• TMCL: Position Compare and Conditional Jump

    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 how to compare the position of motor 0 with a value and do a jump if condition. The motor is performing 5 rotations with velocity 1000 then the program will be stopped.

    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)

// *** Initialization / Set up axis parameter *** //
SAP 1, 0, 0    				//reset actual position to 0
SAP 5, 0, amax				//set max. acceleration
SAP 6, 0, cmax    			//set max. current

ROR 0, vmax					//turn motor 0 right with velocity vmax

// *** Main Loop *** //
loop:
	GAP 1, 0				//get current position
	COMP 256000				//compare with 256000 = 5 rotations = 200 * 256 * 5
	JC LT, loop				//jump to loop if lower than 256000 
	MST 0					//stop motor if greater or equal 256000
	STOP					//end of program

    For more details look at TMCL_reference.pdf  at http://www.trinamic.com/software-tools/tmcl-ide

    Basic Commands, this sample can be used with any TMCL module with one or multiple axes tested with TMCM-1140, TMCM-1161, TMCM-6110.

    October 8, 2015 / Jonas P. Proeger / 0

    Categories: Code Snippet, Tutorial

    Tags: ,

    Comments are currently closed.

Newsletter