User Manual

TMCM-3230 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10
32 / 103
3.6.11 RFS (Reference Search)
The TMCM-3230 has a built-in reference search algorithm. The reference search algorithm provides
different refrence search modes. This command starts or stops the built-in reference search algorithm.
The status of the reference search can also be queried to see if it already has finished. (In a TMCL program
it mostly is better to use the WAIT RFS command to wait for the end of a reference search.) Please see the
appropriate parameters in the axis parameter table to configure the reference search algorithm to meet
your needs (please see chapter 4).
Internal function: The internal reference search state machine is started or stoped, or its state is queried.
Related commands: SAP, GAP, WAIT.
Mnemonic: RFS <START|STOP|STATUS>, <motor>
Binary Representation
Instruction Type Motor/Bank Value
0 START — start reference search
13 1 STOP — stop reference search 0. . . 2 0 (don’t care)
2 STATUS — get status
Reply in Direct Mode (RFS START or RFS STOP)
Status Value
100 - OK 0 (don’t care)
Reply in Direct Mode (RFS STATUS)
Status Value
100 - OK
0 no ref. search active
other values reference search active
Example
Start reference search of motor 0.
Mnemonic: RFS START, 0.
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