User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 3
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5.7.31 CLE (clear error flags) ................................................................................................................................. 81
5.7.32 VECT (set interrupt vector) ........................................................................................................................ 82
5.7.33 EI (enable interrupt) ................................................................................................................................... 83
5.7.34 DI (disable interrupt) .................................................................................................................................. 84
5.7.35 RETI (return from interrupt) ..................................................................................................................... 85
5.7.36 Customer specific TMCL™ command extension (UF0… UF7/user function) ................................ 86
5.7.37 Request target position reached event................................................................................................. 87
5.7.38 BIN (return to binary mode) .................................................................................................................... 88
5.7.39 TMCL™ Control Functions ......................................................................................................................... 89
6 Axis parameters .......................................................................................................................................................... 91
6.1 coolStep™ related parameters ...................................................................................................................... 97
7 Global parameters ...................................................................................................................................................... 99
7.1 Bank 0 ................................................................................................................................................................... 99
7.2 Bank 1 ................................................................................................................................................................. 101
7.3 Bank 2 ................................................................................................................................................................. 101
7.4 Bank 3 ................................................................................................................................................................. 102
8 Hints and tips ............................................................................................................................................................ 103
8.1 Reference search .............................................................................................................................................. 103
8.2 Changing the prescaler value of an encoder .......................................................................................... 104
8.3 stallGuard2 ......................................................................................................................................................... 105
8.4 Using the RS485 interface ............................................................................................................................. 105
9 Revision history ........................................................................................................................................................ 106
9.1 Firmware revision ........................................................................................................................................... 106
9.2 Document revision .......................................................................................................................................... 106
10 References .................................................................................................................................................................. 106