User manual

PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 13
www.trinamic.com
3.2.1 Status Codes
The reply contains a status code.
The status code can have one of the following values:
Code
Meaning
100
Successfully executed, no error
101
Command loaded into TMCL
program EEPROM
1
Wrong checksum
2
Invalid command
3
Wrong type
4
Invalid value
5
Configuration EEPROM locked
6
Command not available
3.3 Standalone Applications
The module is equipped with an EEPROM for storing TMCL applications. You can use TMCL-IDE for
developing standalone TMCL applications. You can load them down into the EEPROM and then it will run
on the module. The TMCL-IDE contains an editor and the TMCL assembler where the commands can be
entered using their mnemonic format. They will be assembled automatically into their binary
representations. Afterwards this code can be downloaded into the module to be executed there.
3.4 TMCL Command Overview
In this section a short overview of the TMCL commands is given.
3.4.1 TMCL Commands
Command
Number
Parameter
Description
ROR
1
<motor number>, <velocity>
Rotate right with specified velocity
ROL
2
<motor number>, <velocity>
Rotate left with specified velocity
MST
3
<motor number>
Stop motor movement
MVP
4
ABS|REL|COORD, <motor number>,
<position|offset>
Move to position (absolute or relative)
SAP
5
<parameter>, <motor number>, <value>
Set axis parameter (motion control
specific settings)
GAP
6
<parameter>, <motor number>
Get axis parameter (read out motion
control specific settings)
STAP
7
<parameter>, <motor number>
Store axis parameter permanently
(non volatile)
RSAP
8
<parameter>, <motor number>
Restore axis parameter
SGP
9
<parameter>, <bank number>, value
Set global parameter (module specific
settings e.g. communication settings
or TMCL user variables)
GGP
10
<parameter>, <bank number>
Get global parameter (read out
module specific settings e.g.
communication settings or TMCL user
variables)
STGP
11
<parameter>, <bank number>
Store global parameter (TMCL user
variables only)
RSGP
12
<parameter>, <bank number>
Restore global parameter (TMCL user
variable only)