User Manual

TMCM-3230 TMCL

™

Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10

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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.

Parameter Commands

Mnemonic Command number Meaning

SAP 5 Set axis parameter

GAP 6 Get axis parameter

SGP 9 Set global parameter

GGP 10 Get global parameter

STGP 11 Store global parameter

RSGP 12 Restore global parameter

Table 6: Parameter Commands

3.5.3 Branch Commands

These commands are used to control the program ﬂow (loops, conditions, jumps etc.). Using them in direct

mode does not make sense. They are intended for standalone mode only.

Branch Commands

Mnemonic Command number Meaning

JA 22 Jump always

JC 21 Jump conditional

COMP 20 Compare accumulator with constant value

CSUB 23 Call subroutine

RSUB 24 Return from subroutine

WAIT 27 Wait for a speciﬁed event

STOP 28 End of a TMCL program

Table 7: Branch Commands

3.5.4 I/O Port Commands

These commands control the external I/O ports and can be used in direct mode as well as in standalone

mode.

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