Техническая Спецификация для Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011
Модели
11-0011
TMCL Reference Manual
16
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
Value (hex)
$01
$04
$00
$01
$00
$01
$5f
$90
$f6
Move motor #0 from current position 1000 steps backward (move relative –1000)
Mnemonic: MVP REL, 0, -1000
Mnemonic: MVP REL, 0, -1000
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
Value (hex)
$01
$04
$01
$00
$ff
$ff
$fc
$18
$18
Move motor #2 to previously stored coordinate #8
Mnemonic: MVP COORD, 2, 8
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
Value (hex)
$01
$04
$02
$02
$00
$00
$00
$08
$11
Note:
With some modules it is possible to use stall detection. Please see section 6.4 for details.
MVP COORD on TMCM-6xx and TMCM-34x modules
On these modules, there are some more options for the MVP COORD command. For this reason the “motor”
parameter with the MVP COORD command is interpreted as follows on those modules:
Moving only one motor: set the “Motor” parameter to the motor number (0..5).
Moving multiple motors without interpolation: Set bit 7 of the “Motor” parameter. Now the bits 0..5 of
the “Motor” parameter define which motors are to be started. Each of these bits stands for one motor.
the “Motor” parameter define which motors are to be started. Each of these bits stands for one motor.
Moving multiple motors using interpolation: Set bit 6 of the “Motor” parameter. . Now the bits 0..5 of
the “Motor” parameter define which motors are to be moved using interpolation. Each of these bits
stands for one motor. It is not possible to start a group of more than three motors using
interpolation. However, it is possible to start one group of three motors right after starting a group of
other three motors.
the “Motor” parameter define which motors are to be moved using interpolation. Each of these bits
stands for one motor. It is not possible to start a group of more than three motors using
interpolation. However, it is possible to start one group of three motors right after starting a group of
other three motors.
On the TMCM-610/611/612 modules the interpolation feature is not available in firmware versions prior to 6.31.
On the TMCM-341/342/343 modules the interpolation feature is available in all firmware versions that have been
released for these modules.
Examples:
On the TMCM-341/342/343 modules the interpolation feature is available in all firmware versions that have been
released for these modules.
Examples:
MVP COORD, $47, 2 moves motors 0, 1 and 2 to coordinate 2 using interpolation.
MVP COORD, $87, 5 moves motors 0, 1 and 2 to coordinate 5 without using interpolation.