User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 69
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Example:
Positioning motor by a potentiometer connected to the analogue input #0:
Start: GIO 0,1 // get value of analogue input line 0
CALC MUL, 4 // multiply by 4
AAP 0,0 // transfer result to target position of motor 0
JA Start // jump back to start
Binary format of the AAP 0,0 command:
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
$22
$00
$00
$00
$00
$00
$00
$23