User Manual
Table Of Contents
- 1 Features
- 2 First Steps with TMCL
- 3 TMCL and the TMCL-IDE — An Introduction
- 3.1 Binary Command Format
- 3.2 Reply Format
- 3.3 Standalone Applications
- 3.4 The ASCII Interface
- 3.5 TMCL Command Overview
- 3.6 TMCL Commands by Subject
- 3.7 Detailed TMCL Command Descriptions
- 3.7.1 ROR (Rotate Right)
- 3.7.2 ROL (Rotate Left)
- 3.7.3 MST (Motor Stop)
- 3.7.4 MVP (Move to Position)
- 3.7.5 SAP (Set Axis Parameter)
- 3.7.6 GAP (Get Axis Parameter)
- 3.7.7 STAP (Store Axis Parameter)
- 3.7.8 RSAP (Restore Axis Parameter)
- 3.7.9 SGP (Set Global Parameter)
- 3.7.10 GGP (Get Global Parameter)
- 3.7.11 STGP (Store Global Parameter)
- 3.7.12 RSGP (Restore Global Parameter)
- 3.7.13 RFS (Reference Search)
- 3.7.14 SIO (Set Output)
- 3.7.15 GIO (Get Input)
- 3.7.16 CALC (Calculate)
- 3.7.17 COMP (Compare)
- 3.7.18 JC (Jump conditional)
- 3.7.19 JA (Jump always)
- 3.7.20 CSUB (Call Subroutine)
- 3.7.21 RSUB (Return from Subroutine)
- 3.7.22 WAIT (Wait for an Event to occur)
- 3.7.23 STOP (Stop TMCL Program Execution – End of TMCL Program)
- 3.7.24 SCO (Set Coordinate)
- 3.7.25 GCO (Get Coordinate)
- 3.7.26 CCO (Capture Coordinate)
- 3.7.27 ACO (Accu to Coordinate)
- 3.7.28 CALCX (Calculate using the X Register)
- 3.7.29 AAP (Accu to Axis Parameter)
- 3.7.30 AGP (Accu to Global Parameter)
- 3.7.31 CLE (Clear Error Flags)
- 3.7.32 EI (Enable Interrupt)
- 3.7.33 DI (Disable Interrupt)
- 3.7.34 VECT (Define Interrupt Vector)
- 3.7.35 RETI (Return from Interrupt)
- 3.7.36 Customer specific Command Extensions (UF0…UF7 – User Functions)
- 3.7.37 Request Target Position reached Event
- 3.7.38 TMCL Control Commands
- 4 Axis Parameters
- 5 Global Parameters
- 6 Module Specific Hints
- 7 Hints and Tips
- 8 TMCL Programming Techniques and Structure
- 9 Figures Index
- 10 Tables Index
- 11 Supplemental Directives
- 12 Revision History
PD-1160 TMCL
™
Firmware Manual • Firmware Version V1.42 | Document Revision V1.06 • 2018-JAN-09
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4 Axis Parameters
Most motor controller features of the PD-1160 module are controlled by axis parameters. Axis parameters
can be modified or read using SAP, GAP and AAP commands. Some axis parameters can also be stored to
or restored from the EEPROM using STAP and RSAP commands. This chapter describes all axis parameters
that can be used on the PD-1160 module. Please see also section 6.1 for information about converting
between internal units of the module (named [int] in this manual) and real world units.
Meaning of the Letters in the Access Column
Access type Command Description
R GAP Parameter readable
W SAP, AAP Parameter writable
E STAP, RSAP Parameter can be stored in the EEPROM
Table 14: Meaning of the Letters in the Access Column
All Axis Parameters of the PD-1160 Module
Number Axis Parameter Description Range [Units] Access
0 Target position The desired target position in position mode -2147483648
. . . 2147483647
[µsteps]
RW
1 Actual position
The actual position of the motor. Stop the motor
before overwriting it. Should normally only be
overwritten for reference position setting.
-2147483648
. . . 2147483647
[µsteps]
RW
2 Target speed
The desired speed in velocity mode. Not valid in
position mode.
-2047 . . . 2047
[int]
RW
3 Actual speed The actual speed of the motor. -2047 . . . 2047
[int]
R
4 Maximum
positioning
speed
The maximum speed used for positioning
ramps.
1. . . 2047 [int] RWE
5 Maximum
acceleration
Maximum acceleration during ramp-up and
maximum deceleration during ramp-down.
1. . . 2047 [int] RWE
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