PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)
26
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Example:
Move motor to (absolute) position 90000
Mnemonic:
MVP ABS, 0, 9000
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$04
$00
$00
$00
$01
$5f
$90
$f6
Example:
Move motor from current position 1000 steps backward (move relative –1000)
Mnemonic:
MVP REL, 0, -1000
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$04
$01
$00
$ff
$ff
$fc
$18
$18
Example:
Move motor to previously stored coordinate #8
Mnemonic:
MVP COORD, 0, 8
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$04
$02
$00
$00
$00
$00
$08
$11
When moving to a coordinate, the coordinate has to be set properly in advance with the help
of the SCO, CCO or ACO command.
