User manual

TMCM-6110 TMCL Firmware V1.19 Manual (Rev. 1.03 / 2012-JUL-31) 36
www.trinamic.com
5.6.14 SIO (set input / output)
This command sets the status of the general digital output either to low (0) or to high (1).
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_7 to high (bank 2, output 7)
Mnemonic: SIO 7, 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
1
10
1
10
I/O connector 0
I/O connector 1
Figure 5.1: connectors of TMCM-6110