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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3.4 The ASCII Interface
There is also an ASCII interface that can be used to communicate with the module and to send some direct
mode commands as text strings. Only the following commands can be used in ASCII mode: ROL, ROR,
MST, MVP, SAP, GAP, STAP, RSAP, SGP, GGP, STGP, RSGP, RFS, SIO, GIO, SCO, GCO, CCO, UF0, UF1, UF2, UF3,
UF4, UF5, UF6, UF7.
Note
Only direct mode commands can be entered in ASCII mode.
Note
The TMCL-IDE does not support communicating with the module in ASCII mode.
So, in order to be able to use the TMCL-IDE with a module the module must be
in binary mode. We normally recommend using the binary mode as this has
some advantages over the ASCII mode. The ASCII mode is only provided here for
compatibility. For new applications it is strongly recommended to use the binary
mode.
There are also some special commands that are only available in ASCII mode:
• BIN: This command quits ASCII mode and returns to binary mode.
• RUN: This command can be used to start a TMCL program stored in memory.
• STOP: Stops a TMCL program which is currently running on the module.
3.4.1 Entering and leaving the ASCII Mode
•
The ASCII command line interface is entered by sending the binary command 139 (enter ASCII mode).
• Afterwards the commands can be entered in their mnemonic form (e.g. via a terminal program).
• For leaving the ASCII mode and re-entering the binary mode enter the command BIN.
3.4.2 Format of the Command Line
As the first character, the address character has to be sent. The address character is A when the module
address is 1, B for modules with address 2 and so on. After the address character there may be spaces
(but this is not necessary). Then, send the command with its parameters. At the end of a command line a
<CR> character has to be sent. Here are some examples for valid ASCII mode command lines (assuming
that the module address is 1):
• AMVP ABS, 1, 50000
• A MVP ABS, 1, 50000
• AROL 2, 500
• A MST 1
• ABIN
The last command line shown above will make the module return to binary mode.
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