User Manual

TMCM-3230 TMCL

™

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

39 / 103

3.6.14 CALC (Calculate)

A value in the accumulator variable, previously read by a function such as GAP (get axis parameter) can

be modiﬁed with this instruction. Nine diﬀerent arithmetic functions can be chosen and one constant

operand value must be speciﬁed. The result is written back to the accumulator, for further processing like

comparisons or data transfer. This command is mainly intended for use in standalone mode.

Related commands: CALCX, COMP, AAP, AGP, GAP, GGP, GIO.

Mnemonic: CALC <operation>, <operand>

Binary representation

Binary Representation

Instruction Type Motor/Bank Value

19 0 ADD – add to accumulator 0 (don’t care) <operand>

1 SUB – subtract from accumulator

2 MUL – multiply accumulator by

3 DIV – divide accumulator by

4 MOD – modulo divide accumulator by

5 AND – logical and accumulator with

6 OR – logical or accumulator with

7 XOR – logical exor accumulator with

8 NOT – logical invert accumulator

9 LOAD – load operand into accumulator

Reply in Direct Mode

Status Value

100 - OK the operand (don’t care)

Example

Multiply accumulator by -5000.

Mnemonic: CALC MUL, -5000

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com