PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)
101
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Number Global parameter
Description
Range
Access
67
ASCII mode
Configure the TMCL™ ASCII interface:
Bit 0: 0 – start up in binary (normal) mode
1 – start up in ASCII mode
Bits 4 and 5:
00 – Echo back each character
01 – Echo back complete command
10 – Do not send echo, only send command reply
RWE
68
serial heartbeat
Serial heartbeat for RS485 interface and USB interface. If
this time limit is up and no further command is noticed
the motor will be stopped.
0 – parameter is disabled
[ms]
RWE
69
CAN bit rate
2
20kBit/s
3
50kBit/s
4
100kBit/s
5
125kBit/s
6
250kBit/s
7
500kBit/s
8
1000kBit/s
Default
2… 8
RWE
70
CAN reply ID
The CAN ID for replies from the board (default: 2)
0… 7ff
RWE
71
CAN ID
The module (target) address for CAN (default: 1)
0… 7ff
RWE
73
configuration EEPROM
lock flag
Write: 1234 to lock the EEPROM, 4321 to unlock it.
Read: 1=EEPROM locked, 0=EEPROM unlocked.
0/1
RWE
75
telegram pause time
Pause time before the reply via RS485 is sent.
For RS485 it is often necessary to set it to 15 (for RS485
adapters controlled by the RTS pin).
For CAN interface this parameter has no effect!
0… 255
RWE
76
serial host address
Host address used in the reply telegrams sent back via
RS485.
0… 255
RWE
77
auto start mode
0: Do not start TMCL™ application after power up
(default).
1: Start TMCL™ application automatically after power up.
0/1
RWE
80
shutdown pin
functionality
Select the functionality of the SHUTDOWN pin
0 – no function
1 – high active
2 – low active
0… 2
RWE
81
TMCL™ code protection Protect a TMCL™ program against disassembling or
overwriting.
0 – no protection
1 – protection against disassembling
2 – protection against overwriting
3 – protection against disassembling and overwriting
If you switch off the protection against
disassembling, the program will be erased first!
Changing this value from 1 or 3 to 0 or 2, the TMCL™
program will be wiped off.
0,1,2,3
RWE
82
CAN heartbeat
Heartbeat for CAN interface. If this time limit is up and
no further command is noticed the motor will be
stopped.
0 – parameter is disabled
[ms]
RWE
83
CAN secondary address Second CAN ID for the module. Switched off when set to
zero.
0… 7ff
RWE
84
coordinate storage
0 – coordinates are stored in the RAM only (but can be
copied explicitly between RAM and EEPROM)
1 – coordinates are always stored in the EEPROM only
0 or 1
RWE
