Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 数据表
产品代码
11-0011
TMCL Reference Manual
66
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D – 20357 Hamburg, Germany
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Encoder multiplier (axis parameter #28, section 4.3): This can be used if the resolution of the encoder is lower
than the resolution of the motor. When for example the multiplier is set to 5, every encoder pulse will
increment or decrement the encoder counter register by 5.
than the resolution of the motor. When for example the multiplier is set to 5, every encoder pulse will
increment or decrement the encoder counter register by 5.
To find the right combination of the parameters you can just let the motor run for example 10000 steps (using an
MVP command in direct mode, with deviation detection and automatic position correction switched off) and then
watch the encoder counter register (using GAP 25, 0). Before doing that, use a SAP 1,0,0 command to set all
position registers to zero.
6.3.2 Deviation detection
This function can be configured using axis parameters #29, #30 and #31. An error flag (EDV, see also section 3.18
and 3.31) will be set when the maximum deviation between motor and encoder is exceeded. Optionally the motor
can also be stopped then. Set the maximum deviation using parameter #29. The motor can also be stopped
immediately or softly when in case of deviation (parameter #30). Furthermore, the automatic position correction
(see ) can be started n/10 sec (n=1..65535, parameter #31) after a deviation has been detected.
and 3.31) will be set when the maximum deviation between motor and encoder is exceeded. Optionally the motor
can also be stopped then. Set the maximum deviation using parameter #29. The motor can also be stopped
immediately or softly when in case of deviation (parameter #30). Furthermore, the automatic position correction
(see ) can be started n/10 sec (n=1..65535, parameter #31) after a deviation has been detected.
6.3.3 Position correction
Automatic position correction can be done at the end of each ramp or when a deviation has been detected.
Automatic position correction can only be used in conjunction with an incremental encoder which has to be
configured correctly first.
When this function is turned on (by setting axis parameter #32 to a value greater than zero), the module checks if
the position counter of the incremental encoder matches the desired end position at the end of every ramp (a
tolerance window around the end position can be specified by axis parameter #33). If this is not the case, the
module will try to correct the position of the motor using the velocity specified by axis parameter #34. The
maximum number of retries after each ramp can also be configured by setting axis parameter #32. The EPO flag
(see also section 3.18 and 3.31) will be set and the position correction will be aborted if this number is exceeded.
Automatic position correction can only be used in conjunction with an incremental encoder which has to be
configured correctly first.
When this function is turned on (by setting axis parameter #32 to a value greater than zero), the module checks if
the position counter of the incremental encoder matches the desired end position at the end of every ramp (a
tolerance window around the end position can be specified by axis parameter #33). If this is not the case, the
module will try to correct the position of the motor using the velocity specified by axis parameter #34. The
maximum number of retries after each ramp can also be configured by setting axis parameter #32. The EPO flag
(see also section 3.18 and 3.31) will be set and the position correction will be aborted if this number is exceeded.
6.4 Stall Detection (TMCL Version 3.06 or higher)
The modules TMCM-303, TMCM-310 and TMCM-610 can be equipped with TMC246 motor driver chips. These chips
feature load measurement that can be used for stall detection. Stall detection means that the motor will be
stopped when the load gets too high. It is controlled by axis parameter #205. If this parameter is set to a value
between 1 and 7 the stall detection will be activated. Setting it to 0 means that stall detection is turned off. A
greater value means a higher threshold. This also depends on the motor and on the velocity. There is no stall
detection while the motor is being accelerated or decelerated.
Stall detection can also be used with a TMCM-301 module together with a TMCM-035 module that is equipped with
a TMC249 chip.
Stall detection can also be used for finding the reference point. You can do this by using the following TMCL code:
SAP 205, 0, 5 //Turn on Stall Detection (use other threshold if needed)
ROL 0, 500 //Let the motor run (or use ROR or other velocity)
Loop: GAP 3, 0
COMP 0
JC NE, Loop //Wait until the motor has stopped
SAP 1, 0, 0 //Set this position as the zero position
Do not use RFS in this case.
Mixed decay should be switched off when StallGuard operational in order to get usable results.
feature load measurement that can be used for stall detection. Stall detection means that the motor will be
stopped when the load gets too high. It is controlled by axis parameter #205. If this parameter is set to a value
between 1 and 7 the stall detection will be activated. Setting it to 0 means that stall detection is turned off. A
greater value means a higher threshold. This also depends on the motor and on the velocity. There is no stall
detection while the motor is being accelerated or decelerated.
Stall detection can also be used with a TMCM-301 module together with a TMCM-035 module that is equipped with
a TMC249 chip.
Stall detection can also be used for finding the reference point. You can do this by using the following TMCL code:
SAP 205, 0, 5 //Turn on Stall Detection (use other threshold if needed)
ROL 0, 500 //Let the motor run (or use ROR or other velocity)
Loop: GAP 3, 0
COMP 0
JC NE, Loop //Wait until the motor has stopped
SAP 1, 0, 0 //Set this position as the zero position
Do not use RFS in this case.
Mixed decay should be switched off when StallGuard operational in order to get usable results.