TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
2
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Table of contents
1
Life support policy ....................................................................................................................................................... 4
2
Features ........................................................................................................................................................................... 5
3
Order codes .................................................................................................................................................................... 6
4
Overview ......................................................................................................................................................................... 7
5
Putting the TMCM-142 into operation .................................................................................................................... 8
5.1
Starting up ............................................................................................................................................................. 9
5.2
Testing with a simple TMCL
TM
program ...................................................................................................... 13
5.3
Operating the module in direct mode ........................................................................................................ 14
6
TMCL
TM
and TMCL-IDE ................................................................................................................................................ 15
6.1
Binary command format .................................................................................................................................. 15
6.2
Reply format ........................................................................................................................................................ 16
6.2.1
Status codes .................................................................................................................................................. 17
6.3
Stand-alone applications ................................................................................................................................. 17
6.4
TMCL
TM
command overview ............................................................................................................................ 17
6.4.1
Motion commands ...................................................................................................................................... 17
6.4.2
Parameter commands ................................................................................................................................ 18
6.4.3
I/O port commands..................................................................................................................................... 18
6.4.4
Control commands ...................................................................................................................................... 18
6.4.5
Calculation commands ............................................................................................................................... 19
6.5
TMCL
TM
commands ............................................................................................................................................. 20
6.6
The ASCII interface ........................................................................................................................................... 22
6.6.1
Format of the command line ................................................................................................................... 22
6.6.2
Format of a reply ......................................................................................................................................... 22
6.6.3
Commands that can be used in ASCII mode ..................................................................................... 22
6.6.4
Configuring the ASCII interface .............................................................................................................. 22
6.7
Commands ........................................................................................................................................................... 24
6.7.1
ROR (rotate right)......................................................................................................................................... 24
6.7.2
ROL (rotate left) ............................................................................................................................................ 25
6.7.3
MST (motor stop) ......................................................................................................................................... 26
6.7.4
MVP (move to position) ............................................................................................................................. 27
6.7.5
SAP (set axis parameter) ........................................................................................................................... 29
6.7.6
GAP (get axis parameter) ........................................................................................................................... 34
6.7.7
STAP (store axis parameter) ..................................................................................................................... 41
6.7.8
RSAP (restore axis parameter) ................................................................................................................. 46
6.7.9
SGP (set global parameter) ....................................................................................................................... 51
6.7.10
GGP (get global parameter) ...................................................................................................................... 54
6.7.11
STGP (store global parameter) ................................................................................................................. 57
6.7.12
RSGP (restore global parameter) ............................................................................................................. 59
6.7.13
RFS (reference search) ................................................................................................................................ 61
6.7.14
SIO (set output) ........................................................................................................................................... 62
6.7.15
GIO (get input/output) ............................................................................................................................... 64
6.7.16
CALC (calculate) ............................................................................................................................................ 66
6.7.17
COMP (compare) ........................................................................................................................................... 67
6.7.18
JC (jump conditional).................................................................................................................................. 68
6.7.19
JA (jump always).......................................................................................................................................... 69
6.7.20
CSUB (call subroutine) ................................................................................................................................ 70
6.7.21
RSUB (return from subroutine) ................................................................................................................ 71
6.7.22
WAIT (wait for an event to occur) ......................................................................................................... 72
6.7.23
STOP (stop TMCL
TM
program execution) ................................................................................................ 73
6.7.24
SCO (set coordinate) ................................................................................................................................... 74
6.7.25
GCO (get coordinate) .................................................................................................................................. 75
6.7.26
CCO (capture coordinate) ........................................................................................................................... 76
6.7.27
ACO (accu to coordinate)........................................................................................................................... 77
6.7.28
CALCX (calculate using the X register) .................................................................................................. 78
6.7.29
AAP (accumulator to axis parameter) .................................................................................................... 79
