User manual

PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 14
www.trinamic.com
Command
Number
Parameter
Description
RFS
13
START|STOP|STATUS, <motor number>
Reference search
SIO
14
<port number>, <bank number>,
<value>
Set digital output to specified value
GIO
15
<port number>, <bank number>
Get value of analogue/digital input
CALC
19
<operation>, <value>
Process accumulator & value
COMP
20
<value>
Compare accumulator <-> value
JC
21
<condition>, <jump address>
Jump conditional
JA
22
<jump address>
Jump absolute
CSUB
23
<subroutine address>
Call subroutine
RSUB
24
Return from subroutine
EI
25
<interrupt number>
Enable interrupt
DI
26
<interrupt number>
Disable interrupt
WAIT
27
<condition>, <motor number>, <ticks>
Wait with further program execution
STOP
28
Stop program execution
SCO
30
<coordinate number>, <motor
number>, <position>
Set coordinate
GCO
31
<coordinate number>, <motor number>
Get coordinate
CCO
32
<coordinate number>, <motor number>
Capture coordinate
CALCX
33
<operation>
Process accumulator & X-register
AAP
34
<parameter>, <motor number>
Accumulator to axis parameter
AGP
35
<parameter>, <bank number>
Accumulator to global parameter
VECT
37
<interrupt number>, <label>
Set interrupt vector
RETI
38
Return from interrupt
ACO
39
<coordinate number>, <motor number>
Accu to coordinate
3.4.2 Commands Listed According to Subject Area
3.4.2.1 Motion Commands
These commands control the motion of the motor. They are the most important commands and can be
used in direct mode or in standalone mode.
Mnemonic
Command number
Meaning
ROL
2
Rotate left
ROR
1
Rotate right
MVP
4
Move to position
MST
3
Motor stop
RFS
13
Reference search
SCO
30
Store coordinate
CCO
32
Capture coordinate
GCO
31
Get coordinate
3.4.2.2 Parameter Commands
These commands are used to set, read and store axis parameters or global parameters. Axis parameters
can be set independently for each axis, whereas global parameters control the behavior of the module
itself. These commands can also be used in direct mode and in standalone mode.
Mnemonic
Command number
Meaning
SAP
5
Set axis parameter
GAP
6
Get axis parameter
STAP
7
Store axis parameter into EEPROM
RSAP
8
Restore axis parameter from EEPROM
SGP
9
Set global parameter
GGP
10
Get global parameter