用户手册 — Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors

目录

• Functional description

  3
• Introduction

  3
• Getting started

  3
• Stand alone operation using TMCL

  3
• Features

  4
• 1.1: Order codes

  4
• Parameterizing the PID regulator

  4
• 1.4.1 Finding a setting for the P, I and D values

  4
• Life support policy

  5
• 1 Introduction

  5
• Table 1: Default PID Values

  5
• Electrical Description

  6
• 3.1 Pinning

  6
• Power supply

  6
• Motor

  6
• CAN and RS485

  6
• 3.1: Pinning of TMCM-171

  6
• 3.1: Pinning of power supply connector

  6
• 3.2: Pinning of motor connector

  6
• 3.3: Pinning of CAN and RS485 connector

  6
• 2.1 Binary command format

  6
• Checksum calculation

  6
• Parameterizing the positioning algorithm

  6
• Step / Dir

  7
• Encoder, Hall, Temperature

  7
• 3.4: Pinning of step / dir connector

  7
• 3.5: Pinning of Encoder, Hall, Temperature connector

  7
• Status codes

  7
• 2.4 TMCL command overview

  7
• Motion commands

  7
• Homing procedure

  7
• I / O

  8
• Programming connector

  8
• 3.2 Jumper “Select Opto In”

  8
• 3.6: Pinning of I / O connector

  8
• 3.7: Programming connector (to be used by Trinamic only)

  8
• Parameter commands

  8
• I/O port commands

  8
• Control commands

  8
• Interface Protocol

  8
• Assignment of the command bytes sent from the host to the BLDC-module:

  8
• Assignment of the reply bytes sent from the BLDC-module:

  8
• 3.3 Application circuit

  9
• 3.2: Application circuit

  9
• Calculation commands

  9
• Format of the command line

  9
• Format of a reply

  9
• TMCL Command Set

  9
• Table 2: TMCL command overview

  9
• 3.4 Dimensions

  10
• 3.3: Circuit board dimensions

  10
• Commands that can be used in ASCII mode

  10
• Configuring the ASCII interface

  10
• TMCL Motion Control Commands

  10
• 3.1.1 ROR - Rotate Right

  10
• 3.5 Connectors

  11
• 3.4: Housing dimensions

  11
• 3.8: Connectors

  11
• 3.1.2 ROL - Rotate Left

  11
• Operational / Limiting Ratings

  12
• 3.1 ROR – Rotate Right

  12
• 3.1.3 MST - Motor Stop

  12
• 4.1: Operational ratings

  13
• 3.1.4 MVP - Move to Position

  13
• 4.1 Power supply requirements

  14
• 4.2 Bus Interface

  14
• Terminating the RS485 network

  14
• 3.3 MST – Motor Stop

  14
• TMCL – Axis Parameter Commands

  14
• 3.2.1 SAP - TMCL Set Axis Parameter

  14
• Functional description

  15
• 5.1 Setting the basic values for operation (using the demonstration application)

  15
• 5.2 Start up for encoder based commutation

  15
• 5.3 Encoder setting

  16
• Table 3: TMCL Commands, Set Axis Parameter (SAP)

  16
• 5.4 Hall sensor only operation w/o encoder

  17
• 5.5 Stop switch

  17
• 5.6 General Functions (explore using the Windows based demo software)

  17
• 5.7 Temperature, Current and Voltage monitoring functions

  17
• 5.1: Temperature, Current and Voltage monitoring functions (LEDs)

  17
• 3.5 SAP – Set Axis Parameter

  17
• Table 4: Max. Current Regulation / Actual Current

  17
• 5.8 Programmable motor current limit

  18
• 3.2.2 GAP - TMCL Get Axis Parameters

  18
• Revision History

  19
• 6.1 Documentation Revision

  19
• 6.2 Firmware Revision

  19
• References

  19
• 6.1: Documentation Revisions

  19
• 6.2: Firmware Revision

  19
• 7.1: References

  19
• 3.7 STAP – Store Axis Parameter

  19
• Table 5: TMCL Commands, Get Axis Parameter (GAP)

  20
• 3.9 SGP – Set Global Parameter

  21
• Table 6: Error / Status flags

  21
• 3.2.3 STAP – Store Axis Parameter

  22
• 3.11 STGP – Store Global Parameter

  23
• Global Parameters

  23
• 3.3.1 SGP - Set Global Parameter

  23
• Table 7: TMCL Commands, Set Global Parameters (SGP)

  24
• 3.13 RFS – Reference Search

  25
• Table 8: Baud Rate of RS232 / RS485 and CAN

  25
• 3.3.2 GGP - Get Global Parameters

  26
• Table 9: TMCL Commands, Get Global Parameters (GGP)

  27
• 3.15 GIO – Get Input / Output

  28
• Get Version Number

  28
• Restore Factory Default Settings

  28
• Revision History

  29
• Documentation Revision

  29
• References

  29
• Table 10: Documentation Revisions

  29
• 3.16 CALC – Calculate

  30
• COMP – Compare

  31
• JC – Jump Conditional

  32
• JA – Jump Always

  33
• CSUB – Call Subroutine

  34
• RSUB – Return from Subroutine

  35
• WAIT – Wait for an event to occur

  36
• STOP – Stop TMCL program execution

  38
• SAC – SPI Bus Access

  39
• SCO – Set Coordinate

  40
• GCO – Get Coordinate

  41
• CCO – Capture Coordinate

  42
• CALCX – Calculate using the X register

  43
• AAP – Accumulator to Axis Parameter

  44
• AGP – Accumulator to Global Parameter

  45
• CLE – Clear Error Flags

  46
• 3.33 Request target position reached event

  48
• BIN – Return to Binary Mode

  49
• TMCL Control Functions

  50
• 2)

  52
• 4.3 Axis parameters on the TMCM-100 and on the Monopack 2

  56
• 5.1 Bank 0

  59
• 5.3 Bank 2

  63
• 6.1 Reference search with TMCM-3xx / 10x / 11x / 61x modules

  64
• 6.3 Using an incremental encoder with TMCM-100 modules

  65
• Setting the resolution

  65
• Deviation detection

  66
• Position correction

  66
• 6.5 Fixing microstep errors (TMCL V3.13 or higher)

  67
• 7 The TMCL IDE

  68
• 7.2 Getting started

  69
• 7.4 The “File” menu

  69
• New

  69
• Open

  69
• Save, Save as

  69
• Save all

  69
• Close

  69
• Exit

  69
• Basics

  69
• Direct mode

  70
• Assemble a TMCL program

  70
• Downloading the program

  71
• 7.5.5 The “Main file” function

  71
• 7.5.6 The “Start” function

  71
• 7.5.7 The “Stop” function

  71
• 7.5.8 The “Continue” function

  71
• 7.5.9 Disassembling a TMCL program

  71
• 7.6.1 Options

  72
• 7.6.2 Configure

  73
• 7.6.3 Search

  76
• 7.6.4 Install OS

  76
• 7.6.5 StallGuard adjusting tool

  77
• 7.6.6 StallGuard profiler

  77
• 7.6.7 Parameter calculation tool

  78
• 7.7.1 Starting the debugger

  79
• 7.7.2 Breakpoints

  79
• 7.7.3 The “Run / Continue” function

  79
• 7.7.4 The “Pause” function

  80
• 7.7.5 The “Step” function

  80
• 7.7.6 The “Animate” function

  80
• 7.7.7 The “Stop / Reset” function

  80
• 7.7.8 The “Direct Mode” function in the debugger

  80
• 7.8.1 Assembler directives

  80
• 7.8.2 Symbolic constants

  81
• 7.8.3 Constant expressions

  81
• 7.8.4 Labels

  82
• 7.8.5 Comments

  82
• 7.8.6 TMCL Commands

  82
• 8.1 General structure of a TMCL program

  84
• 8.1.1 Initialization

  84
• 8.1.2 Main loop

  84
• 8.3 Using variables

  85
• 8.5 Mixing direct mode and stand alone mode

  85