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 demonstates the usage of the X-register. The motor 0 is performing 10 rotations with velocity 1000 then the program will be stopped.
Before use: Restore Factory Defaults
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//This program demonstates the usage of the X-register. The motor 0 is performing 10 rotations with //velocity 1000 then the program will be stopped. //For more details look at TMCL_reference.pdf - //http://www.trinamic.com/software-tools/tmcl-ide // //Before use: Restore Factory Defaults //(MN 19.05.2015) // *** Values that have to be adapted *** // vmax = 2000 //max. speed (0 ... 2047) amax = 1000 //max. acceleration (0 ... 2047) cmax = 100 //max. current (0 ... 255) // *** Interrupt initialization *** // SAP 4, 0, vmax //set max. positioning speed SAP 5, 0, amax //set max. acceleration SAP 6, 0, cmax //set max. current CALC LOAD, 1 //load 1 to accu CALCX LOAD //load accu to X-register CALC LOAD, 0 //load 0 to accu // *** Main Loop *** // loop: MVP REL, 0, 51200 //perform 1 rotation: 51200 = 200 * 256 WAIT POS, 0, 0 //wait until postion reached WAIT TICKS, 0, 100 //wait 1 second. 100 * 10ms CALCX ADD //add X-register to accu COMP 10 //compare accu with 10 JC LT, loop //if greater or equal 10 end program STOP //end of program |
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.