Trinamic 30-0102 PD1-109-57-RS V2 Stepper Motor With Integrated Controller 30-0102 Data Sheet
Product codes
30-0102
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25)
22
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
7 Putting the PDx-109-57 into operation
On the basis of a small example it is shown step by step how the PDx-109-57 is set into operation.
Users who are already familiar with TMCL™ and other TRINAMIC modules may skip this chapter.
Example:
The following application is to be implemented on the TMCM-109 module using the TMCL-IDE
Software development environment.
The simple application is:
Move the Motor to position 150000
Wait 2 seconds
Move the Motor back to position 0
Wait 1 second
Start again with the first step
Before implementing this application on the PDx-109 it is necessary to do the following:
Step 1:
Connect the host interface to the PC
Step 2:
Connect the power supply voltage to the module
Step 3:
Switch ON the power supply. The activity LED should start to flash. This indicates the
correct configuration of the microcontroller.
correct configuration of the microcontroller.
Step 4:
Start the TMCL-IDE software development environment. Enter the program shown
below.
below.
Step 5:
Click the Assemble icon to convert the TMCL™ program into byte code.
Then download the program to the TMCM-109 module by clicking the Download icon.
Step 7:
Click the Run icon. The downloaded program will now be executed.
A detailed documentation about the TMCL™ operations and the TMCL-IDE can be found in the TMCL™
Firmware Manual.
//A simple example for using TMCL and the TMCL-IDE
SAP 4, 0, 100
SAP 4, 0, 100
//Set the maximum speed
Loop: MVP ABS, 0, 150000 //Move to position 150000
WAIT POS, 0, 0
WAIT TICKS, 0, 200
MVP ABS, 0, 0 //Move back to position 0
WAIT POS, 0, 0
WAIT TICKS, 0, 100
JA Loop //Infinite Loop