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) 79<br />
6.7.32 Request target position reached event<br />
This command is the only exception to the TMCL protocol, as it sends two replies: One immediately after<br />
the command has been executed (like all other commands also), and one additional reply that will be sent<br />
when the motor has reached its target position.<br />
This instruction can only be used in direct mode (in stand alone mode, it is covered by the WAIT<br />
command) and hence does not have a mnemonic.<br />
Internal function: Send an additional reply when the motor has reached its target position<br />
Mnemonic: ---<br />
Binary representation:<br />
INSTRUCTION NO. TYPE MOT/BANK VALUE<br />
138 (don’t care) (don’t care) 1 or 0<br />
The value field contains a bit mask where every bit stands for one motor:<br />
bit 0 = motor 0 (as only one motor is involved.)<br />
Reply in direct mode (right after execution of this command):<br />
Byte Index 0 1 2 3 4 5 6 7 8<br />
Function Target- Target- Status Instruction Operand Operand Operand Operand Checksum<br />
address address<br />
Byte3 Byte2 Byte1 Byte0<br />
Value (hex) $02 $01 100 138 $00 $00 $00 Motor bit <br />
The additional reply will be sent when all chosen motors have reached their target positions.<br />
Additional reply in direct mode (after motors have reached their target positions):<br />
Byte Index 0 1 2 3 4 5 6 7 8<br />
Function Target- Target- Status Instruction Operand Operand Operand Operand Checksum<br />
address address<br />
Byte3 Byte2 Byte1 Byte0<br />
Value (hex) $02 $01 128 138 $00 $00 $00 Motor bit <br />
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG