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).
1.1.3 Motion Commands
These commands control the motion of the motor. They are the most important commands and
can be used in direct mode or in standalone mode.
TMCL Motion Commands
Mnemonic
Command Number
Description
ROR
1
Rotate right.
ROL
2
Rotate left.
MST
3
Motor stop.
MVP
4
Move to position.
Table 4: TMCL Motion Commands
1.1.4 Parameter Commands
These commands are used to set, read, and store axis parameters or global parameters.
Axis parameters can be set independently for the axis, whereas global parameters control the behavior of the
module itself. These commands can also be used in direct mode and in standalone mode.
TMCL Parameter Commands
Mnemonic
Command Number
Description
SAP
5
Set axis parameter.
GAP
6
Get axis parameter.
STAP
7
Store axis parameter into EEPROM.
RSAP
8
Restore axis parameter from EEPROM.
SGP
9
Set global parameter.
GGP
10
Get global parameter.
STGP
11
Store global parameter into EEPROM.
RSGP
12
Restore global parameter from EEPROM.
Table 5: TMCL Parameter Commands
1.1.5 I/O Port Commands
These commands control the external I/O ports and can be used in direct mode and in standalone
mode.
TMCL I/O Port Commands
Mnemonic
Command Number
Meaning
SIO
14
Set output
GIO
15
Get input
Table 6: TMCL I/O Port Commands