User Manual

PD-x-1670 TMCL

™

Firmware Manual • Firmware Version V2.0 | Document Revision V1.0 • 2018-Oct-29

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2 First Steps with TMCL

In this chapter you can ﬁnd some hints for your ﬁrst steps with the PD-x-1670 and TMCL. You may skip this

chapter if you are already familiar with TMCL and the TMCL-IDE.

Things that you will need

• Your PD-x-1670 PANdrive.

• A power supply (24V DC) for your PD-x-1670 PANdrive.

• A CAN adapter.

• The TMCL-IDE 3.x already installed on your PC

2.1 Basic Setup

First of all, you will need a PC with Windows (at least Windows 7) and the TMCL-IDE 3.x installed on it. If

you do not have the TMCL-IDE installed on your PC then please download it from the TMCL-IDE product

page of Trinamic’s website (www.trinamic.com/support/software/) and install it on your PC.

Please also ensure that your PD-x-1670 is properly connected to your power supply. Please see the PD-x-

1670 hardware manual for instructions on how to do this.

Do not connect or disconnect the motor to

or from the module while the module is powered!

Then, please start up the TMCL-IDE. Afterwards you

can connect your PD-x-1670. Just connect the module via CAN and switch on the power supply for the

PANdrive.

2.2 Using the TMCL Direct Mode

At ﬁrst try to use some TMCL commands in direct mode. In the TMCL-IDE a tree view showing the PD-x-1670

and all tools available for it is displayed. Click on the Direct Mode entry of the tool tree. Now, the Direct

Mode tool will pop up.

In the Direct Mode tool you can choose a TMCL command, enter the necessary parameters and execute

the command. For example, choose the command ROL (rotate left). Then choose the appropriate motor

(motor 0 if your motor is connected to the motor 0 connector). Now, enter the desired speed. Try entering

500 rpm as the value and then click the Execute button. The motor will now run. Choose the MST (motor

stop) command and click Execute again to stop the motor.

Next you can try changing some settings (also called axis parameters) using the SAP command in direct

mode. Choose the SAP command. Then choose the parameter type and the motor number. Last, enter

the desired value and click execute to execute the command which then changes the desired parameter.

Please see chapter 4 for a complete list of all axis parameters.

2.3 Testing with a simple TMCL Program

Now, test the TMCL stand alone mode with a simple TMCL program. To type in, assemble and download

the program, you will need the TMCL creator. This is also a tool that can be found in the tool tree of

the TMCL-IDE. Click the TMCL creator entry to open the TMCL creator. In the TMCL creator, type in the

following little TMCL program:

1 ROL 0, 500 // rotate motor 0 with -500 rpm

WAIT TICKS , 0 , 500

3 MST 0

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