• 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.

    November 19, 2015 / Jonas P. Proeger / 3

    Categories: Code Snippet, Tutorial

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    3 thoughts on “TMCL: Use of X-Register”

    • Mownika says:
      January 19, 2018 at 1:10 am

      Hi…How is 1 roation caluculated as 51200?? is it constant for all or what is the logic behind it??

      Thank you

    • Lars Jaskulski says:
      January 22, 2018 at 3:55 pm

      Hi Mownika,

      This number is calculated by the full steps per revolution of the used stepper motor and the micro step resolution set in the controller. In this example a 200 full step motor is used with a micro step resolution of 256.
      200 multiplied by 256 equals 51200.

      I hope that help.

      Best regards,
      Lars

    • Mownika says:
      January 22, 2018 at 4:43 pm

      Thankyou

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