User manual

TMCM-1141 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 26
www.trinamic.com
Example:
Move motor from current position 1000 steps backward (move relative –1000)
Mnemonic: MVP REL, 0, -1000
Binary:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instructio
n
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$04
$01
$00
$ff
$ff
$fc
$18
Example:
Move motor to previously stored coordinate #8
Mnemonic: MVP COORD, 0, 8
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
$04
$02
$00
$00
$00
$00
$08
When moving to a coordinate, the coordinate has to be set properly in advance with the help of the
SCO, CCO or ACO command.