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).
Available SIO and GIO Commands
I/O
Digital
Analog
GIO <port>,
<bank>
SIO <port>,
<bank>,
<value>
Value Range
Digital input 0
(REF_R)
X
-
GIO 0, 0
-
0/1
Digital input 1
(REF_L)
X
-
GIO 1, 0
-
0/1
Analog input 0
-
X
GIO 0,1
-
0… 4095
ADC single shunt
-
X
GIO 1,1
-
0… 4095
ADC phase A
-
X
GIO 2,1
-
0… 4095
ADC phase B
-
X
GIO 3,1
-
0… 4095
ADC VSupply
-
X
GIO 4,1
-
0… 4095
ADC Temp
-
X
GIO 5,1
-
0… 4095
Table 52: Available SIO and GIO Commands
1.2.14 TMCL Control Functions
There are several TMCL control functions, the most important for user is command
136.
NOTE:
 Other control functions can be used with axis parameter
 An example for the two possible replies are provided in Table 54 and Table 55
further down.
Command – 136 Request in Direct Mode
Command
Type
Parameter
Description
Access
136
0 – string
1 – binary
Firmware
version
Get the module type and firmware revision as a
string or in binary format. (Motor/Bank and
Value are ignored.)
read
Table 53: TMCL Command 136 Request in Direct Mode
Command 136 – Reply in Direct Mode
Type set to 0. Reply as a String:
Byte Index
Contents
1
Host Address
2… 9
Version string (8 characters, e.g. C160V2.08)
Table 54: TMCL Command 136 Reply in Direct Mode, Type Set to 0
i There is no checksum in this reply format!
 Pease refer to next page for Reply in Direct Mode, type set to 1.
TMCL Control
Command 136