if __name__ == '__main__':
pass
import PyTrinamic
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCM1636.TMCM_1636 import TMCM_1636
import time
PyTrinamic.showInfo()
" choose the right bustype before starting the script "
connectionManager = ConnectionManager(" --interface kvaser_CANopen", connectionType = "CANopen")
network = connectionManager.connect()
node = network.addDs402Node(TMCM_1636.getEdsFile(), 1)
module = node
" this function initializes the DS402 state machine "
node.setup_402_state_machine()
" communication area "
objManufacturerDeviceName = module.sdo[0x1008]
objManufacturerHardwareVersion = module.sdo[0x1009]
print()
print("Module name: %s" % objManufacturerDeviceName.raw)
print("Hardware version: %s" % objManufacturerHardwareVersion.raw)
" manufacturer specific area "
objMaximumCurrent = module.sdo[0x2003]
Created on 28.11.2019
@author: SW
'''
import PyTrinamic
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCM1636.TMCM_1636 import TMCM_1636
import time
PyTrinamic.showInfo()
connectionManager = ConnectionManager("--interface pcan_tmcl") #This setting is configurated for PCAN , if you want to use another Connection please change this line
myInterface = connectionManager.connect()
module = TMCM_1636(myInterface)
"""
Define all motor configurations for the the TMCM-1636.
The configuration is based on our standard BLDC motor (QBL4208-61-04-013-1024-AT).
If you use a different motor be sure you have the right configuration setup otherwise the script may not working.
"""
module.setAxisParameter(module.APs.CommutationMode, module.ENUMs.COMM_MODE_OPENLOOP);
module.setAxisParameter(module.APs.TargetVelocity, 1000);
time.sleep(5);
module.setAxisParameter(module.APs.TargetVelocity, 0);
time.sleep(5);
module.setAxisParameter(module.APs.CommutationMode, 0);
print("Done")