User manual

TMCM-1141 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 3
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3.6.36 Customer Specific TMCL Command Extension (UF0… UF7 / User Function) ............................... 60
3.6.37 Request Target Position Reached Event ............................................................................................... 60
3.6.38 TMCL Control Functions ............................................................................................................................. 61
4 Axis Parameters .......................................................................................................................................................... 63
4.1 stallGuard2 ........................................................................................................................................................... 69
4.2 coolStep Related Axis Parameters ................................................................................................................ 69
5 Global Parameters ...................................................................................................................................................... 71
5.1 Bank 0 ................................................................................................................................................................... 71
5.2 Bank 1 ................................................................................................................................................................... 72
5.3 Bank 2 ................................................................................................................................................................... 73
5.4 Bank 3 ................................................................................................................................................................... 73
6 Hints and Tips ............................................................................................................................................................. 74
6.1 Reference Search ............................................................................................................................................... 74
6.2 Using the RS485 Interface .............................................................................................................................. 77
7 TMCL Programming Techniques and Structure ................................................................................................. 78
7.1 Initialization ........................................................................................................................................................ 78
7.2 Main Loop ............................................................................................................................................................ 78
7.3 Using Symbolic Constants .............................................................................................................................. 78
7.4 Using Variables .................................................................................................................................................. 79
7.5 Using Subroutines ............................................................................................................................................. 79
7.6 Mixing Direct Mode and Standalone Mode ................................................................................................ 80
8 Life Support Policy ..................................................................................................................................................... 81
9 Revision History .......................................................................................................................................................... 82
9.1 Document Revision ........................................................................................................................................... 82
9.2 Firmware Revision ............................................................................................................................................ 82
10 References .................................................................................................................................................................... 82