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Implement all instructions #1

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12 of 45 tasks
kjetilkjeka opened this issue May 11, 2018 · 0 comments
Open
12 of 45 tasks

Implement all instructions #1

kjetilkjeka opened this issue May 11, 2018 · 0 comments

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@kjetilkjeka
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kjetilkjeka commented May 11, 2018 •
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Tracking issue for implementation (and testing) of all TMCL instructions:

Usable in direct mode

  • ROR - Rotate Right
  • ROL - Rotate Left
  • MST - Motor Stop
  • MVP - Move to Position
  • SAP - Set Axis Param
  • GAP - Get Axis Parameter
  • STAP - Store Axis Parameter
  • RSAP - Restore Axis Parameter
  • SGP - Set Global Parameter
  • GGP - Get Global Parameter
  • STGP - Store Global Parameter
  • RSGP - Restore Global Parameter
  • RFS - Reference Search
  • SIO - Set Output
  • GIO - Get Input / Output
  • CALC - Calculate
  • SAC - SPI Bus Access
  • SCO - Set Coordinate
  • GCO - Get Coordinate
  • CCO - Capture Coordinate
  • CALCX - Calculate using the X register
  • AAP - Accumulator to Axis Parameter
  • AGP - Accumulator to Global Parameter
  • User definable commands (UF0..UF7)
  • Request target position reached event

Stand alone operation only

  • COMP - Compare
  • JC - Jump Conditional
  • JA - Jump Always
  • CSUB - Call Subroutine
  • RSUB - Return from Subroutine
  • WAIT - Wait for an event to occur
  • STOP - Stop TMCL program execution
  • CLE - Clear Error Flags

Only usable in ASCII mode

  • BIN - Return to Binary Mode

TMCL Control Functions

  • Stop Application
  • Run application
  • Step Application
  • Reset Application
  • Start Download Mode
  • Quit Download Mode
  • Read TMCL Memory
  • Get Application Status
  • Get FIrmware Version
  • Restore Factory Settings
  • Enter ASCII Mode
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