Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Hoja De Datos
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11-0011
TMCL Reference Manual
5
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
1 Introduction
The Trinamic Motion Control Language (TMCL) provides a set of structured motion control commands. Every motion
control command can be given by a host computer or can be stored in an EEPROM on the TMCM module to form
programs that run stand alone on a module. For this purpose there are not only motion control commands but
also commands to control the program structure (like conditional jumps, compare and calculating). So, TMCL forms
a powerful language that can either be used to control a module directly from a host (direct mode) or to program
applications that run on a stand-alone module (program mode or stand-alone mode).
Every command has a binary representation and a mnemonic. The binary format is used to send commands from
the host to a module in direct mode, whereas the mnemonic format is used for easy usage of the commands
when developing stand-alone TMCL applications using the TMCL IDE (IDE means “Integrated Development
Environment”).
There is also a set of configuration variables for every axis and for global parameters which allow individual
configuration of nearly every function of a module.
This manual gives a detailed description of all TMCL commands and their usage. It also describes how to use the
TMCL IDE.
control command can be given by a host computer or can be stored in an EEPROM on the TMCM module to form
programs that run stand alone on a module. For this purpose there are not only motion control commands but
also commands to control the program structure (like conditional jumps, compare and calculating). So, TMCL forms
a powerful language that can either be used to control a module directly from a host (direct mode) or to program
applications that run on a stand-alone module (program mode or stand-alone mode).
Every command has a binary representation and a mnemonic. The binary format is used to send commands from
the host to a module in direct mode, whereas the mnemonic format is used for easy usage of the commands
when developing stand-alone TMCL applications using the TMCL IDE (IDE means “Integrated Development
Environment”).
There is also a set of configuration variables for every axis and for global parameters which allow individual
configuration of nearly every function of a module.
This manual gives a detailed description of all TMCL commands and their usage. It also describes how to use the
TMCL IDE.