User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 59
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.21 RSUB (return from subroutine)
Return from a subroutine to the command after the CSUB command. This command is intended for use in
stand-alone mode only.
Note that the host address and the reply is only used to transfer this instruction to the TMCL
TM
program
memory. This command cannot be used in direct mode.
Internal function: The TMCL program counter is set to the last value of the stack. The command will be
ignored if the stack is empty.
Related command: CSUB
Mnemonic: RSUB
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
24
(don't care)
(don't care)
(don't care)
Example: Please see the CSUB example (section 6.7.20).
Binary format of RSUB:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$18
$00
$00
$00
$00
$00
$00
$19