is blocked, and the buffer can be read out by the other side. After it was

completely read out, it can be written again. The time it takes to read or write the mailbox does not

matter. The mailbox mode is used for the application layer protocol.

Via the mailbox motor-parameters of the TMCM-1310 can be written/read using the TMCL protocol.

mailbox full

mailbox empty

mailbox full

mailbox empty

µControllerMaster

Read

Read w. failure

(mailbox empty)

Write mailbox

Read mailbox

Write

Write w. failure

(mailbox full)

Write

Write w. failure

(mailbox full)

Read

Read w. failure

(mailbox empty)

Figure 3.3 SyncManager mailbox interaction

TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 9

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3.2 EtherCAT Slave State Machine

The EtherCAT slave state machine has four states, which are shown in Figure 3.4. After power ON the slave

state machine is in the Init state. In this situation mailbox and process data communication is impossible.

The EtherCAT master initializes the SyncManager channels 0 and 1 for the communication via mailbox.

While changeover from Init state to Pre-Operational state the EtherCAT slave checks the correct

initialization of the mailbox. Afterwards mailbox communication is possible. Now, in the Pre-Operational

state the master initializes the SyncManager channels for the process data and the FMMU channels.

Furthermore adjustments are sent, which differ from the default values.

While changeover from Pre-Operational state to Safe-Operational state the EtherCAT slave checks the

correct initialization of the SyncManager channels for the process data as well as the adjustments for the

Distributed Clocks. Before accepting the change of state, the EtherCAT slave copies actual input data into

the accordant DP-RAM array of the EtherCAT slave controller. In the Safe-Operational state mailbox and

process data communication are possible, but the slave holds its outputs in a safe situation and actualizes

the input data periodically.

Before the EtherCAT slave changes the state to Operational it has to transfer valid output data. In the

Operational state the EtherCAT slave copies the output data from the EtherCAT master to its outputs.

Process data communication and mailbox communication are possible now.

The Bootstrap state is only used for updating the firmware. This state is reachable form the Init state.

During Bootstrap state mailbox communication is available over File-Access over EtherCAT. Beyond this

mailbox communication or process data communication is not possible.

Pre-Operational

Operational

Init

Safe-Operational

EtherCAT™ Slave State Machine

Bootstrap (optional)

Figure 3.4 EtherCAT™ slave state machine

TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 10

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State / state change

Services

Init

-No communication on application layer

-Master has access to the DL-information registers

Init to Pre-Operational

-Master configures registers, at least:

•DL address register

•SyncManager channels for mailbox

communication

-Master initializes Distributed Clock synchronization

-Master requests Pre-Operational state

•Master sets AL control register

-Wait for AL status register confirmation

Pre-Operational

-Mailbox communication on the application layer

-No process data communication

Pre-Operational to Safe-Operational

-Master configures parameters using the mailbox:

•e.g., process data mapping

-Master configures DL Register:

•SyncManager channels for process data

communication

•FMMU channels

-Master requests Safe-Operational state

-Wait for AL Status register confirmation

Safe-Operational

-Mailbox communication on the application layer

-Process data communication, but only inputs are

evaluated. Outputs remain in safe state

Safe-Operational to Operational

-Master sends valid outputs

-Master requests Operational state (AL Control/Status)

-Wait for AL Status register confirmation

Operational

-Inputs and outputs are valid

Bootstrap

Recommended if firmware updates are necessary

-State changes only from and to Init

-No Process Data communication

-Mailbox communication on application layer, only

FoE protocol available (possibly limited file range)

THREE LEDS DISPLAY THE ACTUAL ACTIVITY:

Green LED

Description

EtherCAT0

LINK OUT state

OFF

No link.

blinking

Link and activity.

single flash

Link without activity.

EtherCAT

LINK IN state

OFF

No link.

blinking

Link and activity.

single flash

Link without activity.

EtherCAT

RUN state

OFF

The device is in state INIT.

blinking

The device is in state PRE-OPERATIONAL.

single flash

The device is in state SAFE-OPERATONAL.

The device is in state OPERATIONAL.

flickering (fast)

The device is in state BOOTSTRAP.

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