How do I use the TMCL command MVP COORD?

How do I use the TMCL command MVP COORD? The MVP (Move to Position) tells the motion controller to move a motor to a specific position. This command has 3 "types" that define how the target position is interpreted. The COORD type will be discussed in detail in this article. For other MVP types, please reference KA-15007 . MVP COORD command moves the motor to an absolute position, similar to the MVP ABS command, but the position value is already stored in memory, called a "coordinate". Each motor axis has its own coordinate memory and some TMCM modules can store up to 20 coordinates per axis. Please reference the TMCL firmware manual for your device to find out how many coordinates you can store. If using a multi-axis TMCM board, the COORD type also allows for moving multiple motors at the same time. In this case, you have the option to move all motors with our without interpolation . Interpolation allows for all motors to reach their target position at the same time . The TMCM will calculate all velocities and accelerations needed such that the motors will arrive at their destination at the same time, offloading these calculations away from the host device. This can be very useful for gantry applications or applications that require strict coordination between multiple motors. Without interpolation, all movements occur using velocity and ramp settings defined by the Axis Parameters for those motor axes. Please see examples below for information on how to command multiple motors, both with and without interpolation. Syntax for this command is as follows: MVP COORD <axis> <coordinate number> EXAMPLE 1: Moving a single motor (axis 0) to location 15000 using the MVP COORD command Step 1 : First, a target position must be written to axis 0's coordinate memory. This can be achieved using the Set Coordinate command (SCO), Capture Coordinate command (CCO), or Accumulator to Coordinate command (ACO). For more information on these commands, please reference the firmware manual of your TMCM device. SCO 1 0 15000 //Set axis 0's coordinate number 1 to a value of 15000. Step 2 : Then, the MVP COORD command can be called. <axis> will be 0 to address motor 0. <Coordinate number> will be 1 to specify which block in memory to pull the target position from. MVP COORD 0 1 // Moves motor 0 to position stored in coordinate 1 Motor 0 will now rotate to position 15000 using velocity and ramps as defined by axis 0's Axis Parameters. EXAMPLE 2: Moving motor 0 to position 15000, and motor 4 to position 7500 using the MVP COORD command without interpolation Step 1 : Again, the target positions must be written to coordinate memory. SCO 1 0 15000 // Sets axis 0's coordinate number 1 to a value of 15000 SCO 1 4 7500 // Sets axis 4's coordinate number 1 to a value of 7500 Step 2 : Call the MVP COORD command. To command movement of multiple motors without interpolation, set bit 7 of <axis>. Now the bits 0... 5 of the <motor> parameter define which motors are to be started. Each of these bits stands for one motor. Since we want to move motor 0 and motor 4 without interpolation, the <axis> value should be 145 (145 is decimal for binary 1001 0001). MVP COORD 145 1 // Moves motors 0 and 4 (without interpolation) to positions stored in their respective coordinate 1 Motor 0 will now rotate to position 15000 and motor 4 will rotate to position 7500. Velocity and ramps are defined by each motor axis' Axis Parameters. EXAMPLE 3: Moving motor 0 to position 15000, and motor 4 to position 7500 using the MVP COORD command with interpolation. The goal being to start motor movements at the same time, and have them reach their target destinations at the same time Step 1 : Write target positions to coordinate memory. SCO 1 0 15000 // Sets axis 0's coordinate number 1 to a value of 15000 SCO 1 4 7500 // Sets axis 4's coordinate number 1 to a value of 7500 Step 2 : Call the MVP COORD command. To command movement of multiple motors with interpolation, set bit 6 of <axis>. Now the bits 0... 5 of the <motor> parameter define which motors are to be started. Each of these bits stands for one motor. Since we want to move motor 0 and motor 4 with interpolation, the <axis> value should be 81 (81 is decimal for binary 0101 0001). MVP COORD 81 1 // Moves motors 0 and 4 (with interpolation) to positions stored in their respective coordinate 1 Motor 0 will now rotate to position 15000 and motor 4 will rotate to position 7500. Velocity and ramps are internally calculated such that target positions will be reached at the same time.

How do I use the MVP command?

How do I use the TMCL command "MVP"? The MVP (Move to Position) tells the motion controller to move a motor to a specific position. This command has 3 "types" that define how the target position is interpreted. Type ABS (command would be MVP ABS, <axis>, <position>) moves the motor to an absolute position. As an example, MVP ABS 0 10000 would move motor 0 to an absolute position of 10000. It doesn't matter where the motor was prior to the command, motion will stop when the motor reaches position 10000. If the motor was at position 7500 when the command is sent, the motor would end up moving a distance of 2500 to end at position 10000. Velocity and ramping is determined by Axis Parameter settings. Type REL (command would be MVP REL, <axis>, <offset>) behaves in a similar way but with a key difference. The MVP REL command orders the motor to move a set distance, called "offset", relative to the motor's current location. As an example, MVP REL 0 10000 would move your motor 10000 steps from its current location. If the motor was at position 7500 when the command is sent, the motor would move 10000 steps and end at position 17500. This can also be set to a negative number to rotate in the opposite direction. Velocity and ramping is determined by Axis Parameter settings. Type COORD (command would be MVP COORD, <axis>, <Coordinate_number>) behaves like ABS, but the position value is already stored in memory, called a "coordinate". Each motor axis has its own coordinate memory and some TMCM modules can store up to 20 coordinates per axis. Please reference the TMCL firmware manual for your device to find out how many coordinates you can store. If using a multi-axis TMCM board, the COORD type also allows for moving multiple motors at the same time. Please see KA-15017 for more details on MVP COORD

Why in Direct Mode on the TMCM-6110 "ROL" or "ROR" returns the error: Command Not Available?

This fault is common if there is a problem with the power supply and the board is not receiving 10 to 24V DC. Please double check the board connections and measure the voltage at the connector on the Trinamic board.

We use NC limit switches with the TMCM-6110 but want to use NO switches instead, how should we wire them?

It is a simple task to change from NC to NO limit switches. Simply connect one side of the NO switch to Vdigital, and the other side of the NO switch to either the L-pin or R-pin as before. Please make sure to disable the internal 1k pullup resistors also as this will affect the logic level.

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+MAX2992: FAQ
+MAX3111ECWI: FAQ
+MAX31740ATA+: FAQ
MAX31760AEE+: FAQ
+MAX31760AEE+T: FAQ
+MAX31785: FAQ
+MAX31785AETL+T: FAQ
MAX31790: FAQ
+MAX31790ATI+T: FAQ
+MAX31856MUD+: FAQ
+MAX32510: FAQ
+MAX32520/W+JU: FAQ
+MAX32520ATJJ/V+: FAQ
+MAX32550: FAQ
+MAX32552-LCJ+: FAQ
MAX32552: FAQ
+MAX32555/B+: FAQ
MAX32555: FAQ
+MAX32558: FAQ
+MAX32560: FAQ
+MAX32590-LNS+: FAQ
+MAX32620-EVKIT#: FAQ
+MAX32620-EVKIT: FAQ
+MAX32620FTHR#: FAQ
MAX32620FTHR: FAQ
+MAX32620ICQ+: FAQ
+MAX32620IWG+T: FAQ
+MAX32621-EVKIT#: FAQ
+MAX32621IWG+T: FAQ
+MAX32625-EVKIT#: FAQ
+MAX32625-EVKIT: FAQ
MAX32625: FAQ
+MAX32625ITK+: FAQ
+MAX32625MBED#: FAQ
+MAX32625MBED: FAQ
+MAX32625NEXPAQ: FAQ
+MAX32625PICO#: FAQ
+MAX32626-EVKIT#: FAQ
+MAX32626-EVKIT: FAQ
+MAX32626: FAQ
+MAX32630-EVKIT#: FAQ
+MAX32630FTHR#: FAQ
MAX32630FTHR: FAQ
+MAX32630ICQ+: FAQ
MAX32630IWG+: FAQ
+MAX32630IWG+T: FAQ
+MAX32631-EVKIT#: FAQ
MAX32631: FAQ
+MAX32631ICQ+: FAQ
+MAX32632: FAQ
+MAX32650-EVKIT#: FAQ
+MAX32650EVKIT: FAQ
+MAX32650GCE+: FAQ
+MAX32650GWQ+T: FAQ
MAX32651: FAQ
+MAX32651GCE+: FAQ
+MAX32652: FAQ
+MAX32655GWY+: FAQ
+MAX32660-EVKIT#: FAQ
+MAX32660-EVSYS#: FAQ
MAX32660: FAQ
+MAX32660EVKIT: FAQ
+MAX32660GTG+T: FAQ
+MAX32660GTGBL+: FAQ
+MAX32660GTGLA+T: FAQ
+MAX32660GWE+: FAQ
+MAX32665EVKIT#: FAQ
+MAX32665GXMBT+T: FAQ
+MAX32666FTHR#: FAQ
+MAX32666GWP+: FAQ
MAX32666GWPBT+: FAQ
+MAX32666GWPBT+T: FAQ
+MAX32668GWPBL+: FAQ
+MAX32670GTL+: FAQ
+MAX3421: FAQ
+MAX34440ETLA1+: FAQ
+MAX34446ETL+T: FAQ
+MAX34451ETNA1+: FAQ
+MAX34451ETNA2+: FAQ
+MAX34451ETNA3+: FAQ
+MAX34461AA00+: FAQ
+MAX34463EXQA3+: FAQ
+MAX3600: FAQ
+MAX3601GTL+: FAQ
+MAX3634: FAQ
+MAX3711: FAQ
+MAX3735AE/D: FAQ
+MAX3735AETG+: FAQ
+MAX3736ETE+: FAQ
+MAX3738: FAQ
+MAX3740AETG+: FAQ
MAX3740AETG: FAQ
+MAX3747AEUB+: FAQ
+MAX3748HETE+: FAQ
+MAX3761: FAQ
MAX3869EHJ+: FAQ
+MAX3869EHJ+T: FAQ
+MAX40056EVKIT#: FAQ
+MAX40200ANS+: FAQ
MAX40200AUK+: FAQ
+MAX40200AUK+T: FAQ
MAX40203ANS+: FAQ
+MAX40203ANS+T: FAQ
+MAX40213: FAQ
+MAX4137: FAQ
+MAX41460EVKIT: FAQ
+MAX41460GUB+: FAQ
+MAX41461GUB+T: FAQ
+MAX41463GUB+: FAQ
+MAX4201EUK+: FAQ
+MAX4207: FAQ
+MAX4222EEE+: FAQ
+MAX4311EEE+: FAQ
+MAX4370: FAQ
+MAX4383EEE+: FAQ
+MAX4427MJA/883B: FAQ
+MAX4428ESA+: FAQ
+MAX44299: FAQ
+MAX4444ESE/GG8: FAQ
+MAX4550EVKIT: FAQ
+MAX4820ETP+: FAQ
+MAX4821: FAQ
+MAX4896ATP+: FAQ
+MAX4915AELT+: FAQ
+MAX5048CAUT+: FAQ
+MAX5859EXW-D: FAQ
+MAX5902AAEUT+: FAQ
+MAX5903AAETT+: FAQ
+MAX5921FESA+: FAQ
+MAX5933AESA+: FAQ
+MAX5943AEEE+: FAQ
+MAX5947BESA: FAQ
+MAX5954AETX+: FAQ
+MAX5954LETX+: FAQ
+MAX5965A: FAQ
+MAX5969AETB+: FAQ
+MAX5969BETB+: FAQ
+MAX5969BEVKIT+: FAQ
+MAX5971AETI+: FAQ
+MAX5971BETI+: FAQ
+MAX5974AATE+T: FAQ
+MAX5974CETE+: FAQ
MAX5974D: FAQ
+MAX5974DATE+: FAQ
+MAX5974EETE+: FAQ
+MAX5977AETP+: FAQ
MAX5980: FAQ
+MAX5980AGTJ+: FAQ
+MAX5988A: FAQ
+MAX5991AETP+: FAQ
+MAX5995AATE+: FAQ
+MAX5995AETE+T: FAQ
+MAX5995BATE+: FAQ
+MAX5995CETE+: FAQ
+MAX6495: FAQ
+MAX6496ATA/V+: FAQ
+MAX6615AEE+: FAQ
+MAX6639FAEE: FAQ
+MAX6641: FAQ
+MAX6643LBBAEE+: FAQ
MAX6650: FAQ
+MAX6650EUB+: FAQ
+MAX6653AEE+: FAQ
+MAX6682MUA+T: FAQ
+MAX6684ESA+: FAQ
+MAX6816: FAQ
+MAX6839XSD2+: FAQ
+MAX6895AALT+: FAQ
+MAX6895AAZT/V+T: FAQ
+MAX7030HATJ+: FAQ
+MAX7032: FAQ
MAX7037: FAQ
+MAX7037EGL+T: FAQ
+MAX7037EVKIT#: FAQ
+MAX7461EUK+: FAQ
+MAX7474EAE+_T1: FAQ
+MAX77729XEWN+: FAQ
+MAX77823EWZ+: FAQ
+MAX77859AEWO+: FAQ
+MAX77932BEWO+: FAQ
+MAX77932EWO+T: FAQ
+MAX77972: FAQ
+MAX78000EXG+: FAQ
+MAX78000FTHR: FAQ
+MAX78700: FAQ
+MAX8535: FAQ
+MAX8790AETP+: FAQ
+MAX8804: FAQ
+MAX881: FAQ
+MAX8902: FAQ
+MAX8903: FAQ
+MAX9272: FAQ
+MAX9295AGTJ/V+: FAQ
+MAX9295EGTN/V+T: FAQ
+MAX9296AGTM/V+: FAQ
+MAX96716A: FAQ
+MAX96751: FAQ
+MAX96752: FAQ
+MAX96793: FAQ
+MAX98089ETN+: FAQ
+MAX98089EVKIT#WLP: FAQ
MAX98090: FAQ
+MAX98090AETL+T: FAQ
+MAX98090AEWJ+: FAQ
+MAX98090EVKIT#WLP: FAQ
+MAX98091: FAQ
+MAX98373: FAQ
+MAX9860ETG+: FAQ
MAX9867: FAQ
+MAX9867ETJ+: FAQ
+MAX9867EVKIT+: FAQ
MAX9880A: FAQ
+MAX9880AETM+: FAQ
+MAX9880AEVKIT#: FAQ
+MAX9947ETE+: FAQ
+MAXADCLITE+: FAQ
+MAXCOAX2STP-HSD#: FAQ
+MAXPOWERTOOL002#: FAQ
+MAXQ1741: FAQ
+MAXQ1743: FAQ
+MAXQ1744-DNS+: FAQ
+MAXQ617: FAQ
MAXQ7667: FAQ
+MAXQ7667AACM/V+: FAQ
+MAXQUSBJTAGOW-KIT#: FAQ
+MAXREFDES100#: FAQ
+MAXREFDES101 SOFTWARE FOR WINDOWS 10: FAQ
+MAXREFDES101#: FAQ
+MAXREFDES103#: FAQ
+MAXREFDES104#: FAQ
+MAXREFDES105#: FAQ
+MAXREFDES106: FAQ
+MAXREFDES117#: FAQ
+MAXREFDES132#: FAQ
+MAXREFDES145#: FAQ
+MAXREFDES150#: FAQ
+MAXREFDES16#: FAQ
+MAXREFDES165#: FAQ
+MAXREFDES212#: FAQ
+MAXREFDES220#: FAQ
+MAXREFDES280: FAQ
+MAXREFDES31#: FAQ
+MAXREFDES37#: FAQ
+MAXREFDES4#: FAQ
+MAXREFDES42#: FAQ
+MAXREFDES70#: FAQ
+MAXREFDES73#: FAQ
+MAXREFDES74#: FAQ
MAXREFDES74: FAQ
+MAXREFDES77#: FAQ
+MAXREFDES79#: FAQ
+MINIQUSB: FAQ
+NO PART NUMBER: FAQ
+NONE: FAQ
+OP07: FAQ
+OP27: FAQ
+OP37: FAQ
+OP90: FAQ
+PCB, MAX2850EVKIT+: FAQ
PD-1370: FAQ
+PD20-1-1210: FAQ
+PD28-3-1021-TMCL: FAQ
+PD42-1-1140-TMCL: FAQ
+PD42-1-1243-IOLINK: FAQ
+PD42-1-1370-TMCL: FAQ
+PD42-4-1370-TMCL: FAQ
+PD57-1-1076: FAQ
+PD57-1-1160-TMCL: FAQ
+PD57-1-1260-TMCL: FAQ
+PD57-1-1378-CANOPEN: FAQ
+PD57-2-1160-TMCL: FAQ
+PD60-3-1260-TMCL: FAQ
+PH-MODULES-TRINAMIC: FAQ
+QBL4208-100-04-025: FAQ
+QBL4208-41-04-006: FAQ
+QBL4208-61-04-013: FAQ
+QBL5704-116-04-042: FAQ
+QSH2818-32-07-006: FAQ
+QSH4218-41-10-035: FAQ
+REF02A: FAQ
+RS485: FAQ
+SC-USB-SPI: FAQ
+SSM2250: FAQ
+SSM2302: FAQ
+SSM2602: FAQ
+SSM2603: FAQ
+STM1E-SFP02: FAQ
+STM1E-SFP22: FAQ
+SW02: FAQ
+TEST: FAQ
+TMC USB-2-485: FAQ
+TMC2041-EVAL: FAQ
+TMC2041-LA: FAQ
+TMC2130-LA: FAQ
+TMC2208SILENTSTEPSTICK: FAQ
+TMC2209 SILENTSTEPSTICK: FAQ
+TMC2209-LA-T: FAQ
+TMC2226-BOB: FAQ
+TMC2240: FAQ
+TMC2590: FAQ
+TMC262C-LA: FAQ
+TMC2660C-PA-T: FAQ
TMC2660C-PA: FAQ
+TMC429-I: FAQ
+TMC4361A-LA: FAQ
+TMC457: FAQ
+TMC4671: FAQ
+TMC5031: FAQ
+TMC5041-LA: FAQ
+TMC5062-LA: FAQ
+TMC5072-LA: FAQ
+TMC5130-EVAL-KIT: FAQ
+TMC5130A-TA: FAQ
+TMC5160 SILENTSTEPSTICK: FAQ
+TMC5160-BOB: FAQ
+TMC5160-EVAL: FAQ
+TMC5160A-TA: FAQ
+TMC5240: FAQ
+TMC5272-EVAL-KIT: FAQ
+TMC6140-EVAL: FAQ
+TMC8462: FAQ
+TMCM-1043: FAQ
+TMCM-1070: FAQ
+TMCM-110-42-485: FAQ
+TMCM-1110 STEPROCKER: FAQ
+TMCM-1140-TMCL: FAQ
+TMCM-1160-TMCL: FAQ
+TMCM-1180-TMCL: FAQ
+TMCM-1240: FAQ
+TMCM-1260-CANOPEN: FAQ
+TMCM-1260-TMCL: FAQ
+TMCM-1270-CANOPEN: FAQ
+TMCM-1290: FAQ
+TMCM-142-IF-TMCL: FAQ
+TMCM-1630-2C: FAQ
+TMCM-1630-4U: FAQ
+TMCM-1633-CANOPEN: FAQ
+TMCM-1636-24V-CANOPEN: FAQ
+TMCM-1640: FAQ
+TMCM-1690: FAQ
+TMCM-310/SG: FAQ
+TMCM-3110-TMCL: FAQ
+TMCM-3212-TMCL: FAQ
+TMCM-3230-TMCL: FAQ
+TMCM-3314: FAQ
+TMCM-3351-TMCL: FAQ
-TMCM-6110: FAQ
+TMCM-6212-TMCL: FAQ
+TMCM-6214-CANOPEN: FAQ
+TMCM-6214-TMCL: FAQ
+TMCS: FAQ
+TRINAMIC MISC SERVICE: FAQ
+TRINAMIC PACKAGING SURCHARGE: FAQ
+USB-2-RTMI: FAQ
+USB2GPIO#: FAQ
+USB2PMB2#: FAQ
+VDSP-BLKFN-PC-FULL: FAQ
+VDSP-TS-PC-FULL: FAQ
+VISUALAUDIO: FAQ
+VT202: FAQ
+VT273SAFQ: FAQ
What does the "C01" denote in DS75S-C01+?
What should I do with unused I/O pins on the DS2482S?
+ZLP32300: FAQ
+_DS9093A: FAQ