TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
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PD-109-57 V2 TMCL <strong>Firmware</strong> <strong>Manual</strong> (V1.00/2010-FEB-18) 27<br />
Example MVP REL:<br />
Move motor from current position 1000 steps backward (move relative -1000)<br />
Mnemonic: MVP REL, 0, -1000<br />
Binary:<br />
Byte Index 0 1 2 3 4 5 6 7 8<br />
Function Target- Instruction Type Motor/ Operand Operand Operand Operand Checksum<br />
address Number<br />
Bank Byte3 Byte2 Byte1 Byte0<br />
Value (hex) $01 $04 $01 $00 $ff $ff $fc $18 $18<br />
Examples MVP COORD:<br />
Move motor to previously stored coordinate #8<br />
Mnemonic: MVP COORD, 0, 8<br />
Binary:<br />
Byte Index 0 1 2 3 4 5 6 7 8<br />
Function Target- Instruction Type Motor/ Operand Operand Operand Operand Checksum<br />
address Number<br />
Bank Byte3 Byte2 Byte1 Byte0<br />
Value (hex) $01 $04 $02 $00 $00 $00 $00 $08 $0f<br />
It is possible to use stall detection. Please see section 9.2 for details.<br />
When moving to a coordinate, the coordinate has to be set properly in advance with the help of the<br />
SCO command (see 6.7.24).<br />
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG