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
79 / 103
Number Axis Parameter Description Range [Units] Access
204 Freewheeling
mode
Stand still option when the standby
current (parameter 7) is set to zero.
0 normal operation
1 freewheeling
2 coil shorted using low side drivers
3 coil shorted using high side drivers
0. . . 3 RW
206 Actual load
value
Readout of the actual load value used for stall
detection (stallGuard2).
0. . . 1023 R
207 Extended error
flags
A combination of the following values:
1 stallGuard error
2 deviation error
These error flags are cleared automatically
when this parameter has been read out or when
a motion command has been executed.
0. . . 3 R
208 Motor driver
error flags
A combination of the following values:
Bit 0 stallGuard2 status
(1: stall detected)
Bit 1 Overtemperature
(1: driver is shut down due to overtemper-
ature)
Bit 2 Overtemperature pre-warning
(1: temperature threshold is exceeded)
Bit 3 Short to ground A
(1: short condition detected, driver cur-
rently shut down)
Bit 4 Short to ground B
(1: short condition detected, driver cur-
rently shut down)
Bit 5 Open load A
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 6 Open load B
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 7 Stand still
(1: no step pulse occurred during the last
2
20
clock cycles)
0. . . 255 R
209 Encoder
position
Encoder counter value. -2147483648
. . . 2147483647
[µsteps]
RW
210 Encoder
resolution
Encoder counts per round. 0. . . 65535 RW
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