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TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual

155

Stop flag

Boolean

Stop flag status: 1= Motor stopped due to stop switch

156

Error / Status

16 bit

Error / status readout, refer 3.2.2.1, Table 6

157

Power-on
velocity

16 bit signed

See associated SAP command

158

Actual current
limit

0…1024

Actual motor current limitation factor as generated by
the internal current regulation:
1024: Currently no limit

159

Commutation
Mode

Boolean

See associated SAP command

160

State Initialization
of Sine
Commutation

Boolean

1 = Sine Commutation initialized

161

Encoder Set
NULL

Boolean

This flag is set, if a Nulling function via encoder N
channel is pending.

162

Switch Set NULL Boolean

This flag is set, if a Nulling function via switch is
pending.

163

Encoder / Switch
Clear Set Null

Boolean

See associated SAP command

164

Enable Stop
Switch

Boolean

See associated SAP command

165

Actual
Commutation
Offset

16 bit unsigned

See associated SAP command

166

Stop switch
polarity

Boolean

See associated SAP command

255

Processor Load

Integer

Only for debugging of firmware

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

Summary of Contents for TMCM-170

Page 1: ...TMCM 170 and 171 BLDC module Reference and Programming Manual Version 1 14 Dec 20h 2007 Trinamic Motion Control GmbH Co KG Sternstra e 67 D 20357 Hamburg Germany http www trinamic com...

Page 2: ...11 3 1 3 MST Motor Stop 12 3 1 4 MVP Move to Position 13 3 2 TMCL Axis Parameter Commands 14 3 2 1 SAP TMCL Set Axis Parameter 14 3 2 2 GAP TMCL Get Axis Parameters 18 3 2 3 STAP Store Axis Parameter...

Page 3: ...re trying to operate the motor The changes become effective after a full restart power off on You can use the demonstration application and or the TMCL development environment to make these settings P...

Page 4: ...regulator for a given motor first modify the P parameter with all other parameters set to 0 starting from a low value and going to a higher value until fastest response with minimum oscillation aroun...

Page 5: ...ed for velocity PID As you can see in the default value table the positioning and velocity mode PID parameters in this example have a relationship of about 4 to 1 But the I Clipping parameter typicall...

Page 6: ...END flag In order to minimize the time until this flag becomes set a positioning tolerance MVP_target_reached_distance can be chosen Since the motor typically is assumed not to signal target reached w...

Page 7: ...n command As soon as the motor hits the stop switch the encoder position becomes set to zero If at the same time the motor switch is enabled as a stop switch the motor is stopped and the target positi...

Page 8: ...you have received the reply Example Rotate right motor 0 velocity 350 refer to 3 1 1 ROR Rotate Right Byte Index 0 1 2 3 4 5 6 7 8 Function Target address Instruction Number Type Motor Bank Operand By...

Page 9: ...with module address 1 and host address 2 The motor number is always zero for a one axis module Position values x pos are in units of encoder resolution 4x mode i e a 1024 line encoder give a 4096 res...

Page 10: ...ity value is transferred to axis parameter 0 target velocity Mnemonic ROR motor number velocity Value Range 100 000 actual usable value depends on motor Related commands ROL MST SAP GAP Binary represe...

Page 11: ...ferred to axis parameter 0 target velocity Mnemonic ROL motor number velocity Value Range 100 000 actual usable value depends on motor Related commands ROR MST SAP GAP Binary representation INSTRUCTIO...

Page 12: ...the axis parameter target velocity is set to zero Related commands ROL ROR SAP GAP Mnemonic MST motor number Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 3 don t care motor number don t ca...

Page 13: ...t position Related commands SAP GAP MST Mnemonic MVP ABS REL motor number position offset Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 0 ABS absolute motor number position 4 1 REL relative...

Page 14: ...ction 3 2 3 for permanent storage of a modified value Do not set parameters out of the specified range This may lead to undetermined behavior of the module and may not be compatible with future firmwa...

Page 15: ...x acceleration i e no ramp 128 Standalone Mode 0 1 2 3 0 Normal operation 1 In this mode the motor velocity is controlled by the setting Power on velocity 157 scaled by the input voltage on the analog...

Page 16: ...power on Default 0 To enable set Standalone Mode 128 to 2 Step Dir scale Scaling of the Step Direction signals Distance per step pulse Value 256 The sign controls the direction 159 Commutation Mode Bo...

Page 17: ...rent from the measurement of all three coils In block commutation mode the current represents the current of the actually switched on two coils When operating the TMCM 170 in sine commutation mode the...

Page 18: ...rameters i e the actual motor position which counts up down as the motor moves All parameters are extended to 32 bit value for the ease of use Related commands SAP STAP Mnemonic GAP parameter number m...

Page 19: ...rameter 16 bit unsigned See associated SAP command 131 I Parameter 16 bit unsigned See associated SAP command 132 D Parameter 16 bit unsigned See associated SAP command 133 PID regulation loop delay 8...

Page 20: ...Mode Boolean See associated SAP command 160 State Initialization of Sine Commutation Boolean 1 Sine Commutation initialized 161 Encoder Set NULL Boolean This flag is set if a Nulling function via enc...

Page 21: ...g becomes set whenever the following conditions are fulfilled at the same time Distance is within range as defined by parameter 10 and the sum of target velocity and actual velocity is within range as...

Page 22: ...itialization of Sine Commutation refer to 3 2 1 Internal function The specified parameter is copied from its RAM location the configuration EEPROM Related commands SAP GAP Mnemonic STAP parameter numb...

Page 23: ...Byte2 Operand Byte1 Operand Byte0 Checksum Value hex 01 09 ff 00 00 00 00 19 22 List of Global Parameter Commands List of Set Global Parameter Commands Type Axis Parameter Value Range Description 64...

Page 24: ...for mode 1 default 105 Set equal to or lower than Init Sine Current A Refer to motor current setting for value range 249 Init Sine Mode 0 1 2 3 4 0 Motor starts using hall sensors 1 Motor controlled o...

Page 25: ...Rate New setting becomes active after next power on Baud Rate byte value RS232 RS485 CAN SGP type 65 69 0 9600 baud default 1 14400 baud 10kBit s 2 19200 baud 20kBit s 3 28800 baud 50kBit s 4 38400 ba...

Page 26: ...s Instruction Number Type Motor Bank Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum Value hex 01 0a 42 00 00 00 00 00 4d Reply Byte Index 0 1 2 3 4 5 6 7 8 Function Host address Targ...

Page 27: ...ted SGP command 249 Init Sinus Mode Byte See associated SGP command 250 Encoder Steps 16 bit unsigned See associated SGP command 251 Encoder Direction Boolean See associated SGP command 252 Switch Enc...

Page 28: ...Instruction Number Type Motor Bank Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum Value hex 01 88 00 00 00 00 00 00 89 Reply 160V1 03 Note this reply is not in the standard TMCL syn...

Page 29: ...7 HC Documentation Revision started 1 12 04 Oct 07 Dw Added SAP command 147 1 13 10 Oct 07 HC Dw TMCM 171 current information added TMCM 171 Step Direction mode added for SAP 128 1 14 20 Dec 07 Dw Add...

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