User Manual
Table Of Contents
- 1 Features
- 2 First Steps with TMCL
- 3 TMCL and the TMCL-IDE — An Introduction
- 3.1 Binary Command Format
- 3.2 Reply Format
- 3.3 Standalone Applications
- 3.4 TMCL Command Overview
- 3.5 TMCL Commands by Subject
- 3.6 Detailed TMCL Command Descriptions
- 3.6.1 ROR (Rotate Right)
- 3.6.2 ROL (Rotate Left)
- 3.6.3 MST (Motor Stop)
- 3.6.4 MVP (Move to Position)
- 3.6.5 SAP (Set Axis Parameter)
- 3.6.6 GAP (Get Axis Parameter)
- 3.6.7 SGP (Set Global Parameter)
- 3.6.8 GGP (Get Global Parameter)
- 3.6.9 STGP (Store Global Parameter)
- 3.6.10 RSGP (Restore Global Parameter)
- 3.6.11 RFS (Reference Search)
- 3.6.12 SIO (Set Output)
- 3.6.13 GIO (Get Input)
- 3.6.14 CALC (Calculate)
- 3.6.15 COMP (Compare)
- 3.6.16 JC (Jump conditional)
- 3.6.17 JA (Jump always)
- 3.6.18 CSUB (Call Subroutine)
- 3.6.19 RSUB (Return from Subroutine)
- 3.6.20 WAIT (Wait for an Event to occur)
- 3.6.21 STOP (Stop TMCL Program Execution – End of TMCL Program)
- 3.6.22 SCO (Set Coordinate)
- 3.6.23 GCO (Get Coordinate)
- 3.6.24 CCO (Capture Coordinate)
- 3.6.25 ACO (Accu to Coordinate)
- 3.6.26 CALCX (Calculate using the X Register)
- 3.6.27 AAP (Accu to Axis Parameter)
- 3.6.28 AGP (Accu to Global Parameter)
- 3.6.29 CLE (Clear Error Flags)
- 3.6.30 EI (Enable Interrupt)
- 3.6.31 DI (Disable Interrupt)
- 3.6.32 VECT (Define Interrupt Vector)
- 3.6.33 RETI (Return from Interrupt)
- 3.6.34 Customer specific Command Extensions (UF0…UF7 – User Functions)
- 3.6.35 Request Target Position reached Event
- 3.6.36 TMCL Control Commands
- 4 Axis Parameters
- 5 Global Parameters
- 6 Hints and Tips
- 7 TMCL Programming Techniques and Structure
- 8 Figures Index
- 9 Tables Index
- 10 Supplemental Directives
- 11 Revision History
TMCM-3212 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08
14 / 103
3.4 TMCL Command Overview
This sections gives a short overview of all TMCL commands.
3.4.1 TMCL Commands
Overview of all TMCL Commands
Command Number Parameter Description
ROR 1 <motor number>, <velocity> Rotate right with specified velocity
ROL 2 <motor number>, <velocity> Rotate left with specified velocity
MST 3 <motor number> Stop motor movement
MVP 4
ABS|REL|COORD, <motor number>,
<position|offset>
Move to position (absolute or relative)
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)
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)
STGP 11 <parameter>, <bank number>
Store global parameter (TMCL user
variables only)
RSGP 12 <parameter>, <bank number>
Restore global parameter (TMCL user
variables only)
RFS 13
<START|STOP|STATUS>, <motor num-
ber>
Reference search
SIO 14
<port number>, <bank number>,
<value>
Set digital output to specified value
GIO 15 <port number>, <bank number> Get value of analog/digital input
CALC 19 <operation>, <value> Process accumulator and value
COMP 20 <value> Compare accumulator with value
JC 21 <condition>, <jump address> Jump conditional
JA 22 <jump address> Jump absolute
CSUB 23 <subroutine address> Call subroutine
RSUB 24 Return from subroutine
EI 25 <interrupt number> Enable interrupt
DI 26 <interrupt number> Disable interrupt
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