Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 データシート
製品コード
11-0011
TMCL Reference Manual
65
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
6.2 Reference search with TMCM-100 modules
The behaviour of the reference search depends on the reference search mode setting (axis parameter #22, section
4.3) and is as follows:
4.3) and is as follows:
Mode 0: Linear mode, reference switch is also end switch: A move into the reference switch and then out
of the reference switch is executed. The zero position is then set to the beginning of the switch.
Mode 1: Linear mode, separate reference switch and end switch: First, the left or the right stop switch
(specified by the sign of the reference search velocity; value>0: left switch, value<0: right switch) is
searched. After that, the reference switch is searched at first from one, then from the other side. The zero
position is then set to the middle of the reference switch.
searched. After that, the reference switch is searched at first from one, then from the other side. The zero
position is then set to the middle of the reference switch.
Right Stop
Switch
Traveller
Left Stop
Switch
Reference
Switch
Negative
Direction
Direction
Positive
Direction
Figure 6.5: A linear drive (use mode 1)
Mode 2: Circular mode: The reference switch (connected to the reference switch input) is searched at first
from one and then form the other side. The zero position is then set to the middle of the reference
switch. There are no end points.
switch. There are no end points.
Traveller
Reference
Switch
Figure 6.6: A circular drive (use mode 2)
The velocity of the reference search is specified by axis parameter #23 (section 4.3). Start the reference search with
a RFS START command. The reference search can be aborted by a RFS STOP command. To query if the reference
search is still running in direct mode, use a RFS STATUS command. In a stand-alone TMCL program, use WAIT RFS
to wait until a reference search has finished.
The reference switch always has to be connected to the “SYNC IN” pin of the module.
a RFS START command. The reference search can be aborted by a RFS STOP command. To query if the reference
search is still running in direct mode, use a RFS STATUS command. In a stand-alone TMCL program, use WAIT RFS
to wait until a reference search has finished.
The reference switch always has to be connected to the “SYNC IN” pin of the module.
6.3 Using an incremental encoder with TMCM-100 modules
Using an incremental encoder allows exact position control, as it feeds back the steps of the motor into the
module. The module can then detect deviations and can also try to correct such deviations automatically. The
deviation detection and the automatic position correction after a deviation has occurred are easy to use features
that automatically detect and correct any errors during a movement.
module. The module can then detect deviations and can also try to correct such deviations automatically. The
deviation detection and the automatic position correction after a deviation has occurred are easy to use features
that automatically detect and correct any errors during a movement.
6.3.1 Setting the resolution
The resolution of the encoder (pulses per revolution) must match the resolution of the motor to make deviation
detection and automatic position correction function correctly. If the resolutions do not match, they can be
adapted by changing one or more of the following parameters using GAP commands:
detection and automatic position correction function correctly. If the resolutions do not match, they can be
adapted by changing one or more of the following parameters using GAP commands:
Microstep resolution (axis parameter #16, section 4.3): This parameter changes the resolution of the motor.
Encoder pre-divider (axis parameter #27, section 4.3): This can be used if the resolution of the encoder is
higher than the resolution of the motor. When for example the pre-divider is set to 4, only every 4
higher than the resolution of the motor. When for example the pre-divider is set to 4, only every 4
th
pulse of
the encoder will be used to increment or decrement the encoder counter register.