TMCM-1021 TMCL
™
Firmware Manual • Firmware Version V1.42 | Document Revision V1.10 • 2018-JAN-09
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3.5
TMCL Command Overview
This sections gives a short overview of all TMCL commands.
3.5.1
TMCL Commands
Overview of all TMCL Commands
Command
Number
Parameter
Description
ROR
1
<motor number>, <velocity>
Rotate right with specified velocity
ROL
2
<motor number>, <velocity>
Rotate left with specified velocity
MST
3
<motor number>
Stop motor movement
MVP
4
ABS|REL|COORD, <motor number>,
<position|offset>
Move to position (absolute or relative)
SAP
5
<parameter>,
<motor
number>,
<value>
Set axis parameter (motion control
specific settings)
GAP
6
<parameter>, <motor number>
Get axis parameter (read out motion
control specific settings)
STAP
7
<parameter>,
<motor
number>,
<value>
Store axis parameter (store motion
control specific settings)
RSAP
8
<parameter>, <motor number>
Restore axis parameter (restore mo-
tion control specific settings)
SGP
9
<parameter>,
<bank
number>,
<value>
Set global parameter (module specific
settings e.g. communication settings
or TMCL user variables)
GGP
10
<parameter>, <bank number>
Get global parameter (read out mod-
ule specific settings e.g. communica-
tion settings or TMCL user variables)
STGP
11
<parameter>, <bank number>
Store global parameter (TMCL user
variables only)
RSGP
12
<parameter>, <bank number>
Restore global parameter (TMCL user
variables only)
RFS
13
<START|STOP|STATUS>, <motor num-
ber>
Reference search
SIO
14
<port
number>,
<bank
number>,
<value>
Set digital output to specified value
GIO
15
<port number>, <bank number>
Get value of analog/digital input
CALC
19
<operation>, <value>
Process accumulator and value
COMP
20
<value>
Compare accumulator with value
JC
21
<condition>, <jump address>
Jump conditional
JA
22
<jump address>
Jump absolute
CSUB
23
<subroutine address>
Call subroutine
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