Data Sheet

8. Command reference

Overview

All of the Tic’s serial commands are available on its TTL serial, I²C, and USB interfaces, with the

exception of a few commands that are unique to USB. Each command uses one of these four formats:

1. Quick command: no data

2. 7-bit write command: writes a 7-bit value to the Tic

3. 32-bit write command: writes a 32-bit value to the Tic

4. Block read command: reads a block of data from the Tic; the block starts from the specified

offset and can have a variable length

Descriptions of how these command formats are encoded for each interface can be found in the

following sections (Section 9 for TTL serial, Section 10 for I²C, and Section 11 for USB). (Note that

the USB-only “set setting” command is a special case that uses its own unique format.)

List of commands

• Set target position

• Set target velocity

• Halt and set position

• Halt and hold

• Reset command timeout

• De-energize

• Energize

• Exit safe start

• Enter safe start

• Reset

• Clear driver error

• Set max speed

• Set starting speed

• Set max acceleration

• Set max deceleration

• Set step mode

• Set current limit

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