User manual

TMCM-1161 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-NOV-19) 33
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3.5.14 SIO (set input / output)
- SIO sets the status of the general digital output either to low (0) or to high (1). Bank 2 is used for
this purpose.
- SIO is used to switch the pull-up resistors for all digital inputs ON (1) and OFF (0). Bank 0 is used
for this purpose.
Internal function: the passed value is transferred to the specified output line.
Related commands: GIO, WAIT
Mnemonic: SIO <port number>, <bank number>, <value>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
14
<port number>
<bank number>
2
<value>
0/1
Reply structure:
STATUS
VALUE
100 – OK
don’t care
Example:
Set OUT_2 to high (bank 2, output 2)
Mnemonic: SIO 2, 2, 1
Binary:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$0e
$07
$02
$00
$00
$00
$01
In/Out
Interface
USB
Motor
1
1
1
1
Figure 3.1 Connectors
I/O PORTS USED FOR SIO AND COMMAND
Pin
I/O port
Command
Range
3
OUT_0
SIO 0, 2, <n>
1/0
4
OUT_1
SIO 1, 2, <n>
1/0