ADI Trinamic Blog

TMCL: Turn One Motor to an Absolute Position

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 perform a complete turn assuming you are using a 200 fullstep (1.8°) motor using the move to position command.

Before use: Restore Factory Defaults

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

// *** Initialization *** //
SAP 1, 0, 25600    			//set actual position to 25600
SAP 4, 0, vmax   			//set max. positioning speed
SAP 5, 0, amax				//set max. acceleration
SAP 6, 0, cmax    			//set max. current

// *** Main Loop *** //
loop:
	MVP ABS, 0, -25600 		//turn motor to absolute position -25600
	WAIT POS, 0, 0			//wait until position reached
	WAIT TICKS, 0, 200		//wait 2 seconds. 200 * 10ms
	MVP ABS, 0, 25600		//turn motor to absolute position 25600
	WAIT POS, 0, 0			//wait until position reached
	WAIT TICKS, 0, 200		//wait 2 seconds. 200 * 10ms
	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 tested with TMCM-1140, TMCM-1161, TMCM-6110.

Categories: Code Snippet, Tutorial

Tags: TMCL

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