Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Hoja De Datos
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Los códigos de productos
11-0011
TMCL Reference Manual
25
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
3.13 RFS – Reference Search
Description: A build-in reference point search algorithm can be started (and stopped). The reference search
algorithm provides switching point calibration and three switch modes. The status of the reference search can also
be queried to see if it has already finished. (In a TMCL program it is better to use the WAIT command to wait for
the end of a reference search.) Please see the appropriate parameters in the axis parameter table to configure the
reference search algorithm to meet your needs (chapter 4). The reference search can be started or stopped, or the
actual status of the reference search can be checked.
Internal function: The reference search is implemented as a state machine, so interaction is possible during
execution.
Related commands: WAIT
Mnemonic: RFS <START|STOP|STATUS>, <motor number>
Binary representation:
algorithm provides switching point calibration and three switch modes. The status of the reference search can also
be queried to see if it has already finished. (In a TMCL program it is better to use the WAIT command to wait for
the end of a reference search.) Please see the appropriate parameters in the axis parameter table to configure the
reference search algorithm to meet your needs (chapter 4). The reference search can be started or stopped, or the
actual status of the reference search can be checked.
Internal function: The reference search is implemented as a state machine, so interaction is possible during
execution.
Related commands: WAIT
Mnemonic: RFS <START|STOP|STATUS>, <motor number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
13
0 START – start ref. search
1 STOP – abort ref. search
2 STATUS – get status
1 STOP – abort ref. search
2 STATUS – get status
<motor number>
(don't care)
Reply in direct mode:
When using type 0 (START) or 1 (STOP):
STATUS
VALUE
100 – OK
(don't care)
When using type 2 (STATUS):
STATUS
VALUE
100 – OK
0 – no ref. search active
other values – ref.
search is active
other values – ref.
search is active
Example: start reference search of motor #1
Mnemonic: RFS START, 1
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
$0d
$00
$01
$00
$00
$00
$00
$0f
Note:
With some modules it is possible to use stall detection instead of a reference switch. Please see section 6.4 for
details.