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  • 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.

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    Related

    September 10, 2015 / Jonas P. Proeger / 2

    Categories: Code Snippet, Tutorial

    Tags: TMCL

    TMCL: Turn one Motor Left and Right TMCL: Different Microstep Resolutions

    Comments are currently closed.

    2 thoughts on “TMCL: Turn One Motor to an Absolute Position”

    • T. Braun says:
      July 13, 2017 at 10:27 am

      Can i change the speed after the mvp command ?

    • Lars Jaskulski says:
      July 14, 2017 at 5:44 pm

      Hi Thomas,

      Thanks for your comment. Yes, you are able to change the speed after the MVP command. If the position was not reached the velocity will increase to the new velocity. Are you looking into a particular product?

      Best regards,
      Lars

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