Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Data Sheet
Product codes
11-0011
TMCL Reference Manual
4
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
7.5.5
The “Main file” function ........................................................................................................................ 71
7.5.6
The “Start” function ............................................................................................................................... 71
7.5.7
The “Stop” function ................................................................................................................................ 71
7.5.8
The “Continue” function ....................................................................................................................... 71
7.5.9
Disassembling a TMCL program ......................................................................................................... 71
7.6
The “Setup” menu ............................................................................................................................................. 72
7.6.1
Options ...................................................................................................................................................... 72
7.6.2
Configure ................................................................................................................................................... 73
7.6.3
Search ......................................................................................................................................................... 76
7.6.4
Install OS .................................................................................................................................................. 76
7.6.5
StallGuard adjusting tool ..................................................................................................................... 77
7.6.6
StallGuard profiler .................................................................................................................................. 77
7.6.7
Parameter calculation tool ................................................................................................................... 78
7.7
The TMCL debugger .......................................................................................................................................... 79
7.7.1
Starting the debugger ........................................................................................................................... 79
7.7.2
Breakpoints ............................................................................................................................................... 79
7.7.3
The “Run / Continue” function............................................................................................................ 79
7.7.4
The “Pause” function ............................................................................................................................. 80
7.7.5
The “Step” function ................................................................................................................................ 80
7.7.6
The “Animate” function ........................................................................................................................ 80
7.7.7
The “Stop / Reset” function ................................................................................................................. 80
7.7.8
The “Direct Mode” function in the debugger ................................................................................. 80
7.8
The syntax of TMCL in the TMCL assembler .............................................................................................. 80
7.8.1
Assembler directives .............................................................................................................................. 80
7.8.2
Symbolic constants ................................................................................................................................ 81
7.8.3
Constant expressions ............................................................................................................................. 81
7.8.4
Labels ......................................................................................................................................................... 82
7.8.5
Comments ................................................................................................................................................. 82
7.8.6
TMCL Commands ..................................................................................................................................... 82
8
TMCL Programming Techniques ............................................................................................................................. 84
8.1
General structure of a TMCL program ......................................................................................................... 84
8.1.1
Initialization ............................................................................................................................................. 84
8.1.2
Main loop .................................................................................................................................................. 84
8.2
Using symbolic constants ............................................................................................................................... 84
8.3
Using variables................................................................................................................................................... 85
8.4
Using subroutines ............................................................................................................................................. 85
8.5
Mixing direct mode and stand alone mode .............................................................................................. 85
Copyright 2003 - 2008 by Trinamic Motion Control GmbH & Co KG, Germany
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