User manual

PD-1160 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 3
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3.6.36 Customer Specific TMCL Command Extension (UF0… UF7 / User Function) ............................... 62
3.6.37 Request Target Position Reached Event ............................................................................................... 62
3.6.38 TMCL Control Functions ............................................................................................................................. 63
4 Axis Parameters .......................................................................................................................................................... 65
4.1 stallGuard2 ........................................................................................................................................................... 72
4.2 coolStep Related Axis Parameters ................................................................................................................ 72
5 Global Parameters ...................................................................................................................................................... 74
5.1 Bank 0 ................................................................................................................................................................... 74
5.2 Bank 1 ................................................................................................................................................................... 76
5.3 Bank 2 ................................................................................................................................................................... 76
5.4 Bank 3 ................................................................................................................................................................... 77
6 Hints and Tips ............................................................................................................................................................. 78
6.1 Reference Search ............................................................................................................................................... 78
6.2 Changing the Prescaler Value of an Encoder ............................................................................................ 81
6.3 Using the RS485 Interface .............................................................................................................................. 82
7 TMCL Programming Techniques and Structure ................................................................................................. 83
7.1 Initialization ........................................................................................................................................................ 83
7.2 Main Loop ............................................................................................................................................................ 83
7.3 Using Symbolic Constants .............................................................................................................................. 83
7.4 Using Variables .................................................................................................................................................. 84
7.5 Using Subroutines ............................................................................................................................................. 84
7.6 Mixing Direct Mode and Standalone Mode ................................................................................................ 85
8 Life Support Policy ..................................................................................................................................................... 86
9 Revision History .......................................................................................................................................................... 87
9.1 Document Revision ........................................................................................................................................... 87
9.2 Firmware Revision ............................................................................................................................................ 87
10 References .................................................................................................................................................................... 87