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Summary of Contents for Trinamic 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 Sternstraße 67 D – 20357 Hamburg, Germany http://www.trinamic.com...
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Page 2: Table Of Contents
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual Contents Functional description........................3 Introduction ..........................3 Getting started........................3 Stand alone operation using TMCL ..................3 Parameterizing the PID regulator................... 4 1.4.1 Finding a setting for the P, I and D values................. 4 Parameterizing the positioning algorithm................ -
Page 3: Functional Description
The demonstration application for the TMCM-170/-171 module gives a simple way to set the module into operation. The TRINAMIC TMCL IDE allows to update the modules firmware and to test / set all of the modules’ parameters via all supported bus systems. Please refer to the hardware manual for setting up the unit. -
Page 4: Parameterizing The Pid Regulator
The default parameter set of the PID regulator covers a range of motors suitable for the TMCM-170/-171 module, and typically works stable up to 8000 rpm maximum motor velocity (related to an 8 pole motor) with an encoder resolution of up to 4096. However, for slower motors or lower encoder resolution, the response time with this parameter set may become quite slow. -
Page 5: Table 1: Default Pid Values
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual There is one PID parameter set for position maintenance and one parameter set for velocity mode. For the first tests, you can set both parameter sets equal. After having found suitable values, the velocity mode parameters should be set to “less stiff”, i.e. -
Page 6: Parameterizing The Positioning Algorithm
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 1.5 Parameterizing the positioning algorithm The module supports a positioning based on the encoder position. The user can either use the pure positioning PID parameter set for positioning, or an integrated ramp generator with linear ramp control (enable the “Velocity PID –... -
Page 7: Homing Procedure
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual MVP_target_reached_distance slow-down-distance |velocity| actual motor velocity max_pos_speed Motor off in this area Motor regulated by Velocity PID Acceleration min_pos_speed Motor regulated by combination of Velocity and Position MVP_target_ reached_velocity position target position... -
Page 8: Interface Protocol
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 2 Interface Protocol The TMCM modules use the TMCL 9 byte protocol. The interface parameters are 9600 baud, 8 bit, 1 stop bit (default values). This is not the case when communicating via the CAN bus as address and checksum are included in the CAN standard and do not have to be supplied by the user (default 250kBit/s). -
Page 9: Tmcl Command Set
) are in units of encoder resolution (4x mode, i.e. a 1024 line encoder give a 4096 resolution). − rotations encoder resolution The TMCM-170/-171 module enfolds a TMCL command set as outlined in Table 1. The commands itself are described afterwards and within the tables Table 2 and Table 4. TMCL Command Instruction Function Rotate Right... -
Page 10: Tmcl Motion Control Commands
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 3.1 TMCL Motion Control Commands 3.1.1 ROR - Rotate Right Description: This instruction starts rotation in "right" direction, i.e. increasing the position counter. Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter #0 ("target velocity"). -
Page 11: Rol - Rotate Left
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 3.1.2 ROL - Rotate Left Description: This instruction starts rotation in "left" direction, i.e. decreasing the position counter. Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter #0 ("target velocity"). -
Page 12: Mst - Motor Stop
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 3.1.3 MST - Motor Stop Description: This instruction stops the motor softly by switching off the drivers. Internal function: the axis parameter "target velocity" is set to zero. Related commands: ROL, ROR, SAP, GAP Mnemonic: MST <motor number>... -
Page 13: Mvp - Move To Position
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 3.1.4 MVP - Move to Position Description: A movement towards the specified position is started, with automatic generation of acceleration- and deceleration ramps. The maximum velocity and acceleration are defined by axis parameters #4 and #5. -
Page 14: Tmcl - Axis Parameter Commands
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 3.2 TMCL – Axis Parameter Commands 3.2.1 SAP - TMCL Set Axis Parameter Description: Most parameters of a TMCM module can be adjusted individually for each axis. Although these parameters vary widely in their formats (1 to 24 bits, signed or unsigned) and physical locations (controller RAM, controller EEPROM), they all can be set by this function. - Page 15 TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual List of Set Axis Parameter Commands: Type Axis Parameter Value Range Description Change the position and encoder counter without Actual position 32 bit signed moving the motor Max. positioning 16 bit unsigned...
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Page 16: Table 3: Tmcl Commands, Set Axis Parameter (Sap)
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual Velocity P - 16 bit unsigned Additional P – Parameter for PID, refer to 1.4 Parameter 1 … 32767 This PID parameter set is used at higher velocity. Velocity I - 16 bit unsigned Additional I –... -
Page 17: Table 4: Max. Current Regulation / Actual Current
*) When operating the TMCM-170 in sine commutation mode, the effective sine current will be about 88% of the current setting / read out current. The TMCM-170 current measurement in this mode will show a greater variation. -
Page 18: Gap - Tmcl Get Axis Parameters
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 3.2.2 GAP - TMCL Get Axis Parameters Description: Most parameters of a TMCM module can be adjusted individually for each axis. Although these parameters vary widely in their formats (1 to 24 bits, signed or unsigned) and physical locations (controller RAM, controller EEPROM), they all can be read by this function. - Page 19 TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual List of Get Axis Parameter Commands: Type Axis Parameter Value Range Description The target position of a currently executed ramp, Target position 32 bit signed refer to chapter 1.4 for more detailed information...
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Page 20: Table 5: Tmcl Commands, Get Axis Parameter (Gap)
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual Stop flag Boolean Stop flag status: 1= Motor stopped due to stop switch Error / Status 16 bit Error / status readout, refer 3.2.2.1, Table 6 Power-on 16 bit signed See associated SAP command... -
Page 21: Table 6: Error / Status Flags
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 3.2.2.1 Error / Status Readout (GAP 156) Description UNDERVOLT Set if supply voltage to low for motor operation OVERTEMP Set if overtemperature limit is exceeded TEMPWARN Set if temperature warning level is reached... -
Page 22: Stap - Store Axis Parameter
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 3.2.3 STAP – Store Axis Parameter Description: Axis parameters are located in RAM memory, so modifications are lost at power down. This instruction enables permanent storing of the previously with SAP altered parameter. All parameters alterable with SAP –... -
Page 23: Global Parameters
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 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. -
Page 24: Table 7: Tmcl Commands, Set Global Parameters (Sgp)
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual Velocity for sinus initialization. The velocity is calculated Init Sine Speed 16 bit signed RPM = param_InitV/Motorpole Use a low velocity setting (typ. less than 60 RPM) in order to allow the motor to follow the electrical field. -
Page 25: Table 8: Baud Rate Of Rs232 / Rs485 And Can
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 3.3.1.1 Change of RS232 / RS485 and CAN Bit Rate New setting becomes active after next power on. Baud Rate byte value RS232 / RS485 SGP type 9600 baud (default) 14400 baud... -
Page 26: Ggp - Get Global Parameters
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 3.3.2 GGP - Get Global Parameters Description: All global parameters can be read with this function except Type 64. The parameter is copied to the accumulator register for further processing purposes such as conditional jumps. In direct mode, the result is also output in the “value”... -
Page 27: Table 9: Tmcl Commands, Get Global Parameters (Ggp)
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual Overvoltage Boolean See associated SGP command protection Init Sinus Current Byte See associated SGP command A for mode 1 Init Sinus Current Byte See associated SGP command B for mode 1... -
Page 28: Get Version Number
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 3.4 Get Version Number Description: Provides number of the actual Version installed on the module. Binary representation: INSTRUCTION NO. TYPE MOT/BANK VALUE (don't care) (don't care) (don't care) Example: request Version Number (i.e. 170V1.00) -
Page 29: Revision History
TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 4 Revision History 4.1 Documentation Revision Version Date Author Description 1.00 2005 - 2007 Initial Version 1.11 22-Aug-07 Documentation Revision started 1.12 04-Oct-07 Added SAP command 147 1.13 10-Oct-07 TMCM-171 current information added TMCM-171 Step-/Direction mode added for SAP 128 1.14...
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