TMCM-078 Manual (V1.03 / September 10th, 2008)
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Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
5.4.1
RS485 command overview
For RS485 commands type the address character (default is A) first, followed by a command from the
following list and the parameters that the command needs. Then press the return key. A small
command letter is in most cases used to read back the actual setting. All values are ASCII.
Command Function
Description
Chapter
A, a
Acceleration
A: set Acceleration (µsteps/s²), 0 (default)
selects step/direction mode)
a: read back acceleration
C, c
Current
C: set motor current (0..31)
c: read back motor current
D, d
Mixed decay
D: set mixed decay mode (0/1)
d: read back mixed decay mode
E or e
Error readout
E or e: read driver error flags
G, g
StallGuard
G: set StallGuard threshold value (0..7)
g: read out actual load value
H, h
Home
H: Start reference search
h: Check if reference search still in progress
L, l
Limit switch
L: configure limit switches
l: read back limit switch settings
M, m
Mode
M: select chopper mode (0..2)
m: read back actual chopper mode
O
Output
O: set output state
P
Position
P: change position counter
p: read back position counter
Q, q
Read I/Os
Q or q: read state of I/O lines
R, r
Reference
search config.
R: configure reference search
r: read back reference search parameters
T, t
RS485-Timeout
T: set RS485 delay
t: read back RS485 delay
U, u
RS485 baud rate
U: set RS485 baud rate
u: read back Rs485 baud rate
V, v
Velocity
V: accelerate to given velocity (µsteps/s)
v: read out actual velocity
W
Write
Store parameters to FlashROM
X or x
Check version
X or x: output firmware revision number
Y, y
Standby current
Y: set standby current (1..8)
y: read back standby current setting
Z, z
Microstep
Resolution
Z: set microstep resolution (0..6)
z: read back microstep resolution
@
Address
Change RS485 address character
Table 5.3: RS485 Commands