PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007)
20
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
Example:
f_CLK = 16 MHz on the TMCM-109 module
velocity = 1000
a_max = 1000
pulse_div = 1
ramp_div = 1
usrs = 6
Hz
MHz
msf
3125
.
122070
32
2048
2
1000
16
1
=
⋅
⋅
⋅
=
Hz
Hz
fsf
35
.
1907
2
3125
.
122070
]
[
6
=
=
s
MHz
Mhz
a
208
.
119
2
1000
)
16
(
29
1
1
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
=
=
=
rotation
per
fullsteps
fsf
RPS
458
.
1589
72
60
35
.
1907
60
=
⋅
=
⋅
=
rotation
per
fullsteps
fsf
RPM
8 Software
TMCL, the Trinamic Motion Control Language is used to send commands from the host to the TMCM-
109 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.
