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 programs demonstrates how to read out the status of the general purpose inputs. Depending on the status of Port IN_0 is motor 0 turning right (IN_0 = 0) or turning left (IN_0 = 1).
Before use: Restore Factory Defaults
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// *** Values that have to be adapted *** // amax = 1000 //max. acceleration (0 ... 2047) vmax = 2000 //max. speed (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 (0 ... 255) // *** Main Loop *** // loop: GIO 0, 0 //read IN_0 COMP 0 //compare with 0 JC EQ, turnRight //if equal jump to turn right ROL 0, vmax //if not equal turn left at vmax JA loop //jump to loop turnRight: ROR 0, vmax //turn right at vmax 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.