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

  23 

 

Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG 

 

3.3 Global Parameters 

3.3.1  SGP - Set Global Parameter 

 

Description:

 Global parameters are related to the host interface, peripherals or application specific 

variables. The different groups of these parameters are organized in "banks" to allow a larger total 
number for future products. Currently, only bank 0 and 1 are used for global parameters. 

 

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 firmware revisions! 

 
Mnemonic:

 SGP <parameter number>, <bank number>, <value> 

 
Binary representation: 

INSTRUCTION NO. 

TYPE MOT/BANK  VALUE 

9 

<parameter number> 

<motor number> 

<value> 

 
 
Example: 

Calibrate the temperature measurement to actually 25°C 

Mnemonic:

 SGP 255, 0, 25 

Binary:

 

Byte Index 

0 

1 

2 

3 

4 

5 

6 

7 

8 

Function 

Target- 
address

Instruction 
Number 

Type Motor/

Bank 

Operand
Byte3 

Operand
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 

Reset EEPROM 

- 

Resets EEPROM parameters, becomes active after next 
power on 

65 

RS232 and 
RS485 baud rate 

Byte 
0…8 

Change of RS232 and RS485 Baud Rate, reset 
afterwards, refer 3.3.1.1, Table 8 

66 

Serial address 

8 bit unsigned 
0…255 

Set address of module (default=1) 

69 

CAN bit rate 

Byte 
1…8 

Change of CAN bit rate, reset afterwards, 
refer 3.3.1.1, Table 8 

70 

CAN reply ID 

16 bit unsigned 
1…2047 

The CAN ID for replies from the board (default: 2) 

71 

CAN module ID 

16 bit unsigned 
1…2047 

The module (target) address for CAN (default: 1) 
Set different from the reply address! 

75 

Telegram pause 
time 

Byte 
0…255 

Telegram pause time for RS485 / RS232 interface 
(default=0). Sets delay after telegram receipt, until data 
becomes sent out (time in ms, 0=immediately). 
Important for RS485 interface - set this value to zero for 
RS232! 
A Windows RS232 to RS485 converter requires a 
setting of about 20. 

76 

Serial host 
address 

Byte 

Set host address for replies to host (default=2) for RS 
232 and RS 485 

Содержание TMCM-170

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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