TMCM-3314 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.10 • 2019-JAN-25
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Command
Number
Parameter
Description
ROLXA
52
Rotate left, velocity speciifed by accu-
mulator, motor specified by X register
RORXA
53
Rotate right, velocity speciifed by ac-
cumulator, motor specified by X regis-
ter
MSTX
54
Stop motor specified by X register
SIV
55
<value>
Set indexed variable
GIV
56
Get indexed variable
AIV
57
Accumulator to indexed variable
Table 5: Overview of all TMCL Commands
3.5
TMCL Commands by Subject
3.5.1
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 standalone mode.
Motion Commands
Mnemonic
Command number
Meaning
ROL
2
Rotate left
ROR
1
Rotate right
MVP
4
Move to position
MST
3
Motor stop
SCO
30
Store coordinate
CCO
32
Capture coordinate
GCO
31
Get coordinate
Table 6: Motion Commands
3.5.2
Parameter Commands
These commands are used to set, read and store axis parameters or global parameters. Axis parameters
can be set independently for each axis, whereas global parameters control the behavior of the module
itself. These commands can also be used in direct mode and in standalone mode.
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