User Manual

PD-x-1670 TMCL

™

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

77 / 82

// Jump commands to the TMCL routine s

2 Func1 : JA Fu n c 1 S tart

Func2 : JA Fu nc2Start

4 Func3 : JA Fu n c 3 S tart

6 F u nc1Start :

MVP ABS , 0, 1000

8 WAIT POS , 0 , 0

MVP ABS , 0, 0

10 WAIT POS , 0 , 0

STOP

Fu n c 2 S t a r t :

14 ROL 0, 500

WAIT TICKS , 0 , 100

16 MST 0

STOP

Fu n c 3 S t a r t :

20 ROR 0, 1000

WAIT TICKS , 0 , 700

22 MST 0

STOP

This example provides three very simple TMCL routines. They can be called from a host by issuing a run

command with address 0 to call the ﬁrst function, or a run command with address 1 to call the second

function, or a run command with address 2 to call the third function. You can see the addresses of the

TMCL labels (that are needed for the run commands) by using the ”Generate symbol ﬁle function” of the

TMCL-IDE.

7.7 Make the TMCL Program start automatically

For stand-alone operation the module has to start the TMCL program in its memory automatically after

power-on. In order to achieve this, switch on the Autostart option of the module. This is controlled by

global parameter #77. There are diﬀerent ways to switch on the Autostart option:

• Execute the command SGP 77, 0, 1 in direct mode (using the Direct Mode tool in the TMCL-IDE).

• Use the Global Parameters tool in the TMCL-IDE to set global parameter #77 to 1.

•

Use the Autostart entry in the TMCL menu of the TMCL Creator in the TMCL-IDE. Go to the Autostart

entry in the TMCL menu and select "’On"’.

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com