TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
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PD-109-57 V2 TMCL <strong>Firmware</strong> <strong>Manual</strong> (V1.00/2010-FEB-18) 62<br />
6.7.21 RSUB (return from subroutine)<br />
Return from a subroutine to the command after the CSUB command. This command is intended for use in<br />
stand-alone mode only.<br />
The host address and the reply are only used to take the instruction to the TMCL program memory<br />
while the TMCL program loads down. This command cannot be used in direct mode.<br />
Internal function: The TMCL program counter is set to the last value of the stack. The command will be<br />
ignored if the stack is empty.<br />
Related command: CSUB<br />
Mnemonic: RSUB<br />
Binary representation:<br />
INSTRUCTION NO. TYPE MOT/BANK VALUE<br />
24 (don't care) (don't care) (don't care)<br />
Example: Please have a look at the CSUB example below.<br />
Binary format of RSUB:<br />
Byte Index 0 1 2 3 4 5 6 7 8<br />
Function Target- Instruction Type Motor/ Operand Operand Operand Operand Checksum<br />
address Number<br />
Bank Byte3 Byte2 Byte1 Byte0<br />
Value (hex) $01 $18 $00 $00 $00 $00 $00 $00 $19<br />
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
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