Scheda Tecnica (11-0011)SommarioFunctional description3Introduction3Getting started3Stand alone operation using TMCL3Features41.1: Order codes4Parameterizing the PID regulator41.4.1 Finding a setting for the P, I and D values4Life support policy51 Introduction5Table 1: Default PID Values5Electrical Description63.1 Pinning6Power supply6Motor6CAN and RS48563.1: Pinning of TMCM-17163.1: Pinning of power supply connector63.2: Pinning of motor connector63.3: Pinning of CAN and RS485 connector62.1 Binary command format6Checksum calculation6Parameterizing the positioning algorithm6Step / Dir7Encoder, Hall, Temperature73.4: Pinning of step / dir connector73.5: Pinning of Encoder, Hall, Temperature connector7Status codes72.4 TMCL command overview7Motion commands7Homing procedure7I / O8Programming connector83.2 Jumper “Select Opto In”83.6: Pinning of I / O connector83.7: Programming connector (to be used by Trinamic only)8Parameter commands8I/O port commands8Control commands8Interface Protocol8Assignment of the command bytes sent from the host to the BLDC-module:8Assignment of the reply bytes sent from the BLDC-module:83.3 Application circuit93.2: Application circuit9Calculation commands9Format of the command line9Format of a reply9TMCL Command Set9Table 2: TMCL command overview93.4 Dimensions103.3: Circuit board dimensions10Commands that can be used in ASCII mode10Configuring the ASCII interface10TMCL Motion Control Commands103.1.1 ROR - Rotate Right103.5 Connectors113.4: Housing dimensions113.8: Connectors113.1.2 ROL - Rotate Left11Operational / Limiting Ratings123.1 ROR – Rotate Right123.1.3 MST - Motor Stop124.1: Operational ratings133.1.4 MVP - Move to Position134.1 Power supply requirements144.2 Bus Interface14Terminating the RS485 network143.3 MST – Motor Stop14TMCL – Axis Parameter Commands143.2.1 SAP - TMCL Set Axis Parameter14Functional description155.1 Setting the basic values for operation (using the demonstration application)155.2 Start up for encoder based commutation155.3 Encoder setting16Table 3: TMCL Commands, Set Axis Parameter (SAP)165.4 Hall sensor only operation w/o encoder175.5 Stop switch175.6 General Functions (explore using the Windows based demo software)175.7 Temperature, Current and Voltage monitoring functions175.1: Temperature, Current and Voltage monitoring functions (LEDs)173.5 SAP – Set Axis Parameter17Table 4: Max. Current Regulation / Actual Current175.8 Programmable motor current limit183.2.2 GAP - TMCL Get Axis Parameters18Revision History196.1 Documentation Revision196.2 Firmware Revision19References196.1: Documentation Revisions196.2: Firmware Revision197.1: References193.7 STAP – Store Axis Parameter19Table 5: TMCL Commands, Get Axis Parameter (GAP)203.9 SGP – Set Global Parameter21Table 6: Error / Status flags213.2.3 STAP – Store Axis Parameter223.11 STGP – Store Global Parameter23Global Parameters233.3.1 SGP - Set Global Parameter23Table 7: TMCL Commands, Set Global Parameters (SGP)243.13 RFS – Reference Search25Table 8: Baud Rate of RS232 / RS485 and CAN253.3.2 GGP - Get Global Parameters26Table 9: TMCL Commands, Get Global Parameters (GGP)273.15 GIO – Get Input / Output28Get Version Number28Restore Factory Default Settings28Revision History29Documentation Revision29References29Table 10: Documentation Revisions293.16 CALC – Calculate30COMP – Compare31JC – Jump Conditional32JA – Jump Always33CSUB – Call Subroutine34RSUB – Return from Subroutine35WAIT – Wait for an event to occur36STOP – Stop TMCL program execution38SAC – SPI Bus Access39SCO – Set Coordinate40GCO – Get Coordinate41CCO – Capture Coordinate42CALCX – Calculate using the X register43AAP – Accumulator to Axis Parameter44AGP – Accumulator to Global Parameter45CLE – Clear Error Flags463.33 Request target position reached event48BIN – Return to Binary Mode49TMCL Control Functions502)524.3 Axis parameters on the TMCM-100 and on the Monopack 2565.1 Bank 0595.3 Bank 2636.1 Reference search with TMCM-3xx / 10x / 11x / 61x modules646.3 Using an incremental encoder with TMCM-100 modules65Setting the resolution65Deviation detection66Position correction666.5 Fixing microstep errors (TMCL V3.13 or higher)677 The TMCL IDE687.2 Getting started697.4 The “File” menu69New69Open69Save, Save as69Save all69Close69Exit69Basics69Direct mode70Assemble a TMCL program70Downloading the program717.5.5 The “Main file” function717.5.6 The “Start” function717.5.7 The “Stop” function717.5.8 The “Continue” function717.5.9 Disassembling a TMCL program717.6.1 Options727.6.2 Configure737.6.3 Search767.6.4 Install OS767.6.5 StallGuard adjusting tool777.6.6 StallGuard profiler777.6.7 Parameter calculation tool787.7.1 Starting the debugger797.7.2 Breakpoints797.7.3 The “Run / Continue” function797.7.4 The “Pause” function807.7.5 The “Step” function807.7.6 The “Animate” function807.7.7 The “Stop / Reset” function807.7.8 The “Direct Mode” function in the debugger807.8.1 Assembler directives807.8.2 Symbolic constants817.8.3 Constant expressions817.8.4 Labels827.8.5 Comments827.8.6 TMCL Commands828.1 General structure of a TMCL program848.1.1 Initialization848.1.2 Main loop848.3 Using variables858.5 Mixing direct mode and stand alone mode85Dimensioni: 2,89 MBPagine: 134Language: EnglishApri il manuale