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
59
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
5 Global Parameters
The global parameters apply for all types of TMCM modules. They are grouped into 3 banks: bank 0 (global
configuration of the module), bank 1 (user C variables) and bank 2 (user TMCL variables). The letters under “access”
mean: R = readable (GGP), W = writeable (SGP), E = automatically restored from EEPROM after reset or power-on.
Use SGP and GGP (see sections 3.9 and 3.10) commands to write and read global parameters.
configuration of the module), bank 1 (user C variables) and bank 2 (user TMCL variables). The letters under “access”
mean: R = readable (GGP), W = writeable (SGP), E = automatically restored from EEPROM after reset or power-on.
Use SGP and GGP (see sections 3.9 and 3.10) commands to write and read global parameters.
5.1 Bank 0
These parameters affect the global configuration of the module. The parameters 0..38 exist only on TMCM-300 / 301
/ 302 / 303 / 310 / 610 modules and must normally not be set by the user. They should never be changed on
TMCM-300, TMCM-302, TMCM-303, TMCM-310 and TMCM-610 modules. On TMCM-301 modules these parameters can
be changed to adapt the module to specific motor drivers. It is best to set these parameters by using the
appropriate functions of the TMCL DIE and not by entering many SGP commands (the TMCL IDE does this
automatically). The parameters 0..38 are only mentioned here in short form, for completeness. They are not
available on TMCM-100 modules.
/ 302 / 303 / 310 / 610 modules and must normally not be set by the user. They should never be changed on
TMCM-300, TMCM-302, TMCM-303, TMCM-310 and TMCM-610 modules. On TMCM-301 modules these parameters can
be changed to adapt the module to specific motor drivers. It is best to set these parameters by using the
appropriate functions of the TMCL DIE and not by entering many SGP commands (the TMCL IDE does this
automatically). The parameters 0..38 are only mentioned here in short form, for completeness. They are not
available on TMCM-100 modules.
Number Parameter
0
Datagram low word (read only)
1
Datagram high word (read only)
2
Cover datagram position
3
Cover datagram length
4
Cover datagram contents
5
Reference switch states (read only)
6
TMC428 SMGP register
7..22
Driver chain configuration long words 0..15
23..38
Microstep table long word 0..15
An STGP 23, 0 command will store the entire microstep table, and an STGP 7, 0 command will store the entire
driver chain configuration table. Use the appropriate functions of the TMCL IDE to change these parameters
interactively, if really necessary! Take extreme care when doing this, as wrong configurations here may cause
damage to the motor drivers! The TMCM-301 modules is the only device where changes may be necessary
(when using it with other motor drivers than the TMC236/TMC239 chips).
The following parameters with the numbers from 64 on configure things like the serial address of the module
RS232 / RS485 baud rate or CAN bit rate. Change these parameters to meet your needs. The best and easiest way
to do this is to use the appropriate functions of the TMCL IDE. The parameters with numbers between 64 and 128
are stored in EEPROM only, so that an SGP command on such a parameter will always store it permanently (no
extra STGP command needed).
Take care when changing these parameters, and use the appropriate functions of the TMCL IDE to do it in an
interactive way!
driver chain configuration table. Use the appropriate functions of the TMCL IDE to change these parameters
interactively, if really necessary! Take extreme care when doing this, as wrong configurations here may cause
damage to the motor drivers! The TMCM-301 modules is the only device where changes may be necessary
(when using it with other motor drivers than the TMC236/TMC239 chips).
The following parameters with the numbers from 64 on configure things like the serial address of the module
RS232 / RS485 baud rate or CAN bit rate. Change these parameters to meet your needs. The best and easiest way
to do this is to use the appropriate functions of the TMCL IDE. The parameters with numbers between 64 and 128
are stored in EEPROM only, so that an SGP command on such a parameter will always store it permanently (no
extra STGP command needed).
Take care when changing these parameters, and use the appropriate functions of the TMCL IDE to do it in an
interactive way!
Number Global parameter
Description
Range
Access
64
EEPROM magic
Setting this parameter to a different value as $E4 will
cause re-initialisation of the axis and global parameters
(to factory defaults) after the next power up. This is
useful in case of miss-configuration.
cause re-initialisation of the axis and global parameters
(to factory defaults) after the next power up. This is
useful in case of miss-configuration.
0…255
RWE