User Manual

TMCM-3230 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10
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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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