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
88 / 113
Number Global Parameter Description Range [Units] Access
75 Telegram pause
time
Pause time before the reply via RS485 is
sent. For use with older RS485 interfaces it
is often necessary to set this parameter to
15 or more (e.g. RS485 adapters controlled
by the RTS pin). For CAN interface this pa-
rameter has no effect!
0. . . 255 RWA
76 Serial host
address
Host address used in the reply telegrams
sent back via RS485.
0. . . 255 RWA
77 Auto start mode
0 - Do not start TMCL application after
power up (default).
1 - Start TMCL application automatically af-
ter power up.
0/1 RWA
79 End switch
polarity
0 - normal polarity
1 - reverse polarity
0/1 RWA
81 TMCL code
protection
Protect a TMCL program against disassem-
bling or overwriting.
0 - no protection
1 - protection against disassembling
2 - protection against overwriting
3 - protection against disassembling and
overwriting
When switching off the protection
against disassembling (changing this
parameter from 1 or 3 to 0 or 2, the
program will be erased first!
0/1/2/3 RWA
82 CAN heartbeat
Heartbeat for CAN interface. If this time
limit is up and no further command is re-
ceived the motor will be stopped. Setting
this parameter to 0 (default) turns off the
CAN heartbeat function.
0. . . 65535 RWA
83 CAN secondary
address
Second CAN ID for the module. Switched
off when set to zero.
0. . . 2047 RWA
84 Coordinate
storage
0 - coordinates are stored in RAM only (but
can be copied explicitly between RAM and
EEPROM)
1 - coordinates are always also stored in the
EEPROM
0/1 RWA
85 Do not restore
user variables
Determines if TMCL user variables are to be
restored from the EEPROM automatically on
startup.
0 - user variables are restored (default)
1 - user variables are not restored
0/1 RWA
87 Serial secondary
address
Second module (target) address for RS485.
Setting this parameter to 0 switches off the
seconndary address.
0. . . 255 RWA
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