TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
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PD-109-57 V2 TMCL <strong>Firmware</strong> <strong>Manual</strong> (V1.00/2010-FEB-18) 11<br />
Choose COM port and type with fitting parameters (baud rate 9600 for RS232). Click OK.<br />
5.2 Testing with a simple TMCL program<br />
Open the file test2.tmc. The following source code appears on the screen:<br />
A description for the TMCL commands can be found in Appendix A.<br />
//A simple example for using TMCL and TMCL-IDE<br />
ROL 0, 500 //Rotate motor 0 with speed 500<br />
WAIT TICKS, 0, 500<br />
MST 0<br />
ROR 0, 250 //Rotate motor 1 with 250<br />
WAIT TICKS, 0, 500<br />
MST 0<br />
SAP 4, 0, 500 //Set max. Velocity<br />
SAP 5, 0, 50 //Set max. Acceleration<br />
Loop: MVP ABS, 0, 10000 //Move to Position 10000<br />
WAIT POS, 0, 0 //Wait until position reached<br />
MVP ABS, 0, -10000 //Move to Position -10000<br />
WAIT POS, 0, 0 //Wait until position reached<br />
JA Loop //Infinite Loop<br />
Assemble<br />
Download Run<br />
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG<br />
Stop<br />
1. Click on icon Assemble to convert the TMCL into binary code.<br />
2. Then download the program to the TMCM-109 module via the icon Download.<br />
3. Press icon Run. The desired program will be executed.<br />
4. Click Stop button to stop the program.
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