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 a motor at the same speed (~1 RPS) with different microstep resolutions.
Before use: Restore Factory Defaults
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// *** 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 / Set up axis parameter *** // SAP 6, 0, cmax //set max. current // *** Main Loop *** loop: SAP 140, 0, 8 //set microstep resolution to 256 ROL 0, 1792 //turn motor left at 1792 (~1 RPS) WAIT TICKS, 0, 500 //wait 5 seconds. 500 * 10ms MST 0 //stop motor WAIT TICKS, 0, 200 //wait 2 seconds. 200 * 10ms SAP 140, 0, 7 //set 128 micorsteps ROL 0, 896 //turn motor left at 896 = 1792/2 (~1 RPS) WAIT TICKS, 0, 500 //wait 5 seconds. 500 * 10ms MST 0 //stop motor WAIT TICKS, 0, 200 //wait 2 seconds. 200 * 10ms SAP 140, 0, 6 //set microstep resolution to 64 ROL 0, 448 //turn motor left at 448 = 1792/4 (~1 RPS) WAIT TICKS, 0, 500 //wait 5 seconds. 500 * 10ms MST 0 //stop motor WAIT TICKS, 0, 200 //wait 2 seconds. 200 * 10ms SAP 140, 0, 5 //set microstep resolution to 32 ROL 0, 224 //turn motor left at 224 = 1792/8 (~1 RPS) WAIT TICKS, 0, 500 //wait 5 seconds. 500 * 10ms MST 0 //stop motor WAIT TICKS, 0, 200 //wait 2 seconds. 200 * 10ms SAP 140, 0, 4 //set microstep resolution to 16 ROL 0, 112 //turn motor left at 112 = 1792/16 (~1 RPS) WAIT TICKS, 0, 500 //wait 5 seconds. 500 * 10ms MST 0 //stop motor WAIT TICKS, 0, 200 //wait 2 seconds. 200 * 10ms SAP 140, 0, 3 //set microstep resolution to 8 ROL 0, 56 //turn motor left at 56 = 1792/32 (~1 RPS) WAIT TICKS, 0, 500 //wait 5 seconds. 500 * 10ms MST 0 //stop motor WAIT TICKS, 0, 200 //wait 2 seconds. 200 * 10ms SAP 140, 0, 2 //set microstep resolution to 4 ROL 0, 28 //turn motor left at 28 = 1792/64 (~1 RPS) WAIT TICKS, 0, 500 //wait 5 seconds. 500 * 10ms MST 0 //stop motor WAIT TICKS, 0, 200 //wait 2 seconds. 200 * 10ms SAP 140, 0, 1 //set microstep resolution to 2 (half step) ROL 0, 14 //turn motor left at 14 = 1792/128 (~1 RPS) WAIT TICKS, 0, 500 //wait 5 seconds. 500 * 10ms MST 0 //stop motor WAIT TICKS, 0, 200 //wait 2 seconds. 200 * 10ms SAP 140, 0, 0 //set microstep resolution to 1 (full step) ROL 0, 7 //turn motor left at 7 = 1792/256 (~1 RPS) WAIT TICKS, 0, 500 //wait 5 seconds. 500 * 10ms MST 0 //stop motor 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.