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")