ADI Trinamic Blog

TMCL: Door Contact with Position Mode

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 demontrates how to implement an application containing one or more parallel door contacts, e.g. automatic rolling window shade. The movement of the rolling window shade stops as soons as the door contact is closed (window is open). The movement continues right after the windows is closed again. This implementation uses the position mode as operation mode as operation mode.

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)
doorContact = 0 				//define input number for door contact

// *** Initialization / Set up axis parameter *** //
SAP 1, 0, 0    					//set actual position to 0
SAP 4, 0, vmax   				//set max. positioning speed
SAP 5, 0, amax					//set max. acceleration
SAP 6, 0, cmax    				//set max. current (0 ... 255)

// *** Configure interrupt *** //
VECT 39, Inp0change 			//define the interrupt vector
SGP 39, 3, 3   					//configure interrupt to trigger on both edges of input 0
EI 39 							//enable this interrupt
EI 255 							//globally switch on interrupt processing


// *** Initial check *** //
startCheck: 					//before starting any movements check if door is open
   	GIO doorContact, 0 			//read input 0
   	JC ZE, startCheck 			//check again

// *** Main Loop *** //
loop:    
   	MVP ABS, 0, 512000			//turn motor to absoslute position 512000
   	WAIT POS, 0, 0				//wait until position reached
	MVP ABS, 0, 0				//turn motor to absoslute position 0
	WAIT POS, 0, 0				//wait until position reached
	JA loop						//jump to loop

// *** Interrupt routine *** //
Inp0change:  
   	GIO doorContact, 0 			//read input 0
	JC NZ, end 					//jump to end if not zero
    MST 0              			//else stop motor 0         
wait:  							//wait for the door to be closed
    GIO doorContact, 0 			//read out input 0
    JC ZE, wait 				//jump to enable if not zero         
enable:    						//start motors after door is closed
    SAP 138, 0, 0 				//motor 0 positioning mode
end:   
   	RETI     					//END of interrupt  

This sample is tested with TMCM-1140, TMCM-1161, TMCM-6110. For more details look at the corresponding firmware manual.

Categories: Code Snippet, Tutorial

Tags: door contact, shade, switch, TMCL

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