TMCL Language/Host does not work correctly with 5160-EVAL-KIT

I'm just getting to grips with the 5160, so see how it works for you.

The form of your program is in an example

https://github.com/analogdevicesinc/TMCL-Script-Examples/blob/master/general/single%20axis/EX0007-Digital_Input.tmc

your module address may need the 5160 detail adding to it.

#module 1 COM6/USB/id1/LandungsbrueckeV3/TMC5160-EVAL

This works for me:

#module 1 COM10/USB/id1/LandungsbrueckeV3/TMC5160-EVAL

// select module

vtarget = 200000

// set defaults

//SAP 1, 0, 0, 1 // set ref position to 0

SAP 6, 0, 10, 1 // max. current

SAP 7, 0, 3, 1 // max. standby current

//WMC SW_MODE, 0, $0000000F, 1 //0x34: R&L Ref inverted (active low)

SAP 4, 0, 200000, 1 // Maximum speed

SAP 5, 0, 500, 1 // Maximum acceleration

SAP 15, 0, 1000, 1 // Acceleration A1

SAP 16, 0, 0, 1 // Velocity V1

SAP 17, 0, 700, 1 // Maximum Deceleration

SAP 18, 0, 700, 1 // Deceleration D1

SAP 19, 0, 0, 1 // Velocity VSTART

SAP 20, 0, 10, 1 // Velocity VSTOP

SAP 21, 0, 0, 1 // Waiting time after ramp down

// *** Reference search initialization *** //

SAP 12, 0, 0, 1 //don't set 'right limit switch disable'

SAP 13, 0, 0, 1 //don't set 'left limit switch disable'

SAP 149, 0, 1, 1 //set soft stop flag: 0 = hard stop, 1 = soft stop

SAP 193, 0, 2, 1 //set reference search mode

SAP 194, 0, vtarget, 1 //set reference search speed

SAP 195, 0, 10000, 1 //set reference switch speed

loop:

GAP 11, 0, 1 //get Left endstop

COMP 0 //compare with 0

JC EQ, turnRight //if equal jump to turn right

ROL 0, vtarget, 1 //if not equal turn left at vmax

JA loop //jump to loop

turnRight:

ROR 0, vtarget, 1 //turn right at vmax

JA loop //jump to loop

you may want to experiment with the register instruction to change active logic:

// use TMC5160 register addresses

#include TMC5160_register_addresses.tpc

WMC SW_MODE, 0, $0000000F, 1 //0x34: R&L Ref inverted (active low)