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
87 / 103
6.1.1 Mode 1
Reference search mode 1 only searches the left end switch. Select this mode by setting axis parameter
#193 to 1. Figure 3 illustrates this.
Add 64 to the mode number (i.e. set axis parameter #193 to 65) to search the right end switch instead of
the left end switch.
left limit / end / stop switch
L R
start
stop
: reference search speed (axis parameter 194)
: reference switch speed (axis parameter 195)
Figure 3: Reference search Mode 1
6.1.2 Mode 2
Reference search mode 2 first searches the right end switch and then the left end switch. The left end
switch is then used as the zero point. Figure 4 illustrates this. Select this mode by setting axis parameter
#193 to 2. After the reference search has finished, axis parameter #196 contains the distance between the
two reference switches in microsteps.
Add 64 to the mode number (i.e. set axis parameter #193 to 66) to search the left end switch first and then
use the right end switch as the zero point.
left limit / end / stop switch
L R
right limit / end / stop switch
start
stop
: reference search speed (axis parameter 194)
: reference switch speed (axis parameter 195)
Figure 4: Reference search Mode 2
6.1.3 Mode 3
Reference search mode 3 first searches the right end switch and then the left end switch. The left end
switch is then searched from both sides, to find the middle of the left end switch. This is then used as
the zero point. Figure 5 illustrates this. Select this mode by setting axis parameter #193 to 3. After the
reference search has finished, axis parameter #196 contains the distance between the right end switch
and the middle of the left end switch in microsteps.
Add 64 to the mode number (i.e. set axis parameter #193 to 67) to search the left end switch first and then
use the middle of the right end switch as the zero point.
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