TMCL™ Firmware Manual - Trinamic

PD-109-57 V2 TMCL Firmware Manual (V1.00/2010-FEB-18) 79
6.7.32 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 stand alone mode, it is covered by the WAIT
command) and hence does not have a mnemonic.
Internal function: Send an additional reply when the motor has reached its target position
Mnemonic: ---
Binary representation:
INSTRUCTION NO. TYPE MOT/BANK VALUE
138 (don’t care) (don’t care) 1 or 0
The value field contains a bit mask where every bit stands for one motor:
bit 0 = motor 0 (as only one motor is involved.)
Reply in direct mode (right after execution of this command):
Byte Index 0 1 2 3 4 5 6 7 8
Function Target- Target- Status Instruction Operand Operand Operand Operand Checksum
address address
Byte3 Byte2 Byte1 Byte0
Value (hex) $02 $01 100 138 $00 $00 $00 Motor bit
The additional reply will be sent when all chosen motors have reached their target positions.
Additional reply in direct mode (after motors have reached their target positions):
Byte Index 0 1 2 3 4 5 6 7 8
Function Target- Target- Status Instruction Operand Operand Operand Operand Checksum
address address
Byte3 Byte2 Byte1 Byte0
Value (hex) $02 $01 128 138 $00 $00 $00 Motor bit
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