TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07)
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Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
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7 TMCL commands
The board does not support stand-alone TMCL operation, but its PC interface uses a subset of TMCL
commands for parameterization. You can use the direct mode of the TMCL-IDE to explore it, or
remote control the module with TMCL-PC in order to drive sequences.
The address of the TMC262-EVAL is always fixed 1.
The board supports a number of SAP and GAP commands in order to set parameters.
Movements can be started using MVP and ROL/ROR commands. The unit of Position is in
microsteps, velocity in steps/second and acceleration in steps/s².
0: target position (normally set via MVP)
1: actual position
2: target velocity (normally set via ROL/ROR/MST commands)
3: actual velocity
4: maximum velocity with positioning
5: acceleration
181: stop On Stall Velocity
6: current (Register SGSCONF Bits CS4..CS0)
140: micro step resolution (Register DRVCTRL, Bits MRES3..MRES0, but reversed (8-x), for TMCL-
compatibility)
160: DRVCTRL.INTPOL
161: DRVCTRL.DEDGE
162: CHOPCONF.[TBL1..TBL0]
163: CHOPCONF.CHM
184: RNDTF
164: CHOPCONF.[HDEC1..HDEC0]
165: CHOPCONF.[HEND3..HEND0]
166: CHOPCONF.[HSTRT2..HSTRT0]
167: CHOPCONF.[TOFF3..TOFF0]
168: SMARTEN.SEIMIN
169: SMARTEN.[SEDN1..SEDN0]
170: SMARTEN.[SEMAX3..SEMAX0]
171: SMARTEN.[SEUP1..SEUP0]
172: SMARTEN.[SEMIN3..SEMIN0]
173: SGSCONF.SFILT
174: SGSCONF.[SGT6..SGT0]
