User Manual

TMCM-6210 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08
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9 Tables Index
1 Most important Axis Parameters . . . 8
2 TMCL Command Format . . . . . . . . 11
3 TMCL Reply Format . . . . . . . . . . . 12
4 TMCL Status Codes . . . . . . . . . . . 12
5 Overview of all TMCL Commands . . . 15
6 Motion Commands . . . . . . . . . . . 15
7 Parameter Commands . . . . . . . . . 16
8 Branch Commands . . . . . . . . . . . 16
9 I/O Port Commands . . . . . . . . . . 17
10 Calculation Commands . . . . . . . . 17
11 Interrupt Processing Commands . . . 18
12 Interrupt Vectors . . . . . . . . . . . . 19
13 TMCL Control Commands . . . . . . . 71
14 All Axis Parameters of the TMCM-6210
Module . . . . . . . . . . . . . . . . . . 80
15 Meaning of the Letters in the Access
Column . . . . . . . . . . . . . . . . . . 81
16 All Global Parameters of the TMCM-
6210 Module in Bank 0 . . . . . . . . . 84
17 User Variables in Bank 2 . . . . . . . . 84
18 Interrupt Parameters in Bank 3 . . . . 86
19 Reference Search Modes . . . . . . . . 87
20 coolStep Adjustment Points and
Thresholds . . . . . . . . . . . . . . . . 94
21 Firmware Revision . . . . . . . . . . . 104
22 Document Revision . . . . . . . . . . . 104
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