TMCL™ Firmware Manual - Trinamic

PD-109-57 V2 TMCL Firmware Manual (V1.00/2010-FEB-18) 2
Table of contents
1 Life support policy ....................................................................................................................................................... 4
2 Features ........................................................................................................................................................................... 5
3 Order codes .................................................................................................................................................................... 7
4 Overview ......................................................................................................................................................................... 8
5 Putting the PDx-109-57 V2 into operation ............................................................................................................ 9
5.1 Starting up ............................................................................................................................................................. 9
5.2 Testing with a simple TMCL program ....................................................................................................... 11
5.3 Operating the PANdrive in direct mode ................................................................................................. 12
6 TMCL and TMCL-IDE ................................................................................................................................................ 13
6.1 Binary command format .................................................................................................................................. 13
6.2 Reply format ........................................................................................................................................................ 15
6.2.1 Status codes .................................................................................................................................................. 16
6.3 Stand-alone applications ................................................................................................................................. 16
6.4 TMCL command overview ........................................................................................................................... 16
6.4.1 Motion commands ...................................................................................................................................... 16
6.4.2 Parameter commands ................................................................................................................................ 17
6.4.3 I/O port commands..................................................................................................................................... 17
6.4.4 Control commands ...................................................................................................................................... 17
6.4.5 Calculation commands ............................................................................................................................... 18
6.5 TMCL List of commands ............................................................................................................................... 19
6.6 The ASCII interface ........................................................................................................................................... 21
6.6.1 Format of the command line ................................................................................................................... 21
6.6.2 Format of a reply ......................................................................................................................................... 21
6.6.3 Commands that can be used in ASCII mode ..................................................................................... 21
6.6.4 Configuring the ASCII interface .............................................................................................................. 22
6.7 Commands ........................................................................................................................................................... 23
6.7.1 ROR (rotate right)......................................................................................................................................... 23
6.7.2 ROL (rotate left) ............................................................................................................................................ 24
6.7.3 MST (motor stop) ......................................................................................................................................... 25
6.7.4 MVP (move to position) ............................................................................................................................. 26
6.7.5 SAP (set axis parameter) ........................................................................................................................... 28
6.7.6 GAP (get axis parameter) ........................................................................................................................... 32
6.7.7 STAP (store axis parameter) ..................................................................................................................... 37
6.7.8 RSAP (restore axis parameter) ................................................................................................................. 40
6.7.9 SGP (set global parameter) ....................................................................................................................... 43
6.7.10 GGP (get global parameter) ...................................................................................................................... 46
6.7.11 STGP (store global parameter) ................................................................................................................. 49
6.7.12 RSGP (restore global parameter) ............................................................................................................. 51
6.7.13 RFS (reference search) ................................................................................................................................ 53
6.7.14 SIO (set output) ........................................................................................................................................... 54
6.7.15 GIO (get input/output) .............................................................................................................................. 55
6.7.16 CALC (calculate) ............................................................................................................................................ 57
6.7.17 COMP (compare) ........................................................................................................................................... 58
6.7.18 JC (jump conditional).................................................................................................................................. 59
6.7.19 JA (jump always).......................................................................................................................................... 60
6.7.20 CSUB (call subroutine) ................................................................................................................................ 61
6.7.21 RSUB (return from subroutine) ................................................................................................................ 62
6.7.22 WAIT (wait for an event to occur) ......................................................................................................... 63
6.7.23 STOP (stop TMCL program execution) ............................................................................................... 64
6.7.24 SCO (set coordinate) ................................................................................................................................... 65
6.7.25 GCO (get coordinate) .................................................................................................................................. 66
6.7.26 CCO (capture coordinate) ........................................................................................................................... 67
6.7.27 CALCX (calculate using the X register) .................................................................................................. 68
6.7.28 AAP (accumulator to axis parameter) .................................................................................................... 69
6.7.29 AGP (accumulator to global parameter) ............................................................................................... 73
6.7.30 CLE (clear error flags) ................................................................................................................................. 77
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