User Manual

TMCM-1070 TMCL
™
Firmware Manual • Firmware Version V1.01 | Document Revision V1.1 • 2017-Mar-02
11 / 38
3.3 TMCL Command Overview
This sections gives a short overview of all TMCL commands.
3.3.1 TMCL Commands
Overview of all TMCL Commands
Command Number Parameter Description
SAP 5 <parameter>, <motor number>,
<value>
Set axis parameter (motion control
specific settings)
GAP 6 <parameter>, <motor number> Get axis parameter (read out motion
control specific settings)
STAP 7 <parameter>, <motor number>,
<value>
Store axis parameter (store motion
control specific settings)
RSAP 8 <parameter>, <motor number> Restore axis parameter (restore mo-
tion control specific settings)
SGP 9 <parameter>, <bank number>,
<value>
Set global parameter (module specific
settings e.g. communication settings
or TMCL user variables)
GGP 10 <parameter>, <bank number> Get global parameter (read out mod-
ule specific settings e.g. communica-
tion settings or TMCL user variables)
GIO 15 <port number>, <bank number> Get value of analog/digital input
Table 5: Overview of all TMCL Commands
3.4 TMCL Commands by Subject
3.4.1 Parameter Commands
These commands are used to set, read and store axis parameters or global parameters. Axis parameters
can be set independently for each axis, whereas global parameters control the behavior of the module
itself. These commands can also be used in direct mode and in standalone mode.
Parameter Commands
Mnemonic Command number Meaning
SAP 5 Set axis parameter
GAP 6 Get axis parameter
STAP 7 Store axis parameter
RSAP 8 Restore axis parameter
SGP 9 Set global parameter
GGP 10 Get global parameter
Table 6: Parameter Commands
©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Read entire documentation.