TMCM-3314 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.10 • 2019-JAN-25
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The following table points out the most important axis parameters. Please see chapter
for a complete
list of all axis parameters.
Most important axis parameters
Number
Axis Parameter
Description
Range
[Units]
Access
4
Maximum
positioning
speed
The maximum speed used for positioning ramps.
0. . . 16777215
[pps]
RW
5
Maximum
acceleration
Maximum acceleration in positioning ramps. Ac-
celeration and deceleration value in velocity
mode.
0. . .
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 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 10000
WAIT TICKS , 0, 500
3
MST 0
ROR 0, 51200
// Rotate motor 0 with 50000
5
WAIT TICKS , 0, 500
MST 0
7
SAP 4, 0, 51200
// Set max . Velocity
9
SAP 5, 0, 51200
// Set max . Acceleration
Loop :
11
MVP ABS , 0, 512000
// Move to Position 512000
WAIT POS , 0, 0
// Wait until position reached
13
MVP ABS , 0, -512000
// Move to Position -512000
WAIT POS , 0, 0
// Wait until position reached
15
JA Loop
// Infinite Loop
After you have done that, take the following steps:
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