This is the program we use on the motor in the pellet feeder. It’s a very simple program that waits for an input on a DIO-pin and on input it turns the motor 18° (there are 20 positions in our feeder disc). During rotation the motor sets a DIO-pin high, this signal can be used to control if the motion was executed in time or if anything went wrong. Motor documentation, drivers and software can be obtained from Trinamic.
In order to upload this program to the motor the code needs to be saved as textfile with ending *.tmc.
// Trinamic stepper motor PD1141/ 1140
// Program for use with pellet-feeder (www.jonasrose.net)
// basic parameters
SAP 138, 0, 1 // ramp mode
SAP 4, 0, 1000 // speed
SAP 5, 0, 150 // acceleration max
SAP 6, 0, 150 // current max
SAP 7, 0, 50 // holding force max
Loop: WAIT LIMSW, 0, 0 // wait for DIO-trigger
SIO 0, 2, 1 // set DIO 0 high (can be used as error signal)
MVP REL, 0, 2560 // move (51200 total steps /2560 = 20 pos)
WAIT POS, 0, 0 // wait until at new position
WAIT TICKS, 0, 25 // wait 25 more tics to be safe
SIO 0, 2, 0 // set DIO 0 low ()
JA Loop // loop
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Last update: May 26, 2022