User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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Read entire documentation; especially the 6 “Supplemental Directives” (page 51).
1.2.13.2 GIO (Get Input / Output)
GIO can be used in direct mode or in standalone mode. The specified line is read.
Related commands: SIO
Mnemonic: GIO <port number>, <bank number>
OPTION 1: IN STANDALONE MODE
The requested value is copied to the accumulator (accu) for further processing
purposes; such as conditioned jumps.
OPTION 2: IN DIRECT MODE
The value is output in the value field of the reply without affecting the accumulator.
The actual status of a digital output line can also be read.
NOTE:
 For each operation mode an example is provided further down.
 We also provide a table with all available SIO and GIO commands on page 23.
Request in Direct Mode
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
15
<port number>
<bank number>
don’t care
Table 48: GIO (Get Input / Output) Request in Direct Mode
Reply in Direct Mode
STATUS
VALUE
100 – OK
<status of the port>
Table 49: GIO (Get Input / Output) Reply in Direct Mode
Example: GIO Request
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$0f
$00
$01
$00
$00
$00
$00
Table 50: GIO Request Example
Example: GIO Reply
Byte Index
0
1
2
3
4
5
6
7
Function
Host-
address
Target-
address
Status
Instruction
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$02
$01
$64
$0f
$00
$00
$01
$2e
Table 51: GIO Reply Example
Process
Description:
Direct Mode or
Standalone
Mode