TMCM-6212 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.07 • 2019-JAN-25
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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 10: 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.
Please see also chapter
for more calculation commands.
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:
Interrupt Processing Commands
Mnemonic
Command number
Meaning
EI
25
Enable interrupt
DI
26
Disable interrupt
VECT
37
Set interrupt vector
RETI
38
Return from interrupt
Table 11: Interrupt Processing Commands
3.5.6.1
Interrupt Types
There are many different interrupts in TMCL, like timer interrupts, stop switch interrupts, position reached
interrupts, and input pin change interrupts. Each of these interrupts has its own interrupt vector. Each
interrupt vector is identified by its interrupt number. Please use the TMCL include file Interrupts.inc in
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