"""
Move a motor back and forth using velocity and position mode of the TMC5041
"""
import time
import pytrinamic
from pytrinamic.connections import ConnectionManager
from pytrinamic.evalboards import TMC5041_eval
pytrinamic.show_info()
with ConnectionManager().connect() as my_interface:
print(my_interface)
# Create TMC5041-EVAL class which communicates over the Landungsbrücke via TMCL
eval_board = TMC5041_eval(my_interface)
mc = eval_board.ics[0]
motor0 = eval_board.motors[0]
print(motor0)
motor1 = eval_board.motors[1]
print(motor1)
for i in range(2):
print("Preparing parameter for motor" + str(i) + "...")
eval_board.write_register(mc.REG.A1[i], 1000)
eval_board.write_register(mc.REG.V1[i], 50000)
eval_board.write_register(mc.REG.D1[i], 500)
eval_board.write_register(mc.REG.DMAX[i], 500)
eval_board.write_register(mc.REG.VSTART[i], 0)
eval_board.write_register(mc.REG.VSTOP[i], 10)
eval_board.write_register(mc.REG.AMAX[i], 1000)
"""
Dump all register values of the TMC5062 IC.
The connection to a Landungsbrücke is established over USB. TMCL commands are used for communicating with the IC.
"""
import pytrinamic
from pytrinamic.connections import ConnectionManager
from pytrinamic.evalboards import TMC5062_eval
pytrinamic.show_info()
my_interface = ConnectionManager().connect()
print(my_interface)
eval_board = TMC5062_eval(my_interface)
mc = eval_board.ics[0]
print("Motion controller info: " + str(mc.get_info()))
print("Register dump for " + str(mc.get_name()) + ":")
print("GCONF: 0x{0:08X}".format(
eval_board.read_register(mc.REG.GCONF)))
print("GSTAT: 0x{0:08X}".format(
eval_board.read_register(mc.REG.GSTAT)))
print("SLAVECONF: 0x{0:08X}".format(
eval_board.read_register(mc.REG.SLAVECONF)))
print("INPUT: 0x{0:08X}".format(
eval_board.read_register(mc.REG.INPUT_OUTPUT)))
print("X_COMPARE: 0x{0:08X}".format(
eval_board.read_register(mc.REG.X_COMPARE)))
for i in range(2):
import pytrinamic
from pytrinamic.connections import ConnectionManager
from pytrinamic.modules import TMCM1636
import time
pytrinamic.show_info()
# connection_manager = ConnectionManager("--interface serial_tmcl --port COM4 --data-rate 115200")
connection_manager = ConnectionManager("--interface kvaser_tmcl --module-id 1")
with connection_manager.connect() as my_interface:
module = TMCM1636(my_interface)
motor = module.motors[0]
# Define motor configuration for 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 work.
# drive configuration
motor.drive_settings.motor_type = motor.ENUM.MOTOR_TYPE_THREE_PHASE_BLDC
motor.drive_settings.pole_pairs = 4
motor.drive_settings.max_current = 2000
motor.drive_settings.commutation_mode = motor.ENUM.COMM_MODE_DIGITAL_HALL
motor.drive_settings.target_reached_distance = 5
motor.drive_settings.target_reached_velocity = 500
print(motor.drive_settings)
# hall sensor configuration
motor.digital_hall.direction = 0
motor.digital_hall.polarity = 1
motor.digital_hall.offset = 0
import pytrinamic
from pytrinamic.connections import ConnectionManager
from pytrinamic.modules import TMCC160
import time
pytrinamic.show_info()
# please select your CAN adapter
# my_interface = ConnectionManager("--interface pcan_tmcl").connect()
my_interface = ConnectionManager("--interface kvaser_tmcl").connect()
with my_interface:
module = TMCC160(my_interface)
motor = module.motors[0]
# Define motor configuration for the TMCC160-EVAL.
#
# 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 work.
# drive configuration
motor.drive_settings.poles = 8
motor.drive_settings.max_current = 2000
motor.drive_settings.target_reached_velocity = 500
motor.drive_settings.target_reached_distance = 5
motor.drive_settings.open_loop_current = 1000
# encoder configuration
motor.abn_encoder.resolution = 4096
# motor.abn_encoder.resolution = 16384
motor.abn_encoder.direction = 0
import pytrinamic
from pytrinamic.connections import ConnectionManager
from pytrinamic.modules import TMCM1630
import time
pytrinamic.show_info()
# please select a CAN or USB interface
# CAN
# my_interface = ConnectionManager("--interface pcan_tmcl").connect()
# my_interface = ConnectionManager("--interface kvaser_tmcl").connect()
# USB
my_interface = ConnectionManager().connect()
with my_interface:
module = TMCM1630(my_interface)
motor = module.motors[0]
# Define motor configuration for the TMCM-1630.
#
# 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 work.
# drive configuration
motor.drive_settings.poles = 8
motor.drive_settings.max_current = 2000
motor.drive_settings.target_reached_velocity = 500
motor.drive_settings.target_reached_distance = 5
#This program downloads a TMCL binary file to a module.
#Such binary files can be generated using the TMCL Creator in the TMCL-IDE
#(switch on the option "Generate binary file") or by the command line tool TMCLAsm.
from functools import partial;
from pytrinamic.connections import ConnectionManager
from pytrinamic.tmcl import TMCLCommand
filename = "test.bin" #This can be any TMCL binary file generated by the TMCL-IDE or by TMCLAsm
with open(filename, 'rb') as TMCLFile:
connection_manager = ConnectionManager("--interface serial_tmcl --port COM4 --data-rate 9600") #This can also be any other interface
with connection_manager.connect() as my_interface:
my_interface.send(TMCLCommand.START_DOWNLOAD_MODE, 0, 0, 0)
for cmd_array in iter(partial(TMCLFile.read, 8), b''):
my_interface.send(cmd_array[0], cmd_array[1], cmd_array[2], (cmd_array[3]<<24)|(cmd_array[4]<<16)|(cmd_array[5]<<8)|(cmd_array[6]))
my_interface.send(TMCLCommand.QUIT_DOWNLOAD_MODE, 0, 0, 0)
my_interface.send(TMCLCommand.RESET_APPLICATION, 0, 0, 0)
my_interface.send(TMCLCommand.RUN_APPLICATION, 0, 0, 0) #This can be omitted if the porgram does not need to be started right after downloading
TMCLFile.close()
import pytrinamic
from pytrinamic.connections import ConnectionManager
from pytrinamic.modules import TMCM1270
import time
pytrinamic.show_info()
# This example uses PCAN, if you want to use another connection please change this line.
connectionManager = ConnectionManager("--interface pcan_tmcl")
myInterface = connectionManager.connect()
module = TMCM1270(myInterface)
motor = module.motors[0]
print("Preparing parameters")
motor.max_acceleration = 20000
print("Rotating")
motor.rotate(50000)
time.sleep(5)
print("Stopping")
motor.stop()
print("ActualPostion = {}".format(motor.actual_position))
time.sleep(5)
print("Doubling moved distance")
motor.move_by(motor.actual_position, 50000)
while not(motor.get_position_reached()):
"""Example that shows how to download a TMCL script to the TMCL scrip memory of a TMCM-1636.
TMCL scripts are stored non-volatile with the download.
"""
import time
from pytrinamic.connections import ConnectionManager
from pytrinamic.modules import TMCM1636
from pytrinamic.tmcl import TMCLCommand
connection_manager = ConnectionManager(
"--interface serial_tmcl --port COM4 --data-rate 115200")
with connection_manager.connect() as my_interface:
module = TMCM1636(my_interface)
motor = module.motors[0]
module.connection.send(TMCLCommand.START_DOWNLOAD_MODE, 0, 0, 0)
# The following commands will not be executed but are load into the TMCL script memory of the module.
# Notice that the parameter for the jump command is the index of the command to jump to.
# Here the JA jumps to [1] which is "ROR 0, 500".
module.connection.send(TMCLCommand.SAP, motor.AP.CommutationMode, 0,
3) # [0] SAP 15, 0, 4
# Loop:
module.connection.send(TMCLCommand.ROR, 0, 0, 500) # [1] ROR 0, 500
module.connection.send(TMCLCommand.WAIT, 0, 0,
100) # [2] WAIT TICKS, 0, 100
module.connection.send(TMCLCommand.ROR, 0, 0, -500) # [3] ROR 0, -500
module.connection.send(TMCLCommand.WAIT, 0, 0,
import pytrinamic
from pytrinamic.connections import ConnectionManager
from pytrinamic.ic import MAX22216
from pytrinamic.RAMDebug import Channel, RAMDebug, RAMDebug_Trigger
pytrinamic.show_info()
with ConnectionManager(debug=True).connect() as my_interface:
print(my_interface)
ch = Channel.field(0,
MAX22216.FIELD.ADC_VM_RAW,
signed=True,
eval_channel=1)
trigger = Channel.field(0,
MAX22216.FIELD.ADC_VM_RAW,
signed=True,
eval_channel=1)
debug = RAMDebug(my_interface)
debug.set_channel(ch)
debug.set_trigger_type(RAMDebug_Trigger.TRIGGER_RISING_EDGE_SIGNED)
debug.set_trigger_threshold(50)
debug.start_measurement(is_eval=True)
while (not debug.is_measurement_done()):
pass
samples = debug.get_samples()
print("\nDone.")
import pytrinamic
from pytrinamic.connections import ConnectionManager
from pytrinamic.modules import TMCM3351
import time
pytrinamic.show_info()
connectionManager = ConnectionManager(
) # If no Interface is selected , the default interface is usb_tmcl
with connectionManager.connect() as myInterface:
module = TMCM3351(myInterface)
motor_0 = module.motors[0]
motor_1 = module.motors[1]
motor_2 = module.motors[2]
# Please be sure not to use a too high current setting for your motor.
print("Preparing parameters")
# preparing drive settings
motor_0.drive_settings.max_current = 128
motor_0.drive_settings.standby_current = 0
motor_0.drive_settings.boost_current = 0
motor_0.drive_settings.microstep_resolution = motor_0.ENUM.microstep_resolution_256_microsteps
print(motor_0.drive_settings)
motor_1.drive_settings.max_current = 128
motor_1.drive_settings.standby_current = 0
motor_1.drive_settings.boost_current = 0
motor_1.drive_settings.microstep_resolution = motor_0.ENUM.microstep_resolution_256_microsteps
print(motor_1.drive_settings)
motor_2.drive_settings.max_current = 128
motor_2.drive_settings.standby_current = 0
import pytrinamic
from pytrinamic.connections import ConnectionManager
from pytrinamic.modules import TMCM1370
import time
pytrinamic.show_info()
connectionManager = ConnectionManager(
"--interface serial_tmcl --port COM10 --data_rate 9600")
myInterface = connectionManager.connect()
module = TMCM1370(myInterface)
motor = module.motors[0]
# preparing drive settings
motor.drive_settings.max_current = 50
motor.drive_settings.standby_current = 0
motor.drive_settings.boost_current = 0
motor.drive_settings.microstep_resolution = motor.ENUM.MicrostepResolution256Microsteps
print(motor.drive_settings)
# preparing linear ramp settings
motor.linear_ramp.max_velocity = 20000
motor.linear_ramp.max_acceleration = 40000
print(motor.linear_ramp)
time.sleep(1.0)
# set move_by relative to the actual position
motor.set_axis_parameter(motor.AP.RelativePositioningOption, 1)
# clear position counter
import pytrinamic
from pytrinamic.connections import ConnectionManager
from pytrinamic.modules import TMCM1636
import time
pytrinamic.show_info()
# please select your interface
# my_interface = ConnectionManager("--interface serial_tmcl --port COM4 --data-rate 115200").connect()
my_interface = ConnectionManager("--interface kvaser_tmcl --module-id 1").connect()
with my_interface:
module = TMCM1636(my_interface)
motor = module.motors[0]
# Define motor configuration for 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 work.
# drive configuration
motor.drive_settings.motor_type = motor.ENUM.MOTOR_TYPE_THREE_PHASE_BLDC
motor.drive_settings.pole_pairs = 4
motor.drive_settings.max_current = 2000
motor.drive_settings.commutation_mode = motor.ENUM.COMM_MODE_DIGITAL_HALL
motor.drive_settings.target_reached_distance = 5
motor.drive_settings.target_reached_velocity = 500
print(motor.drive_settings)
# hall sensor configuration
motor.digital_hall.direction = 0
14: "TMC2300",
21: "TMC6300",
22: "TMC2226",
}
class GP:
VitalSignsErrorMask = 1
DriversEnable = 2
DebugMode = 3
BoardAssignment = 4
HWID = 5
PinState = 6
if __name__ == "__main__":
from pytrinamic.connections import ConnectionManager
cm = ConnectionManager()
interface = cm.connect()
LB = Landungsbruecke(interface)
print("ID EEPROM content:")
print("Mc: ", LB.eeprom_drv.read_id_info())
print("Drv:", LB.eeprom_mc.read_id_info())
print("Board IDs:")
print(LB.get_board_ids())
print("Board Names:")
print(LB.get_board_names())
import pytrinamic
from pytrinamic.connections import ConnectionManager
from pytrinamic.modules import TMCM1161
import time
pytrinamic.show_info()
# using USB interface
connectionManager = ConnectionManager()
myInterface = connectionManager.connect()
print(myInterface)
with myInterface:
module = TMCM1161(myInterface)
motor = module.motors[0]
# The configuration is based on our TMCM-1161-TMCL
# If you use a different motor be sure you have the right configuration setup otherwise the script may not working.
print("Preparing parameters...")
# preparing drive settings
motor.drive_settings.max_current = 1000
motor.drive_settings.standby_current = 0
motor.drive_settings.boost_current = 0
motor.drive_settings.microstep_resolution = motor.ENUM.MicrostepResolution256Microsteps
print(motor.drive_settings)
# preparing linear ramp settings
motor.linear_ramp.max_acceleration = 1000
import pytrinamic
from pytrinamic.connections import ConnectionManager
from pytrinamic.modules import TMCM6110
import time
pytrinamic.show_info()
connectionManager = ConnectionManager() # using USB
with connectionManager.connect() as myInterface:
module = TMCM6110(myInterface)
motor_0 = module.motors[0]
motor_1 = module.motors[1]
motor_2 = module.motors[2]
motor_3 = module.motors[3]
motor_4 = module.motors[4]
motor_5 = module.motors[5]
# If you use a different motor_0 be sure you have the right configuration setup otherwise the script may not work.
print("Preparing parameters")
# preparing drive settings
motor_0.drive_settings.max_current = 200
motor_0.drive_settings.standby_current = 0
motor_0.drive_settings.boost_current = 0
motor_0.drive_settings.microstep_resolution = motor_0.ENUM.microstep_resolution_256_microsteps
print(motor_0.drive_settings)
motor_1.drive_settings.max_current = 200
motor_1.drive_settings.standby_current = 0
motor_1.drive_settings.boost_current = 0
motor_1.drive_settings.microstep_resolution = motor_0.ENUM.microstep_resolution_256_microsteps
print(motor_1.drive_settings)