User manual
PD-1140 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 ........................................................................................................................................................... 70
4.2 coolStep Related Axis Parameters ................................................................................................................ 70
5 Global Parameters ...................................................................................................................................................... 72
5.1 Bank 0 ................................................................................................................................................................... 72
5.2 Bank 1 ................................................................................................................................................................... 74
5.3 Bank 2 ................................................................................................................................................................... 74
5.4 Bank 3 ................................................................................................................................................................... 75
6 Hints and Tips ............................................................................................................................................................. 76
6.1 Reference Search ............................................................................................................................................... 76
6.2 Changing the Prescaler Value of an Encoder ............................................................................................ 79
6.3 Using the RS485 Interface .............................................................................................................................. 80
7 TMCL Programming Techniques and Structure ................................................................................................. 81
7.1 Initialization ........................................................................................................................................................ 81
7.2 Main Loop ............................................................................................................................................................ 81
7.3 Using Symbolic Constants .............................................................................................................................. 81
7.4 Using Variables .................................................................................................................................................. 82
7.5 Using Subroutines ............................................................................................................................................. 82
7.6 Mixing Direct Mode and Standalone Mode ................................................................................................ 83
8 Life Support Policy ..................................................................................................................................................... 84
9 Revision History .......................................................................................................................................................... 85
9.1 Firmware Revision ............................................................................................................................................ 85
9.2 Document Revision ........................................................................................................................................... 85
10 References .................................................................................................................................................................... 85