User Manual
Table Of Contents
- 1 Features
- 2 First Steps with TMCL
- 3 TMCL and the TMCL-IDE — An Introduction
- 3.1 Binary Command Format
- 3.2 Reply Format
- 3.3 Standalone Applications
- 3.4 The ASCII Interface
- 3.5 TMCL Command Overview
- 3.6 TMCL Commands by Subject
- 3.7 Detailed TMCL Command Descriptions
- 3.7.1 ROR (Rotate Right)
- 3.7.2 ROL (Rotate Left)
- 3.7.3 MST (Motor Stop)
- 3.7.4 MVP (Move to Position)
- 3.7.5 SAP (Set Axis Parameter)
- 3.7.6 GAP (Get Axis Parameter)
- 3.7.7 STAP (Store Axis Parameter)
- 3.7.8 RSAP (Restore Axis Parameter)
- 3.7.9 SGP (Set Global Parameter)
- 3.7.10 GGP (Get Global Parameter)
- 3.7.11 STGP (Store Global Parameter)
- 3.7.12 RSGP (Restore Global Parameter)
- 3.7.13 RFS (Reference Search)
- 3.7.14 SIO (Set Output)
- 3.7.15 GIO (Get Input)
- 3.7.16 CALC (Calculate)
- 3.7.17 COMP (Compare)
- 3.7.18 JC (Jump conditional)
- 3.7.19 JA (Jump always)
- 3.7.20 CSUB (Call Subroutine)
- 3.7.21 RSUB (Return from Subroutine)
- 3.7.22 WAIT (Wait for an Event to occur)
- 3.7.23 STOP (Stop TMCL Program Execution – End of TMCL Program)
- 3.7.24 SCO (Set Coordinate)
- 3.7.25 GCO (Get Coordinate)
- 3.7.26 CCO (Capture Coordinate)
- 3.7.27 ACO (Accu to Coordinate)
- 3.7.28 CALCX (Calculate using the X Register)
- 3.7.29 AAP (Accu to Axis Parameter)
- 3.7.30 AGP (Accu to Global Parameter)
- 3.7.31 CLE (Clear Error Flags)
- 3.7.32 EI (Enable Interrupt)
- 3.7.33 DI (Disable Interrupt)
- 3.7.34 VECT (Define Interrupt Vector)
- 3.7.35 RETI (Return from Interrupt)
- 3.7.36 Customer specific Command Extensions (UF0…UF7 – User Functions)
- 3.7.37 Request Target Position reached Event
- 3.7.38 TMCL Control Commands
- 4 Axis Parameters
- 5 Global Parameters
- 6 Module Specific Hints
- 7 Hints and Tips
- 8 TMCL Programming Techniques and Structure
- 9 Figures Index
- 10 Tables Index
- 11 Supplemental Directives
- 12 Revision History
PD-1160 TMCL
™
Firmware Manual • Firmware Version V1.42 | Document Revision V1.06 • 2018-JAN-09
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10 Tables Index
1 Most important Axis Parameters . . . 8
2 TMCL Command Format . . . . . . . . 11
3 TMCL Reply Format . . . . . . . . . . . 12
4 TMCL Status Codes . . . . . . . . . . . 12
5 Overview of all TMCL Commands . . . 17
6 Motion Commands . . . . . . . . . . . 18
7 Parameter Commands . . . . . . . . . 18
8 Branch Commands . . . . . . . . . . . 19
9 I/O Port Commands . . . . . . . . . . 19
10 Calculation Commands . . . . . . . . 19
11 Interrupt Processing Commands . . . 20
12 Interrupt Vectors . . . . . . . . . . . . 20
13 TMCL Control Commands . . . . . . . 75
14
Meaning of the Letters in the Access
Column . . . . . . . . . . . . . . . . . . 76
15
All Axis Parameters of the PD-1160
Module . . . . . . . . . . . . . . . . . . 85
16
Meaning of the Letters in the Access
Column . . . . . . . . . . . . . . . . . . 86
17
All Global Parameters of the PD-1160
Module in Bank 0 . . . . . . . . . . . . 89
18 User Variables in Bank 2 . . . . . . . . 90
19 Interrupt Parameters in Bank 3 . . . . 90
20 Internal Encoder Settings . . . . . . . 93
21 Encoder Prescaler Values . . . . . . . 94
22 Special Encoder Functions . . . . . . . 95
23 Reference Search Modes . . . . . . . . 96
24
coolStep Adjustment Points and
Thresholds . . . . . . . . . . . . . . . . 103
25 Firmware Revision . . . . . . . . . . . 113
26 Document Revision . . . . . . . . . . . 113
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