PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)
90
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5.7.37
Request target position reached event
This command is the only exception to the TMCL™ protocol, as it sends two replies: One immediately after
the command has been executed (like all other commands also), and one additional reply that will be sent
when the motor has reached its target position.
This instruction can only be used in direct mode (in
stand alone mode, it is covered by the WAIT command) and hence does not have a mnemonic.
Internal function:
Send an additional reply when the motor has reached its target position
Mnemonic: ---
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
138
don’t care
don’t care
0
*
* Motor number
Reply in direct mode (right after execution of this command):
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Target-
address
Status Instruction Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$02
$01
100
138
$00
$00
$00
Motor bit
mask
<checksum>
Additional reply in direct mode (after motors have reached their target positions):
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Target-
address
Status Instruction Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$02
$01
128
138
$00
$00
$00
Motor bit
mask
<checksum>
