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
82 / 113
Number Axis Parameter Description Range [Units] Access
183 smartEnergy
slow run
current
Sets the motor current which is used below the
threshold speed. A value of 255 means 100% of
the maximum current of the module.
0. . . 255 RW
184 Random TOff
mode
0 - Chopper off time is fixed
1 - Chopper off time is random
0/1 RW
193 Reference
search mode
1 Search left stop switch only.
2
Search right stop switch, then
search left stop switch.
3
Search right stop switch, then
search left stop switch from both
sides.
4
Search left stop switch from both
sides.
5
Search home switch in negative di-
rection, reverse the direction when
left stop switch reached.
6
Search home switch in positive di-
rection, reverse the direction when
right stop switch reached.
7
Search home switch in positive di-
rection, ignore end switches.
8
Search home switch in negative di-
rection, ignore end switches.
Additional functions:
•
Add 128 to a mode value for inverting
the home switch (can be used with mode
5. . . 8).
•
Add 64 to a mode for searching the right
instead of the left reference switch (can be
used with mode 1. . . 4).
1. . . 8 RW
194 Reference
search speed
This value specifies the speed for roughly search-
ing the reference switch.
0. . . 2047 [int] RW
195 Reference
switch speed
This parameter specifies the speed for searching
the switching point. It should be slower than
parameter 194.
0. . . 2047 [int] RW
196 End switch
distance
This parameter provides the distance between
the end switches after executing the RFS com-
mand (with reference search mode 2 or 3).
-2147483648
. . . 2147483647
[µsteps]
R
197 Last reference
position
This parameter contains the last position value
before the position counter is set to zero during
reference search.
-2147483648
. . . 2147483647
[µsteps]
R
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