Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Scheda Tecnica
Codici prodotto
11-0011
TMCL Reference Manual
15
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
3.4 MVP – Move to Position
Description: A movement towards the specified position is started, with automatic generation of acceleration- and
deceleration ramps. The maximum velocity and acceleration are defined by axis parameters #4 and #5.
Three operation types are available:
- Moving to an absolute position in the range from - 8388608 to +8388608 (-2
deceleration ramps. The maximum velocity and acceleration are defined by axis parameters #4 and #5.
Three operation types are available:
- Moving to an absolute position in the range from - 8388608 to +8388608 (-2
23
to+2
23
).
- Starting a relative movement by means of an offset to the actual position. In this case, the resulting
new position value must not exceed the above mentioned limits, too.
- Moving one or more motors to a (previously stored) coordinate, see SCO (section 3.25) for details. When moving
more than one axis the module will try to interpolate: The velocities will be calculated so that all motors reach
their target positions at the same time. It is important that the maximum accelerations (axis parameter #5) and the
ramp and pulse dividers (axis parameters #153 and #154) of all axes are set to the same values as otherwise
interpolation will not work correctly. With TMCM-100 modules there is no interpolation as it controls only one axis.
Internal function: A new position value is transferred to the axis parameter #2 target position”.
Related commands: SAP, GAP, SCO, CCO, GCO, MST
Mnemonic: MVP <ABS|REL|COORD>, <motor number>, <position|offset|coordinate number>
Binary representation:
new position value must not exceed the above mentioned limits, too.
- Moving one or more motors to a (previously stored) coordinate, see SCO (section 3.25) for details. When moving
more than one axis the module will try to interpolate: The velocities will be calculated so that all motors reach
their target positions at the same time. It is important that the maximum accelerations (axis parameter #5) and the
ramp and pulse dividers (axis parameters #153 and #154) of all axes are set to the same values as otherwise
interpolation will not work correctly. With TMCM-100 modules there is no interpolation as it controls only one axis.
Internal function: A new position value is transferred to the axis parameter #2 target position”.
Related commands: SAP, GAP, SCO, CCO, GCO, MST
Mnemonic: MVP <ABS|REL|COORD>, <motor number>, <position|offset|coordinate number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
4
0 ABS – absolute <motor number> <position>
1 REL – relative
1 REL – relative
<motor number> <offset>
2 COORD –
coordinate
coordinate
0 motor 0
1 motor 1
2 motor 2
TMCM-301, 302,
303, 310:
3 (not allowed)
4 motors 0&1
5 motors 1&2
6 motors 0&2
7 motors 0,1,2
TMCM-6xx, 34x:
see below
1 motor 1
2 motor 2
TMCM-301, 302,
303, 310:
3 (not allowed)
4 motors 0&1
5 motors 1&2
6 motors 0&2
7 motors 0,1,2
TMCM-6xx, 34x:
see below
<coordinate number
(0..20)
(Version >=3.17: 0..56)>
(0..20)
(Version >=3.17: 0..56)>
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Parameter ranges: The <motor number> parameter depends on the module type: always 0 on single axis modules,
0..2 on three axis modules and 0..5 on six axis modules. With MVP COORD, the motor number is interpreted
differently.
Examples:
Move motor #1 to (absolute) position 90000
Mnemonic: MVP ABS, 1, 9000
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
address
Instruction
Number
Number
Type
Motor/
Bank
Bank
Operand
Byte3
Byte3
Operand
Byte2
Byte2
Operand
Byte1
Byte1
Operand
Byte0
Byte0
Checksum