User Manual

PD-x-1670 TMCL
™
Firmware Manual • Firmware Version V2.0 | Document Revision V1.0 • 2018-Oct-29
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Command Number Parameter Description
STOP 28 Stop program execution
SCO 30 <coordinate number>, <motor num-
ber>, <position>
Set coordinate
GCO 31 <coordinate number>, <motor num-
ber>
Get coordinate
CCO 32 <coordinate number>, <motor num-
ber>
Capture coordinate
CALCX 33 <operation> Arithmetical operation between accu-
mulator and X-register
AAP 34 <parameter>, <motor number> Accumulator to axis parameter
AGP 35 <parameter>, <bank number> Accumulator to global parameter
CLE 36 <flag> Clear an error flag
ACO 39 <coordinate number>, <motor num-
ber>
Accu to coordinate
Table 4: Overview of all TMCL Commands
3.5 TMCL Commands by Subject
3.5.1 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.
Motion Commands
Mnemonic Command number Meaning
ROL 2 Rotate left
ROR 1 Rotate right
MVP 4 Move to position
MST 3 Motor stop
SCO 30 Store coordinate
CCO 32 Capture coordinate
GCO 31 Get coordinate
Table 5: Motion Commands
3.5.2 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.
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