User Manual

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 21

8 Putting the TMCM-343 into operation

On the basis of a small example it is shown step by step how the TMCM-343 is set into operation.

Experienced users could skip this chapter and proceed to chapter 9.

Example: The following application is to implement with the TMCL-IDE Software development

environment in the TMCM-343 module. For data transfer between the host PC and the module the

RS232 interface is employed.

A formula how speed is converted into a physical unit like rotations per seconds can be found in

chapter Calculation: Velocity and acceleration vs. microstep and fullstep frequency.

 Turn Motor 0 left with speed 500

 Turn Motor 1 right with speed 500

 Turn Motor 2 with speed 500, acceleration 5 and move between position +10000 and –10000.

Step 1: Connect the RS232 Interface as specified in 7.7.

Step 2: Connect the motors as specified in 7.3.

Step 3: Connect the power supply.

+5 VDC to pins 1 or 3

Ground to pins 2, 4, 6, 8 or 10

Step 4: Connect the motor supply voltage

+10 to 30 VDC to pins 5, 7, 9

Step 5: Switch on the power supply and the motor supply. An on-board LED should start to

flash. This indicates the correct configuration of the microcontroller.

Step 6: Start the TMCL-IDE Software development environment. Open file test2.tmc. The

following source code appears on the screen:

A description for the TMCL commands can be found in Appendix A.

Step 7: Click on Icon Assemble to convert the TMCL™ into machine code.

Then download the program to the TMCM-343 module via the Icon Download.

Step 8: Press Icon Run. The desired program will be executed.

Please refer to the TMCM-341/342/343 TMCL™ Firmware Manual for further information about the

commands.

The next chapter discusses additional operations to turn the TMCM-343 into a high performance

motion control system.

//A simple example for using TMCL™ and TMCL-IDE

ROL 0, 500 //Rotate motor 0 with speed 500

WAIT TICKS, 0, 500

MST 0

ROR 1, 250 //Rotate motor 1 with 250

WAIT TICKS, 0, 500

MST 1

SAP 4, 2, 500 //Set max. Velocity

SAP 5, 2, 50 //Set max. Acceleration

Loop: MVP ABS, 2, 10000 //Move to Position 10000

WAIT POS, 2, 0 //Wait until position reached

MVP ABS, 2, -10000 //Move to Position -10000

WAIT POS, 2, 0 //Wait until position reached

JA Loop //Infinite Loop