User Manual

TMCM-102 Manual (V1.01 / 7 November 2007) 17

6 Putting the TMCM-102 into Operation

with TMCL

On the basis of a small example it is shown step by step how the TMCM-102 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-102 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

To implement this simple application on theTMCM-102 it is necessary to do the following things:

Step 1:

Connect the host interface to the PC

Step 2:

Connect the motor to the motor connector

Step 3:

Connect the power supply voltage to the module

Step 4:

Switch on the power supply. The activity LED should start to flash. This indicates the

correct configuration of the microcontroller.

Step 5:

Start the TMCL-IDE Software development environment. Enter the program shown in

the following listing. A description of the TMCL commands can be found in the TMCL

Reference and Programming Manual.

Step 6:

Click the “Assemble” icon to convert the TMCL program into byte code.

Then download the program to the TMCM-102 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

Reference and Programming Manual. The next chapter shows how the velocity and acceleration values

are calculated.

//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