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
84 / 103
Number Global Parameter Description Range [Units] Access
132 TMCL tick timer
A 32 bit counter that gets incremented by
one every millisecond. It can also be reset
to any start value.
0. . . 2147483647
RW
133 Random number
Returns a random number. The seed value
can be set by writing to this parameter.
0. . . 2147483647
RW
255 Suppress reply
The reply in direct mode will be suppressed
when this parameter is set to 1. This pa-
rameter cannot be stored to EEPROM and
will be reset to 0 on startup. The reply will
not be suppressed for GAP, GGP and GIO
commands.
0/1 RW
Table 16: All Global Parameters of the TMCM-3212 Module in Bank 0
5.2 Bank 1
The global parameter bank 1 is normally not available. It may be used for customer specific extensions
of the firmware. Together with user definable commands these variables form the interface between
extensions of the firmware (written by Trinamic in C) and TMCL applications.
5.3 Bank 2
Bank 2 contains general purpose 32 bit variables for use in TMCL applications. They are located in RAM
and the first 56 variables can also be stored permanently in the EEPROM. After booting, their values are
automatically restored to the RAM. Up to 256 user variables are available. Please see table 15 for an
explanation of the different parameter access types.
User Variables in Bank 2
Number Global Parameter Description Range [Units] Access
0. . . 55
user variables
#0. . . #55
TMCL user variables
-2147483648 . . .
2147483647
RWE
56. . . 255
user variables
#56. . . #255
TMCL user variables
-2147483648 . . .
2147483647
RWE
Table 17: User Variables in Bank 2
5.4 Bank 3
Bank 3 contains interrupt parameters. Some interrupts need configuration (e.g. the timer interval of
a timer interrupt). This can be done using the SGP commands with parameter bank 3 (SGP <type>, 3,
<value>).
The priority of an interrupt depends on its number. Interrupts with a lower number have
a higher priority.
Table 18 shows all interrupt parameters that can be set. Please see table 15 for an explanation of the
parameter access types.
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