User Manual

TMCM-3351 TMCL

™

Firmware Manual • Firmware Version V1.11 | Document Revision V1.06 • 2019-APR-26

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Command Number Parameter Description

ROLXA 52

Rotate left, velocity speciifed by accu-

mulator, motor speciﬁed by X register

RORXA 53

Rotate right, velocity speciifed by ac-

cumulator, motor speciﬁed by X regis-

ter

MSTX 54 Stop motor speciﬁed by X register

SIV 55 <value> Set indexed variable

GIV 56 Get indexed variable

AIV 57 Accumulator to indexed variable

Table 5: Overview of all TMCL Commands

3.5 TMCL Commands by Subject

3.5.1 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.

Motion Commands

Mnemonic Command number Meaning

ROL 2 Rotate left

ROR 1 Rotate right

MVP 4 Move to position

MST 3 Motor stop

SCO 30 Store coordinate

CCO 32 Capture coordinate

GCO 31 Get coordinate

Table 6: Motion Commands

3.5.2 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.

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