User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 3
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.31 Customer specific TMCL
TM
command extension (UF0…UF7/user function) ................................... 74
6.7.32 Request target position reached event ................................................................................................. 75
6.7.33 BIN (return to binary mode) .................................................................................................................... 76
6.7.34 TMCL
TM
Control Functions .......................................................................................................................... 77
7 Axis parameters .......................................................................................................................................................... 79
8 Global parameters ...................................................................................................................................................... 83
8.1 Bank 0 ................................................................................................................................................................... 83
8.2 Bank 1 ................................................................................................................................................................... 85
8.3 Bank 2 ................................................................................................................................................................... 86
9 Hints and tips .............................................................................................................................................................. 87
9.1 Reference search ................................................................................................................................................ 87
9.2 Changing the prescaler value of an encoder ............................................................................................ 88
9.3 Stall detection ..................................................................................................................................................... 89
9.4 Fixing microstep errors .................................................................................................................................... 89
9.5 Using the RS485 interface ............................................................................................................................... 89
9.5.1 Using RS485 with converter ..................................................................................................................... 89
9.5.2 Using RS485 with USB-2-X interface converter ................................................................................... 89
10 Revision history .......................................................................................................................................................... 90
10.1 Firmware revision .............................................................................................................................................. 90
10.2 Hardware revision ............................................................................................................................................. 90
11 References..................................................................................................................................................................... 90