User manual

TMCM-1141 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 71
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5 Global Parameters
GLOBAL PARAMETERS ARE GROUPED INTO 4 BANKS:
- bank 0 (global configuration of the module)
- bank 1 (user C variables)
- bank 2 (user TMCL variables)
- bank 3 (interrupt configuration)
Please use SGP and GGP commands to write and read global parameters.
5.1 Bank 0
Parameters with numbers from 64 on configure stuff like the serial address of the module and the RS485
baud rate. Change these parameters to meet your needs. The best and easiest way to do this is to use the
appropriate functions of the TMCL-IDE. The parameters with numbers between 64 and 128 are stored in
EEPROM only.
Attention:
- An SGP command on such a parameter will always store it permanently and no extra STGP command
is needed.
- Take care when changing these parameters, and use the appropriate functions of the TMCL-IDE to do
it in an interactive way!
MEANING OF THE LETTERS IN COLUMN ACCESS
Access
Type
Related
Command(s)
Description
R
GGP
Parameter readable
W
SGP, AGP
Parameter writable
E
STGP, RSGP
Parameter automatically restored from EEPROM after reset or power-on. These
parameters can be stored permanently in EEPROM using STGP command and
also explicitly restored (copied back from EEPROM into RAM) using RSGP.
GLOBAL PARAMETERS (BANK O)
Number
Parameter
Description
Range
Access
64
EEPROM magic
Setting this parameter to a different value as
$E4 will cause re-initialization of the axis and
global parameters (to factory defaults) after
the next power up. This is useful in case of
miss-configuration.
0… 255
RWE
65
RS485 baud rate
0
9600 baud
Default
1
14400 baud
2
19200 baud
3
28800 baud
4
38400 baud
5
57600 baud
6
76800 baud
Not supported by Windows!
7
115200 baud
8
230400 baud
9
250000 baud
Not supported by Windows!
10
500000 baud
Not supported by Windows!
11
1000000 baud
Not supported by Windows!
0… 11
RWE
66
Serial address
The module (target) address for RS485.
0… 255
RWE
68
Serial heartbeat
Serial heartbeat for the RS485 interface. If this
time limit is up and no further command is
noticed the motor will be stopped.
0 – parameter is disabled
[ms]
RWE