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
81 / 113
Number Axis Parameter Description Range [Units] Access
174 stallGuard2
threshold
This signed value controls stallGuard2 threshold
level for stall output and sets the optimum mea-
surement range for readout. A lower value gives
a higher sensitivity. Zero is the starting value.
A higher value makes stallGuard2 less sensitive
and requires more torque to indicate a stall.
-64. . . +63 RW
175 Slope control
high side
Determines the slope of the motor driver out-
puts. Leave at default value unless differently
recommended by Trinamic customer support.
0 - lowest slope
3 - fastest slope
0. . . 3 RW
176 Slope control
low side
Determines the slope of the motor driver out-
puts. Leave at default value unless differently
recommended by Trinamic customer support.
0 - lowest slope
3 - fastest slope
0. . . 3 RW
177 Short
protection
disable
Switches short to ground protection of the mo-
tor driver on or off. Leave at default value unless
differently recommended by Trinamic customer
support.
0 - Short to GND protection on
1 - Short to GND protection off
0/1 RW
178
Short detection
timer
Timer value for short circuit protection of the
motor driver. Leave at default value unless dif-
ferently recommended by Trinamic customer
support.
0 - 3.2µs 1 - 1.6µs 2 - 1.2µs 3 - 0.8µs
0. . . 3 RW
179 Vsense Sense resistor voltage based current scaling.
0 - Full scale sense resistor voltage is 1/18 VDD
1 - Full scale sense resistor voltage is 1/36 VDD
Leave at default value. Do not change!
0/1 R
180 smartEnergy
actual current
This status value provides the actual motor cur-
rent setting as controlled by coolStep. The value
goes up to the CS value and down to the portion
of CS as specified by SEIMIN.
Actual motor current scaling factor:
0. . . 31: 1/32, 2/32, . . . 32/32
0. . . 31 R
181 Stop on stall
Below this speed motor will not be stopped.
Above this speed motor will stop in case stall-
Guard2 load value reaches zero.
0. . . 2047 [int] RW
182 smartEnergy
threshold
speed
Above this speed coolStep becomes enabled. 0. . . 2047 [int] RW
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com