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TMCL: Different Microstep Resolutions

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

// *** 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.

Categories: Code Snippet, Tutorial

Tags: microstepping, TMCL

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