User manual

PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 31
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3.5.13 RFS (reference search)
The TMCL firmware 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. Please see the appropriate parameters in the
axis parameter table to configure the reference search algorithm to meet your needs (chapter 4). 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
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$0d
$00
$00
$00
$00
$00
$00