Data Sheet

PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 22

7 Putting the PDx-109-57 into operation

On the basis of a small example it is shown step by step how the PDx-109-57 is set into operation.

Users who are already familiar with TMCL™ and other TRINAMIC modules may skip this chapter.

Example:

The following application is to be implemented on the TMCM-109 module using the TMCL-IDE

Software development environment.

The simple application is:

Move the Motor to position 150000

Wait 2 seconds

Move the Motor back to position 0

Wait 1 second

Start again with the first step

Before implementing this application on the PDx-109 it is necessary to do the following:

Step 1: Connect the host interface to the PC

Step 2: Connect the power supply voltage to the module

Step 3: Switch ON the power supply. The activity LED should start to flash. This indicates the

correct configuration of the microcontroller.

Step 4: Start the TMCL-IDE software development environment. Enter the program shown

below.

Step 5: Click the Assemble icon to convert the TMCL™ program into byte code.

Then download the program to the TMCM-109 module by clicking the Download icon.

Step 7: Click the Run icon. The downloaded program will now be executed.

A detailed documentation about the TMCL™ operations and the TMCL-IDE can be found in the TMCL™

Firmware Manual.

//A simple example for using TMCL and the TMCL-IDE

SAP 4, 0, 100 //Set the maximum speed

Loop: MVP ABS, 0, 150000 //Move to position 150000

WAIT POS, 0, 0

WAIT TICKS, 0, 200

MVP ABS, 0, 0 //Move back to position 0

WAIT POS, 0, 0

WAIT TICKS, 0, 100

JA Loop //Infinite Loop