User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 27
www.trinamic.com
Mnemonic: GIO <port number>, <bank number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
15
<port number>
<bank number>
don’t care
Reply in direct mode:
STATUS
VALUE
100 – OK
<status of the port>
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
$0f
$00
$01
$00
$00
$00
$00
Reply:
Byte Index
0
1
2
3
4
5
6
7
Function
Host-
address
Target-
address
Status
Instructio
n
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$02
$01
$64
$0f
$00
$00
$01
$2e
GPIO
1
Figure 4.2 GPIO connector of TMCM-1640
PROVIDED SIO AND GIO COMMANDS
Pin
Digital
Analog
GIO <port>, <bank>
SIO <port>, <bank>, <value>
Value range
3
-
x
GIO 0, 1
-
0… 4095
4
x
-
GIO 0, 0
-
0/1
5
x
-
GIO 1, 0
-
0/1
6
x
-
GIO 0, 2
SIO 0, 2, <value>
0/1