TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
17
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.2.1
Status codes
The reply contains a status code.
The status code can have one of the following values:
Code
Meaning
100
Successfully executed, no error
101
Command loaded into TMCL
TM
program EEPROM
1
Wrong checksum
2
Invalid command
3
Wrong type
4
Invalid value
5
Configuration EEPROM locked
6
Command not available
6.3
Stand-alone applications
The module is equipped with an EEPROM for storing TMCL
TM
applications. You can use TMCL-IDE for
developing stand-alone TMCL
TM
applications. You can load them down into the EEPROM and then it will run
on the module. The TMCL-IDE contains an editor and a
TMCL
TM
assembler
where the commands can be
entered using their mnemonic format. They will be assembled automatically into their binary
representations. Afterwards this code can be downloaded into the module to be executed there.
6.4
TMCL
TM
command overview
In this section a short overview of the TMCL
TM
commands is given.
6.4.1
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 stand-alone mode.
Mnemonic
Command
number
Meaning
ROL
2
Rotate left
ROR
1
Rotate right
MVP
4
Move to position
MST
3
Motor stop
RFS
13
Reference search
SCO
30
Store coordinate
CCO
32
Capture coordinate
GCO
31
Get coordinate
