User Manual

TMCM-110-42 Manual 17
Copyright © 2005-2007, TRINAMIC Motion Control GmbH & Co. KG
Example:
f_CLK = 16 MHz on the TMCM-110 module
velocity = 1000
a_max = 1000
pulse_div = 1
ramp_div = 1
usrs = 6
Hz
MHz
msf 3125.122070
3220482
100016
1
=
⋅⋅
⋅
=
HzHzfsf 35.1907
2
3125.122070
][
6
==
s
MHz
Mhz
a 208.119
2
1000)16(
2911
2
=
⋅
=
++
s
MHz
s
MHz
af 863,1
2
208.119
6
==
If the stepper motor has e.g. 72 fullsteps per rotation, the number of rotations of the motor is:
49.26
72
35.1907
===
rotationperfullsteps
fsf
RPS
458.1589
72
6035.190760
=
⋅
=
⋅
=
rotationperfullsteps
fsf
RPM
8 Software
TMCL, the Trinamic Motion Control Language is used to send commands from the host to the TMCM-110
module and to write programs that can be stored in the EEPROM of the module so that the module can
execute the TMCL commands in a stand-alone mode.
TMCL is described in a separate documentation, the TMCL Reference and Programming Manual. This
document also describes the TMCL Integrated Development Environment (TMCL IDE), a program running on
Windows which allows easy development of TMCL applications.
All the manuals are provided on the TMC TechLib CD and on the web site of TRINAMIC Motion Control
GmbH & Co. KG (http://www.trinamic.com). Also the latest versions of the firmware (TMCL operating system)
and PC software (TMCL IDE) can be found there.