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TMCL: Use of X-Register

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

//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.

Categories: Code Snippet, Tutorial

Tags: TMCL

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