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
37 / 103
3.6.13 GIO (Get Input)
With this command the status of the available general purpose outputs of the module can be read. The
function reads a digital or an analog input port. Digital lines will read as 0 or 1, while the ADC channels
deliver their 16 bit result in the range of 0. . . 65535. In standalone mode the requested value is copied to
the accumulator register for further processing purposes such as conditional jumps. In direct mode the
value is only output in the value field of the reply, without affecting the accumulator. The actual status of a
digital output line can also be read.
Internal function:
The state of the i/o line specified by the type parameter and the bank parameter is read.
Related commands: SIO.
Mnemonic: GIO <port number>, <bank number>
Binary Representation
Instruction Type Motor/Bank Value
15 <port number> <bank number> (0/1/2) 0 (don’t care)
Reply in Direct Mode
Status Value
100 - OK status of the port
Example
Get the value of ADC channel 0.
Mnemonic: GIO 0, 1.
Binary Form of GIO 0, 1
Field Value
Target address 01
h
Instruction number 0F
h
Type 00
h
Motor/Bank 01
h
Value (Byte 3) 00
h
Value (Byte 2) 00
h
Value (Byte 1) 00
h
Value (Byte 0) 00
h
Checksum 11
h
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