User manual

PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 3
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4.1 Velocity Calculation ........................................................................................................................................... 64
4.2 stallGuard2 ........................................................................................................................................................... 65
4.3 coolStep Related Axis Parameters ................................................................................................................ 65
5 Global parameters ...................................................................................................................................................... 67
5.1 Bank 0 ................................................................................................................................................................... 67
5.2 Bank 1 ................................................................................................................................................................... 68
5.3 Bank 2 ................................................................................................................................................................... 69
5.4 Bank 3 ................................................................................................................................................................... 70
6 Hints and Tips ............................................................................................................................................................. 71
6.1 Reference Search ............................................................................................................................................... 71
6.2 Changing the Prescaler Value of an Encoder ............................................................................................ 74
6.3 Using the RS485 Interface .............................................................................................................................. 75
7 TMCL Programming Techniques and Structure ................................................................................................. 76
7.1 Initialization ........................................................................................................................................................ 76
7.2 Main Loop ............................................................................................................................................................ 76
7.3 Using Symbolic Constants .............................................................................................................................. 76
7.4 Using Variables .................................................................................................................................................. 77
7.5 Using Subroutines ............................................................................................................................................. 77
7.6 Mixing Direct Mode and Standalone Mode ................................................................................................ 78
8 Life Support Policy ..................................................................................................................................................... 79
9 Revision History .......................................................................................................................................................... 80
9.1 Document Revision ........................................................................................................................................... 80
9.2 Firmware Revision ............................................................................................................................................ 80
10 References .................................................................................................................................................................... 80