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
84 / 113
Number Axis Parameter Description Range [Units] Access
212 Maximum
encoder
deviation
When the actual position (parameter #1) and
the encoder position (parameter #209) differ
more than set here the motor will be stopped.
This function is switched off when the maximum
deviation is set to zero.
0
. . . 2147483647
[encoder
steps]
RW
214 Power down
delay
Standstill period before the motor current will be
switched to standby current. The default value
is 200 which means 2000ms.
1. . . 65535
[10ms]
RWE
215 Absolute
resolver value
Absolute position of the internal sensOstep en-
coder. The absolute position is within one motor
rotation.
0. . . 1023 R
216 External
encoder
position
External encoder counter value. -2147483648
. . . 2147483647
[µsteps]
RW
217 External
encoder
prescaler
Prescaler for external encoder. See section
6.3.
RW
218 Maximum
external
encoder
deviation
When the actual position (parameter #1) and the
external encoder position (parameter #216) dif-
fer more than set here the motor will be stopped.
Setting this parameter to zero turns off this func-
tion.
0
. . . 2147483647
[encoder
steps]
RW
254 Step/direction
mode
0 Normal mode. Step/dir mode off.
1
Use of the ENABLE inputs on step/dir
connector to switch between hold cur-
rent and run current (no automatic
switching) .
2
Automatic switching between hold and
run current: after the first step pulse the
module automatically switches over to
run current, and a configurable time af-
ter the last step pulse the module auto-
matically switches back to hold current.
The ENABLE inputs on the step/dir con-
nector do not have any functionality.
3
Always use run current, never switch to
hold current. The ENABLE inputs on the
step/dir connector do not have any func-
tionality.
4
Automatic current switching like (2), but
the ENABLE inputs are used to switch the
driver stages completely off or on.
5
Always use run current like (3), but the
ENABLE pins are used to switch the
driver stages completely off or on.
0. . . 5 RWE
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