Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
www.trinamic.com
1.
Make sure the COM port you intend to use is
not blocked by an other program.
2.
Open TMCL IDE (available at TechLibCD and
www.trinamic.com
) by
clicking TMCL.exe.
3.
Choose Setup and Options…
and then the connection tab.
4.
Choose COM port and type
in parameters shown above
(baudrate 9600). Click OK.
5.
Write a program code into
the white field and save it
with File/Save.
Assemble
Download
Run
Stop
6.
Click “Assemble” first, then
“Download” and “Run” button
to start the program.
"Direct Mode"
7.
Stop all running programs
by clicking “Stop button” and
start “Direct Mode”.
8.
If communication is established the TMCM-110 is automatically
detected. Issue a command by choosing Instruction, Type, Motor,
Value and press Execute to send it to the TMCM-110.
Following commands can be
included into a program or
used in “Direct Mode”. There
are motion (ROR, ROL, MST, MVP) and SAP (Set
Axis Parameter) commands to set motion and control
parameters. GAP delivers their actual value.
Instr.
Type
Value
Description
(don´t care)
0..2047 Rotate right
ROR
ROR <motor no.>, <Value>
(don´t care)
0..2047 Rotate left
ROL
ROL <motor no.>, <Value>
(don´t care)
Motor stop
MST
MST <motor no.>, <Value>
ABS|REL|COORD
23 bit
Move to pos.
MVP
MVP <type>, <motor no.>, <Value>
2
23 bit
Actual pos.
4
0..2047 Max speed
5
0..2047 Max accell.
6
0..1500 Max current
7
0..1500 Standby curr.
140
0..6
Microstep res.
SAP <type no.>,<motor no.>,<Value>
SAP
Sets motion and control parameters
GAP <type no.>, <motor no.>
GAP
Gives actual values of SAP parameters
For full instruction set and further description refer to
TMCL-Reference an Programming Manual at
TechLibCD or www.trinamic.com.
If communication is not established:
•
Check if the LED of the TMCM-110 is flashing. If
not check your power supply.
•
Try to start “Direct Mode” and see if the TMCM-
110 is detected automatically. If not close window.
•
Check if you are using the right COM port and it is
not used by another program.
•
Check your connection settings, default:
9600 baud and address 1.
•
Check your interface connection to TMCM-110.
•
Refer to TMCM-110 manual.
If motor does not respond:
•
Usually it is a problem with the communication
described above.
•
If you are using a TMCL program try a movement
command in “Direct Mode” to see if there is a
problem with your program.
•
Check the motor connection. And power LED of
the module.
•
Restore factory settings to cancel all settings
modified by user by issuing instruction 137.
TMCL IDE:
Commands:
Troubleshooting: