TMCM-3314 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.10 • 2019-JAN-25
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3.6.57
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
standalone mode, it is covered by the WAIT command) and hence does not have a mnemonic.
Internal function:
send an additional reply when a motor has reached its target position.
Related commands:
none.
Binary Representation
Instruction
Type
Motor/Bank
Value
138
0/1
0 (don’t care)
<bit vector>
With command 138 the value field is a bit vector. It shows for which motors one would like to have a
position reached message. The value field contains a bit mask where every bit stands for one motor. Bit 0
stands for motor #0, bit 1 stands for motor #1, bit 2 stands for motor #2 and so on. With the type field
set to 0, only for the next MVP command that follows this command a position reached message will be
generated. With type set to 1 a position reached message will be generated for every MVP command that
follows this command. It is recommended to use the latter option.
Example
Get target position reached message for motors #2 and #3.
Binary Form for this example
Field
Value
Target address
01
h
Instruction number
8A
h
Type
01
h
Motor/Bank
00
h
Value (Byte 3)
00
h
Value (Byte 2)
00
h
Value (Byte 1)
00
h
Value (Byte 0)
05
h
Checksum
91
h
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