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TMCL: Turn one Motor Left and Right

TMCL is the simple way to implement your motion control application. With this series of simple coding examples we want to provide you an easy start.

This program demonstrates how to turn one motor for 5 seconds left and then 5 seconds right.

Before use: Restore Factory Defaults

// *** Values that have to be adapted *** //
vmax = 2000			//max. speed (0 ... 2047)
amax = 1000			//max. acceleration (0 ... 2047)
cmax = 100			//max. current (0 ... 255)

// *** Initialization / Set up axis parameter *** //
SAP 5, 0, amax			//set max. acceleration
SAP 6, 0, cmax    		//set max. current

// *** Main Loop *** //
loop:
	ROL 0, vmax         	//turn motor left
	WAIT TICKS, 0, 500	//wait 5 seconds. 500 * 10ms
	MST 0			//stop motor
	ROR 0, vmax         	//turn motor right
	WAIT TICKS, 0, 500	//wait 5 seconds. 500 * 10ms
	MST 0			//stop motor
	JA loop			//jump to loop

For more details look at TMCL_reference.pdf  at http://www.trinamic.com/software-tools/tmcl-ide

Basic Commands, this sample can be used with any TMCL module with one or multiple axes.

Categories: Code Snippet, Tutorial

Tags: TMCL

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