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).
8.3 Table Index
Table 1: RS232 and RS485 TMCL Request Format ..................................................................................... 4
Table 2: RS253 and RS485 TMCL Reply Format ........................................................................................ 6
Table 3: TMCL Reply Status Codes ........................................................................................................... 6
Table 4: TMCL Motion Commands ............................................................................................................ 7
Table 5: TMCL Parameter Commands ....................................................................................................... 7
Table 6: TMCL I/O Port Commands .......................................................................................................... 7
Table 7: ROR (Rotate Right) Reply in Direct Mode ..................................................................................... 8
Table 8: ROR Example: Rotate right with Velocity=350 ............................................................................. 8
Table 9: ROL (Rotate Left) Request in Direct Mode ................................................................................... 9
Table 10: ROL (Rotate Left) Reply in Direct Mode ..................................................................................... 9
Table 11: ROL Example: Rotate left with Velocity=1200 ............................................................................ 9
Table 12: MST (Motor Stop) Request in Direct Mode ............................................................................... 10
Table 13: MST (Motor Stop) Reply in Direct Mode ................................................................................... 10
Table 14: MST Example: Stop Motor at Mnemonic: MST 0 ....................................................................... 10
Table 15: MVP ABS/ REL Request in Direct Mode .................................................................................... 11
Table 16: MVP ABS / REL Reply in Direct Mode ....................................................................................... 11
Table 17: MVP ABS Example: Move Motor to Absolute Position 9000 ........................................................ 12
Table 18: (MVP REL Example: Move Motor 1000 Steps to Relative Position ............................................... 12
Table 19: SAP (Set Axis Parameter) Request in Direct Mode .................................................................... 12
Table 20: SAP (Set Axis Parameter) Reply in Direct Mode ........................................................................ 12
Table 21: SAP Example: Absolute Max. Current 2000MA: ......................................................................... 13
Table 22: GAP (Get Axis Parameter) Request in Direct Mode.................................................................... 13
Table 23: GAP (Get Axis Parameter) Reply in Direct Mode ....................................................................... 13
Table 24: GAP Request Example: Get actual Position of Motor 0 ............................................................. 13
Table 25: GAP Reply Example ................................................................................................................ 14
Table 26: STAP (Store Axis Parameter) Request in Direct Mode ............................................................... 14
Table 27: STAP (Store Axis Parameter) Reply in Direct Mode ................................................................... 14
Table 28: STAP Example: Store Maximum Speed: STAP 4,0 ..................................................................... 14
Table 29: RSAP Request in Direct Mode .................................................................................................. 15
Table 30: RSAP Reply in Direct Mode ..................................................................................................... 15
Table 31: RSAP Example: Restore Maximum Motor Current 0 .................................................................. 15
Table 32: SGP (Set Global Parameter) Request in Direct Mode ................................................................. 16
Table 33: SGP (Set Global Parameter) Reply in Direct Mode ..................................................................... 16
Table 34: SGP Example: Mnemonic: SGP, 0, 2, 100 ................................................................................. 16
Table 35: GGP (Get Global Parameter) Request Direct Mode .................................................................... 17
Table 36: GGP (Get Global Parameter) Reply in Direct Mode .................................................................... 17
Table 37: GAP Example: Get Variable 0 from Bank 2 ............................................................................... 17
Table 38: STGP Request in Direct Mode .................................................................................................. 18
Table 39: STGP Reply in Direct Mode ..................................................................................................... 18
Table 40: STGP Example: Restore Variable 0 of bank 2 to EEPROM Configuration ..................................... 18
Table 41: RSGP (Restore Global Parameter) Request in Direct Mode ........................................................ 19
Table 42: RSGP (Restore Global Parameter) Reply in Direct Mode ............................................................ 19
Table 43: RSGP: Copy Variable 0 at Bank 2 from EEPROM Configuration to RAM Location ......................... 19
Table 44: Correlation between I/Os and Banks ....................................................................................... 20
Table 45: SIO Request in Direct Mode .................................................................................................... 21
Table 46: SIO Reply in Direct Mode ........................................................................................................ 21
Table 47: SIO Reply Example ................................................................................................................. 21
Table 48: GIO (Get Input / Output) Request in Direct Mode .................................................................... 22
Table 49: GIO (Get Input / Output) Reply in Direct Mode ........................................................................ 22
Table 50: GIO Request Example ............................................................................................................ 22
Table 51: GIO Reply Example ................................................................................................................ 22
Table 52: Available SIO and GIO Commands .......................................................................................... 23