TMCM-013 Manual (V1.14 / January 17th, 2006)
16
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6.2.1 RS485 Commands
For RS485 commands write the address byte (default is A) first, followed by an command from the
following list. A small command letter provides the actual setting.
Command
Function
Description
Range
Factory
Default
A, a
Acceleration
Acceleration: v = 28.96 * a
0
C, c
Set Motor
Current
Motor current in percentage of maximum
current
(0..100% * 1500mA). Refer to 6.2.1.2
0..100
20
G, g
StallGuard
In mode 0 (SPI) the StallGuard feature is
functional. ‘g’ provides the actual StallGuard
value, not the setting. Refer 6.2.1.3
-7..0..+7
0
L
Limit switch
Used to switch on and off reference run
values. Refer
byte
-
M, m
Select Mode
Select chopper mode: 0:SPI, 1:PWM,
2:PHASE (default)
0, 1, 2
2
N
Alarm
if (n mod 256) > 0 -> ALARM = 0, else
ALARM = 1
0..256
0
O
Set Output
if G > 0 -> GPO = 0 (LED on),
if G = 0 -> GPO = 1 (LED off)
0..256
0
P
Set Position
Set position without moving the motor
32 bit
0
Q
Read I/Os
Provides out of the I/O the values of the
ports GPI, REF_A, REF_B, GPO and
ALARM. Refer to 6.2.1.5
-
-
R
Read Current
Position
Provides the current position of the motor
32 bit
-
S
Changes
address byte
Capital letter followed by the command ‘S’
makes this letter the new address byte
A
T, t
RS485-
Timeout
Sets the RS485-Timeout
U, u
Set baud rate
Sets baud rate for RS485 communication.
Refer to 6.2.1.6
0…7
0
V, v
Velocity for
Rotation
Velocity for rotation / reference run
v = n * 0.149157 usteps/s
0
W
Store
parameters to
EEPROM
Stores settings to EEPROM to restart with
the same performance. Refer 6.2.1.7
-
-
X
Version
number
Provides version number of implemented
Software
Y, y
Standby
current
Sets 0..100% of maximum current after 1
second motor inactivity. For no standby
current use the same value as for “Set motor
current”.
0..100
20
Z, z
Microstep
Resolution
Divides the maximum microstep resolution
(0: max; 4: min). Refer to 6.2.1.8, Table 6.7
0..4
0
Table 6.1: RS485 Commands
Examples:
1. S Select SPI Mode:
AM 0
⇒
ENTER
2. Read out the actual mode
Am
⇒
ENTER
⇒
CR (carriage return)
3. Change Microstep resolution ¼ of max. resolution
AZ 2
⇒
ENTER
