User manual

TMCM-6110 TMCL Firmware V1.19 Manual (Rev. 1.03 / 2012-JUL-31) 2
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Table of Contents
2 Features ........................................................................................................................................................................... 4
3 Overview ......................................................................................................................................................................... 5
4 Putting the Module into Operation ........................................................................................................................ 6
4.1 Basic Set-up ........................................................................................................................................................... 6
4.1.1 Connecting the Module ............................................................................................................................... 6
4.1.2 Start the TMCL-IDE Software Development Environment ................................................................. 9
4.1.3 Using TMCL Direct Mode ............................................................................................................................. 9
4.1.4 Important Motor Settings ......................................................................................................................... 10
4.1.5 Your First TMCL Program .......................................................................................................................... 11
5 TMCL and TMCL-IDE ................................................................................................................................................... 13
5.1 Binary Command Format ................................................................................................................................ 13
5.2 Reply Format ....................................................................................................................................................... 14
5.2.1 Status Codes ................................................................................................................................................. 14
5.3 Standalone Applications .................................................................................................................................. 15
5.4 TMCL Command Overview .............................................................................................................................. 15
5.4.1 TMCL Commands ......................................................................................................................................... 15
5.4.2 Commands Listed According to Subject Area .................................................................................... 16
5.5 The ASCII Interface ........................................................................................................................................... 20
5.5.1 Format of the Command Line ................................................................................................................. 20
5.5.2 Format of a Reply ....................................................................................................................................... 20
5.5.3 Commands That Can be Used in ASCII Mode .................................................................................... 20
5.5.4 Configuring the ASCII Interface ............................................................................................................. 20
5.6 Commands ........................................................................................................................................................... 22
5.6.1 ROR (rotate right) ........................................................................................................................................ 22
5.6.2 ROL (rotate left) ........................................................................................................................................... 23
5.6.3 MST (motor stop)......................................................................................................................................... 24
5.6.4 MVP (move to position) ............................................................................................................................ 25
5.6.5 SAP (set axis parameter) ........................................................................................................................... 27
5.6.6 GAP (get axis parameter) .......................................................................................................................... 28
5.6.7 STAP (store axis parameter) ..................................................................................................................... 29
5.6.8 RSAP (restore axis parameter) ................................................................................................................. 30
5.6.9 SGP (set global parameter) ...................................................................................................................... 31
5.6.10 GGP (get global parameter)...................................................................................................................... 32
5.6.11 STGP (store global parameter) ................................................................................................................ 33
5.6.12 RSGP (restore global parameter) ............................................................................................................ 34
5.6.13 RFS (reference search) ................................................................................................................................ 35
5.6.14 SIO (set input / output) ............................................................................................................................. 36
5.6.15 GIO (get input /output) ............................................................................................................................. 38
5.6.16 CALC (calculate) ............................................................................................................................................ 41
5.6.17 COMP (compare)........................................................................................................................................... 42
5.6.18 JC (jump conditional) ................................................................................................................................. 43
5.6.19 JA (jump always) ......................................................................................................................................... 44
5.6.20 CSUB (call subroutine) ............................................................................................................................... 45
5.6.21 RSUB (return from subroutine) ................................................................................................................ 46
5.6.22 WAIT (wait for an event to occur) ......................................................................................................... 47
5.6.23 STOP (stop TMCL program execution) ................................................................................................... 48
5.6.24 SCO (set coordinate) ................................................................................................................................... 49
5.6.25 GCO (get coordinate) .................................................................................................................................. 50
5.6.26 CCO (capture coordinate) .......................................................................................................................... 51
5.6.27 ACO (accu to coordinate) .......................................................................................................................... 52
5.6.28 CALCX (calculate using the X register) .................................................................................................. 53
5.6.29 AAP (accumulator to axis parameter) .................................................................................................... 54
5.6.30 AGP (accumulator to global parameter) ............................................................................................... 55
5.6.31 CLE (clear error flags) ................................................................................................................................. 56
5.6.32 VECT (set interrupt vector) ........................................................................................................................ 57
5.6.33 EI (enable interrupt) ................................................................................................................................... 58
5.6.34 DI (disable interrupt) .................................................................................................................................. 59