User manual

TMCM-1161 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-NOV-19) 9
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2.2 Using TMCL Direct Mode
1. Start TMCL Direct Mode.
Direct Mode
2. If the communication is established the TMCM-1161 is automatically detected. If the module is not
detected, please check all points above (cables, interface, power supply, COM port, baud rate).
3. Issue a command by choosing Instruction, Type (if necessary), Motor, and Value and click
Execute to send it to the module.
Examples:
 ROR rotate right, motor 0, value 500 -> Click Execute. The first motor is rotating now.
 MST motor stop, motor 0 -> Click Execute. The first motor stops now.
Top right of the TMCL Direct Mode window is the button Copy to editor. Click here to copy the chosen
command and create your own TMCL program. The command will be shown immediately on the editor.
NOTE
Please mind chapter 3 (programming techniques) of the TMCL-IDE User Manual on www.trinamic.com.
Here you will find information about creating general structures of TMCL programs. In particular
initialization, main loop, symbolic constants, variables, and subroutines are described there. Further you
can learn how to mix direct mode and stand alone mode.
Chapter 4 of this manual (axis parameters) includes a diagram which points out the coolStep related axis
parameters and their functions. This can help you configuring your module to meet your needs.