User Manual

PD-x-1670 TMCL

™

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

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Figure 5: Positioning Algorithm

7 TMCL Programming Techniques and Structure

7.1 Initialization

The ﬁrst task in a TMCL program (like in other programs also) is to initialize all parameters where diﬀerent

values than the default values are necessary. For this purpose, SAP and SGP commands are used.

7.2 Main Loop

Embedded systems normally use a main loop that runs inﬁnitely. This is also the case in a TMCL application

that is running stand alone. Normally the auto start mode of the module should be turned on. After power

up, the module then starts the TMCL program, which ﬁrst does all necessary initializations and then enters

the main loop, which does all necessary tasks end never ends (only when the module is powered oﬀ or

reset).

There are exceptions to this, e.g. when TMCL routines are called from a host in direct mode.

So most (but not all) stand alone TMCL programs look like this:

1 // I n i tialization

SAP 4, 0, 50000 // define ma ximum positioning speed

3 SAP 5, 0, 10000 // define maxi mum accelerati o n

5 MainLoop :

// do something , in this example just running between two positions

7 MVP ABS , 0, 5000

WAIT POS , 0, 0

9 MVP ABS , 0, 0

WAIT POS , 0, 0

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