User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 55
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5.7.13 RFS (reference search)
The TMCM-1180 has a built-in reference search algorithm which can be used. The reference search algorithm
provides switching point calibration and three switch modes. The status of the reference search can also be
queried to see if it has already finished. (In a TMCL™ program it is better to use the WAIT command to wait
for the end of a reference search.) Please see the appropriate parameters in the axis parameter table to
configure the reference search algorithm to meet your needs (chapter 6). The reference search can be started,
stopped, and the actual status of the reference search can be checked.
Internal function: The reference search is implemented as a state machine, so interaction is possible during
execution.
Related commands: WAIT
Mnemonic: RFS <START|STOP|STATUS>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
13
0 START – start ref. search
1 STOP – abort ref. search
2 STATUS – get status
0*
(don't care)
*motor number is always O as only one motor is involved
Reply in direct mode:
When using type 0 (START) or 1 (STOP):
STATUS
VALUE
100 – OK
(don't care)
When using type 2 (STATUS):
STATUS
VALUE
100 – OK
0 – no ref. search active
other values – ref.
search is active
Example:
Start reference search of motor
Mnemonic: RFS START, 0
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$0d
$00
$00
$00
$00
$00
$00
$0f
With this PANdrive it is possible to use stall detection instead of a reference search. Please see section
8.1 for details.