User Manual

TMCM-1276 TMCL
™
Firmware Manual • Firmware Version V1.13 | Document Revision V1.01 • 2019-MAR-20
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3.6.34 Request Target Position reached Event
This command is the only exception to the TMCL protocol, as it sends two replies: One immediately after
the command has been executed (like all other commands also), and one additional reply that will be
sent when the motor has reached its target position. This instruction can only be used in direct mode (in
standalone mode, it is covered by the WAIT command) and hence does not have a mnemonic.
Internal function: send an additional reply when a motor has reached its target position.
Related commands: none.
Binary Representation
Instruction Type Motor/Bank Value
138 0/1 0 (don’t care) always 1
With command 138 the value field is a bit vector. It shows for which motors one would like to have a
position reached message. The value field contains a bit mask where every bit stands for one motor. For
one motor modules like the TMCM-1276 it only makes sense to have bit 0 set. So, always set this parameter
to 1 with the TMCM-1276 module. With the type field set to 0, only for the next MVP command that
follows this command a position reached message will be generated. With type set to 1 a position reached
message will be generated for every MVP command that follows this command. It is recommended to use
the latter option.
Example
Get a target position reached message for each MVP command that follows.
Binary Form for this example
Field Value
Target address 01
h
Instruction number 8A
h
Type 01
h
Motor/Bank 00
h
Value (Byte 3) 00
h
Value (Byte 2) 00
h
Value (Byte 1) 00
h
Value (Byte 0) 01
h
Checksum 8D
h
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