TMCM-1021 TMCL
™
Firmware Manual • Firmware Version V1.42 | Document Revision V1.10 • 2018-JAN-09
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Most important axis parameters
Number
Axis Parameter
Description
Range
[Units]
Access
4
Maximum
positioning
speed
The maximum speed used for positioning ramps.
1. . .
2147483647
[pps]
RW
5
Maximum
acceleration
Maximum acceleration in positioning ramps. Ac-
celeration and deceleration value in velocity
mode.
1. . .
2147483647
[pps
2
]
RW
6
Maximum
current
Motor current used when motor is running. The
maximum value is 255 which means 100% of the
maximum current of the module.
The
current
can
be
adjusted
in
32
steps:
0. . . 7
79. . . 87
160. . . 167
240. . . 247
8. . . 15
88. . . 95
168. . . 175
248. . . 255
16. . . 23
96. . . 103
176. . . 183
24. . . 31
104. . . 111
184. . . 191
32. . . 39
112. . . 119
192. . . 199
40. . . 47
120. . . 127
200. . . 207
48. . . 55
128. . . 135
208. . . 215
56. . . 63
136. . . 143
216. . . 223
64. . . 71
144. . . 151
224. . . 231
72. . . 79
152. . . 159
232. . . 239
The most important setting, as too high values can
cause motor damage.
0. . . 255
RW
7
Standby
current
The current used when the motor is not running.
The maximum value is 255 which means 100% of
the maximum current of the module. This value
should be as low as possible so that the motor
can cool down when it is not moving. Please see
also parameter 214.
0. . . 255
RW
Table 1: Most important Axis Parameters
2.4
Testing with a simple TMCL Program
Now, test the TMCL stand alone mode with a simple TMCL program. To type in, assemble and download
the program, you will need the TMCL creator. This is also a tool that can be found in the tool tree of
the TMCL-IDE. Click the TMCL creator entry to open the TMCL creator. In the TMCL creator, type in the
following little TMCL program:
1
ROL 0, 51200
// Rotate motor 0 with speed 51200 pps (1 rps )
WAIT TICKS , 0, 500
3
MST 0
ROR 0, 5120
// Rotate motor 0 with 5120 pps (0.1 rps )
5
WAIT TICKS , 0, 500
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