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 stall detection with stallGuard2™. Motor 0 will run until it is stalled, then MCL program flow will be interrupted and the interrupt handling routine (here: returnToZero) will be called. After the detection of a stall the motor will run to postion zero. For more details concerning stallGuard2™ look at Applikation Note AN002_stallGuard2.pdf – http://www.trinamic.com/design-center/application-notes.
Before use: Restore Factory Defaults
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// *** Values that have to be adapted *** // stallGuardValue = 2 //-64 = highest sensitivity ... 63 = lowest sensitivity vmax = 2000 //max. speed (0 ... 2047) amax = 1000 //max. acceleration (0 ... 2047) cmax = 100 //max. current (0 ... 255) // *** Initialization / Set up axis parameter *** // SAP 1, 0, 0 //reset 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 // *** stallGuard™ initialization *** // SAP 173, 0, 1 //set stallGuard™ filter disable SAP 174, 0, stallGuardValue //stallGuard™ threshold SAP 181, 0, 1900 //min. speed for motor to be stopped by stallGuard™ // *** Interrupt initialization *** // VECT 15, returnToZero //defines the interrupt vector for the stallGuard™ interrupt EI 15 //enable stall interrupt EI 255 //globally switch on interrupt processing // *** Main Loop *** // loop: GAP 3, 0 //get current speed JC NZ, loop //jump to loop if speed not zero ROL 0, vmax //turn motor left at vmax JA loop //jump to loop // *** Interrupt routine *** // returnToZero: MVP ABS, 0, 0 //turn motor 0 to postion zero WAIT POS, 0, 0 //wait until position zero reached WAIT TICKS, 0, 500 //wait 5 seconds. 500 * 10ms RETI //end of interrupt |
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.
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