1. Make sure the COM port you intend to use is
TMCL IDE:
not blocked by an other program.
2. Open TMCL IDE (available at TechLibCD and www.trinamic.com) by
clicking TMCL.exe.
5. Write a program code into
the white field and save it
with File/Save.
Download
Run
Stop
Assemble
6. Click “Assemble” first, then
3. Choose Setup and Options…
4. Choose COM port and type in
parameters shown above
(baudrate 9600). Click OK.
“Download”
and
“Run”
and then the connection tab.
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 PD-109 is automatically detected.
Issue a command by choosing Instruction, Type, Motor, Value and
press Execute to send it to the PD-109.
Commands:
Troubleshooting:
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.
If communication is not established:
•
•
•
•
Check if the LED of the PD-109 lights. If not check
your power supply.
Try to start “Direct Mode” and see if the PD-109 is
detected automatically. If not close window.
Check if you are using the right COM port and it
is not used by another program.
Instr.
ROR (don´t care)
ROR <motor no.>, <Value>
Type
Value
Description
0..2047 Rotate right
Check
your
connection
settings,
default:
ROL (don´t care)
0..2047 Rotate left
9600 baud and address 1.
ROL <motor no.>, <Value>
•
•
•
Check your interface connection to PD-109.
Termination and telegram pause time OK ?
Refer to PD-109 manual or Trinamic discussion
group.
MST (don´t care)
Motor stop
MST <motor no.>, <Value>
MVP ABS|REL|COORD
23 bit
Move to pos.
MVP <type>, <motor no.>, <Value>
SAP
2
4
5
6
7
23 bit
Actual pos.
If motor does not respond:
0..2047 Max speed
0..2047 Max accell.
0..1500 Max current
0..1500 Standby curr.
•
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.
140
0..6
Microstep res.
SAP <type no.>,<motor no.>,<Value>
•
•
Check the motor connection. And power LED of
the module.
Restore factory settings to cancel all settings
modified by user by issuing instruction 137.
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 at TechLibCD or www.trinamic.com.
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
www.trinamic.com
