User Manual

TMCM-3230 TMCL

™

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

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I/O Port Commands

Mnemonic Command number Meaning

SIO 14 Set output

GIO 15 Get input

Table 8: I/O Port Commands

3.5.5 Calculation Commands

These commands are intended to be used for calculations within TMCL applications. Although they could

also be used in direct mode it does not make much sense to do so.

Calculation Commands

Mnemonic Command number Meaning

CALC 19 Calculate using the accumulator and a constant value

CALCX 33 Calculate using the accumulator and the X register

AAP 34 Copy accumulator to an axis parameter

AGP 35 Copy accumulator to a global parameter

ACO 39 Copy accu to coordinate

Table 9: Calculation Commands

For calculating purposes there is an accumulator (also called accu or A register) and an X register. When

executed in a TMCL program (in standalone mode), all TMCL commands that read a value store the result

in the accumulator. The X register can be used as an additional memory when doing calculations. It can be

loaded from the accumulator.

When a command that reads a value is executed in direct mode the accumulator will not be aﬀected.

This means that while a TMCL program is running on the module (standalone mode), a host can still

send commands like GAP and GGP to the module (e.g. to query the actual position of the motor) without

aﬀecting the ﬂow of the TMCL program running on the module.

3.5.6 Interrupt Processing Commands

TMCL also contains functions for a simple way of interrupt processing. Using interrupts, many tasks can

be programmed in an easier way.

The following commands are use to deﬁne and handle interrupts:

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