Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Data Sheet
Product codes
11-0011
TMCL Reference Manual
64
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
6 Hints and Tips
This chapter gives some hints and tips on using the functionality of TMCL, for example how to use and
parameterize the built-in reference point search algorithm or the incremental encoder interface.
parameterize the built-in reference point search algorithm or the incremental encoder interface.
6.1 Reference search with TMCM-3xx / 10x / 11x / 61x modules
The built-in reference search features switching point calibration and support of one or two reference switches.
The internal operation is based on three individual state machines (one per axis) that can be started, stopped and
monitored (instruction RFS, no. 13). The settings of the automatic stop functions corresponding to the switches
(axis parameters 12 and 13) have no influence on the reference search.
The internal operation is based on three individual state machines (one per axis) that can be started, stopped and
monitored (instruction RFS, no. 13). The settings of the automatic stop functions corresponding to the switches
(axis parameters 12 and 13) have no influence on the reference search.
Right Stop
Switch
Traveller
Left Stop
Switch
Reference
Switch
Negative
Direction
Direction
Positive
Direction
Figure 6.1: Definition of the switches
Selecting the referencing mode (axis parameter 193): in modes 1 and 2, the motor will start by moving "left"
(negative position counts). In mode 3 (three-switch mode), the right stop switch is searched first to distinguish
the left stop switch from the reference switch by the order of activation when moving left (reference switch
and left limit switch share the same electrical function).
(negative position counts). In mode 3 (three-switch mode), the right stop switch is searched first to distinguish
the left stop switch from the reference switch by the order of activation when moving left (reference switch
and left limit switch share the same electrical function).
Until the reference switch is found for the first time, the searching speed is identical to the maximum
positioning speed (axis parameter 4), unless reduced by axis parameter 194.
positioning speed (axis parameter 4), unless reduced by axis parameter 194.
After hitting the reference switch, the motor slowly moves right until the switch is released. Finally the switch
is re-entered in left direction, setting the reference point to the center of the two switching points. This low
calibrating speed is a quarter of the maximum positioning speed by default (axis parameter 195).
is re-entered in left direction, setting the reference point to the center of the two switching points. This low
calibrating speed is a quarter of the maximum positioning speed by default (axis parameter 195).
In Figure 6.2 the connection of the left and the right limit switch is shown. Figure 6.3 shows the connection
of three switches as left and right limit switch and a reference switch for the reference point. The reference
switch is connected in series with the left limit switch. The differentiation between the left limit switch and
the reference switch is made through software. Switches with open contacts (normally closed) are used.
of three switches as left and right limit switch and a reference switch for the reference point. The reference
switch is connected in series with the left limit switch. The differentiation between the left limit switch and
the reference switch is made through software. Switches with open contacts (normally closed) are used.
In circular systems there are no end points and thus only one reference switch is used for finding the
reference point.
reference point.
le ft s top
s w itch
right s top
s w itch
REF_L_x
REF_R_x
motor
traveller
Figure 6.2: Two limit switches
le ft s top
s w itch
re fe re nce
s w itch
right s top
s w itch
REF_L_x
REF_R_x
motor
traveller
Figure 6.3: Limit switches with extra
reference switch
reference switch
motor
re f s w itch
eccentric
REF_L_x
Figure 6.4: Circular system