User manual

TMCM-6110 TMCL Firmware V1.19 Manual (Rev. 1.03 / 2012-JUL-31) 3
www.trinamic.com
5.6.35 RETI (return from interrupt) ..................................................................................................................... 60
5.6.36 Customer Specific TMCL Command Extension (UF0… UF7 - user function) ................................ 61
5.6.37 Request Target Position Reached Event ............................................................................................... 62
5.6.38 BIN (return to binary mode) .................................................................................................................... 63
5.6.39 TMCL Control Functions ............................................................................................................................. 64
6 Axis Parameters .......................................................................................................................................................... 65
6.1 stallGuard2 Related Parameters .................................................................................................................... 72
6.2 coolStep Related Parameters ......................................................................................................................... 73
6.3 Reference Search ............................................................................................................................................... 76
6.3.1 Reference Search Modes (Axis Parameter 193) ................................................................................... 77
6.4 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep-Frequency ............................... 79
6.4.1 Microstep Frequency ................................................................................................................................... 79
6.4.2 Fullstep Frequency ...................................................................................................................................... 80
7 Global Parameters ...................................................................................................................................................... 81
7.1 Bank 0 ................................................................................................................................................................... 81
7.2 Bank 1 ................................................................................................................................................................... 83
7.3 Bank 2 ................................................................................................................................................................... 84
7.4 Bank 3 ................................................................................................................................................................... 85
8 TMCL Programming Techniques and Structure ................................................................................................. 86
8.1 Initialization ........................................................................................................................................................ 86
8.2 Main Loop ............................................................................................................................................................ 86
8.3 Using Symbolic Constants .............................................................................................................................. 86
8.4 Using Variables .................................................................................................................................................. 87
8.5 Using Subroutines ............................................................................................................................................. 87
8.6 Mixing Direct Mode and Standalone Mode ................................................................................................ 87
9 Life Support Policy ..................................................................................................................................................... 89
10 Revision History .......................................................................................................................................................... 90
10.1 Firmware Revision ............................................................................................................................................ 90
10.2 Document Revision ........................................................................................................................................... 90
11 References .................................................................................................................................................................... 90