User Manual
TMCM-3230 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10
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Command Number Parameter Description
WAIT 27
<condition>, <motor number>,
<ticks>
Wait with further program execution
STOP 28 Stop program execution
SCO 30
<coordinate number>, <motor num-
ber>, <position>
Set coordinate
GCO 31
<coordinate number>, <motor num-
ber>
Get coordinate
CCO 32
<coordinate number>, <motor num-
ber>
Capture coordinate
CALCX 33 <operation> Process accumulator and X-register
AAP 34 <parameter>, <motor number> Accumulator to axis parameter
AGP 35 <parameter>, <bank number> Accumulator to global parameter
CLE 36 <flag> Clear an error flag
VECT 37 <interrupt number>, <address> Define interrupt vector
RETI 38 Return from interrupt
ACO 39
<coordinate number>, <motor num-
ber>
Accu to coordinate
Table 4: 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 5: Motion Commands
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