TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
3
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.30
AGP (accumulator to global parameter) ............................................................................................... 84
6.7.31
CLE (clear error flags) ................................................................................................................................. 87
6.7.32
Customer specific TMCL
TM
command extension (UF0…UF7/user function) ................................... 88
6.7.33
Request target position reached event ................................................................................................. 89
6.7.34
BIN (return to binary mode) .................................................................................................................... 90
6.7.35
TMCL™ Control Functions ......................................................................................................................... 91
7
Axis parameters .......................................................................................................................................................... 93
7.1
Real world units vs. units of the TMC457 .................................................................................................. 98
8
Global parameters ...................................................................................................................................................... 99
8.1
Bank 0 ................................................................................................................................................................... 99
8.2
Bank 1 ................................................................................................................................................................. 101
8.3
Bank 2 ................................................................................................................................................................. 102
9
Hints and tips ............................................................................................................................................................ 103
9.1
PID controller of the TMC457 - easyPID
TM
................................................................................................ 103
9.2
Reference search .............................................................................................................................................. 104
9.3
Fixing microstep errors .................................................................................................................................. 105
9.4
Using the RS485 interface ............................................................................................................................. 106
10
Revision history ........................................................................................................................................................ 107
10.1
Firmware revision ............................................................................................................................................ 107
10.2
Document Revision ......................................................................................................................................... 107
11
References................................................................................................................................................................... 108
