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 TMCL Command Overview
- 3.5 TMCL Commands by Subject
- 3.6 Detailed TMCL Command Descriptions
- 3.6.1 ROR (Rotate Right)
- 3.6.2 ROL (Rotate Left)
- 3.6.3 MST (Motor Stop)
- 3.6.4 MVP (Move to Position)
- 3.6.5 SAP (Set Axis Parameter)
- 3.6.6 GAP (Get Axis Parameter)
- 3.6.7 SGP (Set Global Parameter)
- 3.6.8 GGP (Get Global Parameter)
- 3.6.9 STGP (Store Global Parameter)
- 3.6.10 RSGP (Restore Global Parameter)
- 3.6.11 RFS (Reference Search)
- 3.6.12 SIO (Set Output)
- 3.6.13 GIO (Get Input)
- 3.6.14 CALC (Calculate)
- 3.6.15 COMP (Compare)
- 3.6.16 JC (Jump conditional)
- 3.6.17 JA (Jump always)
- 3.6.18 CSUB (Call Subroutine)
- 3.6.19 RSUB (Return from Subroutine)
- 3.6.20 WAIT (Wait for an Event to occur)
- 3.6.21 STOP (Stop TMCL Program Execution – End of TMCL Program)
- 3.6.22 SCO (Set Coordinate)
- 3.6.23 GCO (Get Coordinate)
- 3.6.24 CCO (Capture Coordinate)
- 3.6.25 ACO (Accu to Coordinate)
- 3.6.26 CALCX (Calculate using the X Register)
- 3.6.27 AAP (Accu to Axis Parameter)
- 3.6.28 AGP (Accu to Global Parameter)
- 3.6.29 CLE (Clear Error Flags)
- 3.6.30 EI (Enable Interrupt)
- 3.6.31 DI (Disable Interrupt)
- 3.6.32 VECT (Define Interrupt Vector)
- 3.6.33 RETI (Return from Interrupt)
- 3.6.34 Customer specific Command Extensions (UF0…UF7 – User Functions)
- 3.6.35 Request Target Position reached Event
- 3.6.36 TMCL Control Commands
- 4 Axis Parameters
- 5 Global Parameters
- 6 Hints and Tips
- 7 TMCL Programming Techniques and Structure
- 8 Figures Index
- 9 Tables Index
- 10 Supplemental Directives
- 11 Revision History
TMCM-3212 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08
73 / 103
Number Axis Parameter Description Range [Units] Access
7 Standby
current
The current used when the motor is not running.
The maximum value is 255 which means 100% of
the maximum current of the module. This value
should be as low as possible so that the motor
can cool down when it is not moving. Please see
also parameter 214.
0. . . 255 RW
8 Position
reached flag
This flag is always set when target position and
actual position are equal.
0/1 R
9 Home switch
state
The logical state of the home switch input. 0/1 R
10 Right limit
switch state
The logical state of the right limit switch input. 0/1 R
11 Left limit
switch state
The logical state of the left limit switch input. 0/1 R
12 Right limit
switch disable
Deactivates the stop function of the right limit
switch if set to 1.
0/1 RW
13 Left limit
switch disable
Deactivates the stop function of the left limit
switch if set to 1.
0/1 RW
14 Swap limit
switches
Swap the left and right limit switches when set
to 1.
0/1 RW
15
Acceleration A1
First acceleration between VSTART and V1 (in
position mode only).
0. . . 7629278
[pps
2
]
RW
16 Velocity V1
First acceleration / decelaration phase target ve-
locizy (in position mode only). Setting this value
to 0 turns off the first acceleration / deceleration
phase, maximum acceleration (axis parameter
5) and maximum decleration (axis parameter 17)
are used only.
0. . . 1000000
[pps]
RW
17 Maximum
deceleration
Maximum deceleration in positioning ramps.
Used to decelerate from maximum positiong
speed (axis parameter 4) to velocity V1.
0. . . 7629278
[pps
2
]
RW
18 Deceleration
D1
Deceletation bewteen V1 and VSTOP (in position-
ing mode only).
0. . . 7629278
[pps
2
]
RW
19 Velocity
VSTART
Motor start velocity (in position mode only). Do
not set VSTART higher than VSTOP.
0. . . 249999
[pps]
RW
20 Velocity VSTOP Motor stop velocity (in position mode only). 0. . . 249999
[pps]
RW
21
Ramp wait time
Defines the waiting time after ramping down to
zero velocity before next movement or direction
inversion can start. Time range is 0 to 2 seconds.
This setting avoids excess acceleration e.g. from
VSTOP to -VSTART.
0. . . 65535
[0.000032s]
RW
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