User manual

TMCM-1140 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 60
www.trinamic.com
3.6.36 Customer Specific TMCL Command Extension (UF0… UF7 / User
Function)
The user definable functions UF0… UF7 are predefined, functions without topic for user specific purposes.
Contact TRINAMIC for the customer specific programming of these functions.
Internal function: Call user specific functions implemented in C by TRINAMIC.
Related commands: none
Mnemonic: UF0… UF7
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
64… 71
(user defined)
(user defined)
(user defined)
Reply in direct mode:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Target-
address
Status
Instructio
n
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$02
$01
(user
defined)
64… 71
(user
defined)
(user
defined)
(user
defined)
(user
defined)
3.6.37 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 standalone 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
0/1
(don’t care)
1
Reply in direct mode (right after execution of this command):
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Target-
address
Status
Instructio
n
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$02
$01
100
138
$00
$00
$00
Motor bit
mask
Additional reply in direct mode (after motors have reached their target positions):
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Target-
address
Status
Instructio
n
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$02
$01
128
138
$00
$00
$00
Motor bit
mask