Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Data Sheet
Product codes
11-0011
TMCL Reference Manual
48
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
3.33 Request target position reached event
Description: 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 specified motors have reached their target positions. This command can only be used in direct mode (in
stand alone mode, this is covered by the WAIT command) and hence does not have a mnemonic. Its opcode is
138.
This command is avialable since firmware version 3.26 (on the TMCM-301/302/303/310/110/109/111/112 modules)
resp. firmware version 6.24 (on the TMCM-610/611/612/101/102 modules).
Internal function: Send an additional reply when one or more motors have reached their target positions. Only
usable in direct mode.
Mnemonic: ---
Binary representation:
after the command has been executed (like all other commands also), and one additional reply that will be sent
when the specified motors have reached their target positions. This command can only be used in direct mode (in
stand alone mode, this is covered by the WAIT command) and hence does not have a mnemonic. Its opcode is
138.
This command is avialable since firmware version 3.26 (on the TMCM-301/302/303/310/110/109/111/112 modules)
resp. firmware version 6.24 (on the TMCM-610/611/612/101/102 modules).
Internal function: Send an additional reply when one or more motors have reached their target positions. Only
usable in direct mode.
Mnemonic: ---
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
138
(don’t care)
(don’t care)
Motor bit mask
The contents of the “value” field is a bit mask where every bit stands for one motor: bit 0 = motor 0, bit 1 = motor
1, and so on. The additional reply will be sent when all motors for which the bits in the bit mask are set have
reached their target positions.
Reply in direct mode (right after execution of this command):
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
address
Target-
address
address
Status Instruction Operand
Byte3
Operand
Byte2
Byte2
Operand
Byte1
Byte1
Operand
Byte0
Byte0
Checksum
Value (hex)
$02
$01
100
138
$00
$00
$00
Motor bit
mask
mask
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>
Additonal reply in direct mode (after motors have reached their target positions):
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
address
Target-
address
address
Status Instruction Operand
Byte3
Operand
Byte2
Byte2
Operand
Byte1
Byte1
Operand
Byte0
Byte0
Checksum
Value (hex)
$02
$01
128
138
$00
$00
$00
Motor bit
mask
mask
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