• TMCL: Usage of coolStep

    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 the usage of coolStep™.  Motor 0 will run at 1/4 of the max. current set by SAP 6. The parameters especially the stallGuardValue and the settings for coolStep have to be adjusted for a smooth run of the program.

    Before use: Restore Factory Defaults

    // *** Values that have to be adapted *** //
vmax = 2000							//max. speed (0 ... 2047)
amax = 1000							//max. acceleration (0 ... 2047)
cmax = 100							//max. current (0 ... 255)
stallGuardValue = 3  				//-64 = highest sensitivity ... 63 = lowest sensitivity
coolStepThresholdSpeed = 1000		//min. speed for coolStep™ (0 ... 2047)
coolStepHysteresisWidth = 5     	//coolStep™ hysteresis width (0 ... 15)
coolStepHysteresisStart = 1			//coolStep™ hysteresis start (0 ... 15)
coolStepUpStep	= 3					//coolStep™ up step setting (0 .. 3): 0 = tiny ... 3 = large
coolStepDownStep = 3				//coolStep™ down step setting (0 ... 3): 0 = slow ... 3 = very fast

// *** Interrupt initialization *** //
SAP 5, 0, amax						//set max. acceleration
SAP 6, 0, cmax    					//set max. current

// *** stallGuard™ initialization *** //
SAP 173, 0, 0    					//set stallGuard™ filter disable: 0 = disable, 1 = enable
SAP 174, 0, stallGuardValue  		//stallGuard™ threshold
SAP 181, 0, 1000  					//min. speed for motor to be stopped by stallGuard™

// *** coolStep™ initialization *** //
SAP 168, 0, 1    					//set coolStep™ minimum current setting: 0 = 1/2, 1 = 1/4
SAP 169, 0, coolStepDownStep		//set coolStep™ down step setting
SAP 170, 0, coolStepHysteresisWidth	//set coolStep™ hysteresis width
SAP 171, 0, coolStepUpStep    		//set coolStep™ up step setting
SAP 172, 0, coolStepHysteresisStart	//set coolStep™ hysteresis start
SAP 182, 0, coolStepThresholdSpeed	//set coolStep™ threshold speed
SAP 183, 0, 100    					//set coolStep™ slow run current

// *** Main Loop *** //
loop:
	ROR 0, vmax						//turn motor right at vmax
	JA loop							//jump to loop
	JA loop							//jump to loop

    For more details look at TMCL_reference.pdf  at http://www.trinamic.com/software-tools/tmcl-ide

    This sample is tested with TMCM-1140, TMCM-1161, TMCM-6110.

    November 12, 2015 / Jonas P. Proeger / 0

    Categories: Code Snippet, Tutorial

    Tags: ,

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