TMCM-6212 TMCL™Firmware Manual •Firmware Version V1.13 | Document Revision V1.11 •2021-NOV-15 3 / 147
3.6.26 CALCX (Calculate using the X Register) ........................... 59
3.6.27 AAP (Accu to Axis Parameter) ................................. 61
3.6.28 AGP (Accu to Global Parameter) ............................... 62
3.6.29 CLE (Clear Error Flags) ..................................... 63
3.6.30 EI (Enable Interrupt) ...................................... 65
3.6.31 DI (Disable Interrupt) ...................................... 66
3.6.32 VECT (Define Interrupt Vector) ................................ 67
3.6.33 RETI (Return from Interrupt) ................................. 69
3.6.34 CALCVV (Calculate using two User Variables) ........................ 70
3.6.35 CALCVA (Calculate using a User Variable and the Accumulator Register) ....... 72
3.6.36 CALCAV (Calculate using the Accumulator Register and a User Variable) ....... 74
3.6.37 CALCVX (Calculate using a User Variable and the X Register) .............. 76
3.6.38 CALCXV (Calculate using the X Register and a User Variable) .............. 78
3.6.39 CALCV (Calculate using a User Variable and a Direct Value) ............... 80
3.6.40 RST (Restart) ........................................... 82
3.6.41 DJNZ (Decrement and Jump if not Zero) ........................... 83
3.6.42 CALL (Conditional Subroutine Call) .............................. 84
3.6.43 MVPA (Move to Position specified by Accumulator Register) ............... 86
3.6.44 ROLA (Rotate Left using the Accumulator Register) .................... 88
3.6.45 RORA (Rotate Right using the Accumulator Register) ................... 89
3.6.46 MVPXA (Move to Position specified by Accumulator Register and X Register) ..... 90
3.6.47 ROLXA (Rotate Left using the Accumulator Register and X Register) .......... 92
3.6.48 RORXA (Rotate Right using the Accumulator Register and X Register) ......... 93
3.6.49 MSTX (Motor Stop using X Register) ............................. 94
3.6.50 SAPX (Set Axis Parameter, Axis specified by X Register) .................. 95
3.6.51 GAPX (Get Axis Parameter, Axis specified by X Register) ................. 96
3.6.52 AAPX (Accu to Axis Parameter, Axis specified by X Register) ............... 97
3.6.53 SIV (Set Indexed Variable) ................................... 99
3.6.54 GIV (Get Indexed Variable) ..................................100
3.6.55 AIV (Accumulator to Indexed Variable) ...........................101
3.6.56 Customer specific Command Extensions (UF0. . . UF7 – User Functions) ........102
3.6.57 Request Target Position reached Event ...........................103
3.6.58 TMCL Control Commands ...................................105
4 Axis Parameters 107
5 Global Parameters 118
5.1 Bank 0 ...................................................118
5.2 Bank 1 ...................................................121
5.3 Bank 2 ...................................................121
5.4 Bank 3 ...................................................121
6 Hints and Tips 123
6.1 Reference Search .............................................123
6.1.1 Mode 1 ..............................................124
6.1.2 Mode 2 ..............................................124
6.1.3 Mode 3 ..............................................124
6.1.4 Mode 4 ..............................................125
6.1.5 Mode 5 ..............................................125
6.1.6 Mode 6 ..............................................126
6.1.7 Mode 7 ..............................................126
6.1.8 Mode 8 ..............................................127
6.1.9 Mode 9 ..............................................127
6.1.10 Mode 10 .............................................127
©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com