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
79 / 113
Number Axis Parameter Description Range [Units] Access
154 Pulse divisor
The exponent of the scaling factor for the pulse
(step) generator. Change this parameter care-
fully (in steps of one) and only while the motor is
not moving. Lower values lead to higher speeds.
This parameter specifies the relation between
internal and real world velocity units.
0. . . 13 RWE
160 Step
interpolation
enable
Step interpolation is supported with 16 mi-
crostep setting only. With this option activated,
each microstepstep will internally be executed
as 16 1/256 microsteps. This causes the motor
to run as smooth as with 256 microsteps resolu-
tion.
0 - step interpolation off
1 - step interpolation on
0/1 RW
161 Double step
enable
With this option turned on, each microstep will
be executed twice. Normally, use this option
only together with the step/direction input. Ev-
ery edge of the step signal then causes a mi-
crostep to be executed.
0 - double step off
1 - double step on
0/1 RW
162 Chopper blank
time
Selects the comparator blank time. This time
needs to safely cover the switching event and
the duration of the ringing on the sense resistor.
Normally leave at the default value.
0. . . 3 RW
163 Constant TOff
mode
Selection of the chopper mode:
0 – spread cycle
1 – classic constant off time
0/1 RW
164 Disable fast
decay
comperator
See parameter 163. For ”classic const. off time”
setting this parameter to ”1” will disable current
comparator usage for termination of fast decay
cycle.
0/1 RW
165 Chopper
hysteresis end /
fast decay time
See parameter 163. For ”spread cycle” chopper
mode this parameter will set / return the hys-
teresis end setting (hysteresis end value after a
number of decrements). For ”classic const. off
time” chopper mode this parameter will set /
return the fast decay time.
0. . . 15 RW
166 Chopper
hysteresis start
/ sine wave
offset
See parameter 163. For ”spread cycle” chopper
mode this parameter will set / return the Hys-
teresis start setting (please note that this value is
an offset to the hysteresis end value). For ”clas-
sic const. off time” chopper mode this parameter
will set / return the sine wave offset.
0. . . 8 RW
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