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
78 / 103
Number Axis Parameter Description Range [Units] Access
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. . . 7999774
[pps]
RW
195 Reference
switch speed
This parameter specifies the speed for searching
the switching point. It should be slower than
parameter 194.
0. . . 7999774
[pps]
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
201 Encoder mode RW
202 Motor full step
resolution
Full step resolution of the motor (Default: 200). 0. . . 65535
[
fullsteps
round
]
RW
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