async def main(reset=True):
# connect to motor and set initial values
connectionManager = ConnectionManager(argList='--port 1')
x = TMCM_1161(connectionManager.connect())
initialize(x)
# stop motors before setActualPosition (data sheet p76/110, table 15)
if reset:
x.stop()
x.setActualPosition(0)
# Move motor to initial value
print('moving to initial position')
set_speed(x, 1600, 1000, 3, 7)
await move(x, 'abs', 51200, 1000, 'x')
x.stop()
report(x) # print info in case of an error
print('Start measurement')
# increase pulse division to 6 for a smoother movement during measurement
set_speed(x, 2047, 2047, 5, 8)
result = []
now = time.time()
x.connection.clearDigitalOutput(
0) # sets digital output to high in my case
x.connection.clearDigitalOutput(
1) # sets digital output to high in my case
for i in range(100):
val = await move(x, 'rel', -1024, 2047, 'x')
ans = get_all_inputs(x)
result.append((val, ans))
print(i, val, ans)
x.connection.setDigitalOutput(0) # clears digital output in my case
x.connection.setDigitalOutput(1)
total = time.time() - now
print(f'Finished measurement in {total:.2f}s')
report(x)
x.stop()
# Plotting
X = [i[0] for i in result]
A = [i[1][0] for i in result]
T = [i[1][1] for i in result]
V = [i[1][2] for i in result]
fig, (ax1, ax2, ax3) = plt.subplots(1, 3)
ax1.plot(X, A)
ax2.plot(X, T)
ax3.plot(X, V)
ax2.set_xlabel('Motor Position')
ax1.set_ylabel('AIN_0 [0/4095]')
ax2.set_ylabel('Temperature [°C]')
ax3.set_ylabel('Voltage [1/10V]')
plt.show()
def __init__(self):
port = "COM20" #"/dev/ttyS0" #Change for different Interface type
#port = "COM8"#"/dev/ttyS0" #Change for different Interface type
interface = "serial_tmcl"
datarate = "115200"
arg = f"--interface {interface} --port {port} --data-rate {datarate}"
print(arg)
self.connectionManager = ConnectionManager(arg.split())
self.connected = False
def __init__(self, motor_id=1, diameter=0.5, gear_ratio=60):
self.m_per_sec_convert = 3.14159 * diameter / (gear_ratio * 60)
self.rpm_convert = gear_ratio * 60 / (3.14159 * diameter)
msg = "--interface socketcan_tmcl --host-id 2 --module-id {module}".format(module = motor_id)
connectionManager = ConnectionManager(msg.split())
self.myInterface = connectionManager.connect()
self.motorID = motor_id
self.module = TMCM_1670(self.myInterface)
# motor configuration
self.module.setMaxTorque(3000)
#self.module.showMotorConfiguration()
# encoder configuration
#self.module.showEncoderConfiguration()
# motion settings
self.module.setMaxVelocity(4000)
self.module.setAcceleration(4000)
self.module.setRampEnabled(1)
self.module.setTargetReachedVelocity(100)
self.module.setTargetReachedDistance(1000)
self.module.setMotorHaltedVelocity(5)
#self.module.showMotionConfiguration()
# PI configuration
self.module.setTorquePParameter(2000) #4000 #2:000
self.module.setTorqueIParameter(2000) #2000
self.module.setVelocityPParameter(800) #1000
self.module.setVelocityIParameter(600) #500
self.module.setPositionPParameter(300)
#self.module.showPIConfiguration()
# use out_0 output for enable input (directly shortened)
self.module.setDigitalOutput(0);
# sync actual position with encoder N-Channel
self.module.setActualPosition(0)
Created on 31.01.2020
@author: JM
'''
if __name__ == '__main__':
pass
import time
import PyTrinamic
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCM1630.TMCM_1630 import TMCM_1630
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_1630(myInterface)
"""
Define all motor configurations for the 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 working.
"""
" motor configuration "
module.setMotorPoles(4)
module.setMaxTorque(2000)
module.showMotorConfiguration()
Created on 09.04.2020
@author: JM
'''
if __name__ == '__main__':
pass
import time
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCM1617.TMCM_1617 import TMCM_1617
"""
Choose the right bustype before starting the script
"""
connectionManager = ConnectionManager(" --interface pcan_CANopen",
connectionType="CANopen")
network = connectionManager.connect()
node = network.addDs402Node(TMCM_1617.getEdsFile(), 1)
module = node
#This function initialized the ds402StateMachine
node.setup_402_state_machine()
#####################
#Communication area
objManufacturerDeviceName = module.sdo[0x1008]
objManufacturerHardwareVersion = module.sdo[0x1009]
print()
print("Module name: %s" % objManufacturerDeviceName.raw)
@author: JM
'''
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)
#!/usr/bin/env python3
'''
Move a motor back and forth using velocity and position mode of the TMC2300
Created on 27.03.2020
@author: JM
'''
import time
import PyTrinamic
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.evalboards.TMC2300_eval import TMC2300_eval
connectionManager = ConnectionManager()
myInterface = connectionManager.connect()
PyTrinamic.showInfo()
TMC2300 = TMC2300_eval(myInterface)
TMC2300.showChipInfo()
DEFAULT_MOTOR = 0
TMC2300.ICStandby(DEFAULT_MOTOR, 0)
TMC2300.setMicrostepResolution(DEFAULT_MOTOR, 256)
print("Rotating")
TMC2300.rotate(DEFAULT_MOTOR, 10 * 25600)
@author: JM, ED
'''
if __name__ == '__main__':
pass
import time
import PyTrinamic
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCM1633.TMCM_1633 import TMCM_1633
PyTrinamic.showInfo()
" please select your CAN adapter "
#connectionManager = ConnectionManager("--interface pcan_tmcl")
connectionManager = ConnectionManager("--interface kvaser_tmcl")
myInterface = connectionManager.connect()
module = TMCM_1633(myInterface)
"""
Define motor configuration for the TMCM-1633.
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.
"""
" motor configuration "
module.setMotorPoles(8)
module.setMaxTorque(2000)
module.showMotorConfiguration()
'''
Created on 30.12.2018
@author: ED
'''
if __name__ == '__main__':
pass
import PyTrinamic, time
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCM1640.TMCM_1640 import TMCM_1640
PyTrinamic.showInfo()
myInterface = ConnectionManager().connect()
module = TMCM_1640(myInterface)
module.showModuleInfo()
motor = module.motor(0)
"""
Define motor configuration for the TMCM-1640.
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.
"""
" motor configuration "
motor.setMotorPolePairs(4)
motor.setMaxTorque(2000)
motor.showConfiguration()
@author: JM, ED
'''
if __name__ == '__main__':
pass
import PyTrinamic, time
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCC160.TMCC_160 import TMCC_160
PyTrinamic.showInfo()
" please select your CAN adapter "
#myInterface = ConnectionManager("--interface pcan_tmcl").connect()
myInterface = ConnectionManager("--interface kvaser_tmcl").connect()
module = TMCC_160(myInterface)
module.showModuleInfo()
motor = module.motor(0)
"""
Define motor configurations 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.
"""
" motor configuration "
motor.setMotorPolePairs(4)
motor.setMaxTorque(2000)
motor.showConfiguration()
################################# Preparation ##################################
PyTrinamic.showInfo()
if len(sys.argv) < 2:
print("Usage:\n\tFirmwareUpdate.py HexFilePath [connection options]")
exit(1)
print("Opening hex file (" + sys.argv[1] + ")")
try:
f = open(sys.argv[1], "rt")
except FileNotFoundError:
print("Error: Hex file not found")
exit(1)
connectionManager = ConnectionManager(sys.argv)
############################### Hex file parsing ###############################
print("Parsing hex file")
data = []
extendedAddress = 0
segmentAddress = 0
for lineNumber, line in enumerate(f, 1):
### Parse a hex file line
# Check for RECORD MARK
if line[0] != ':':
continue
# CHKSUM validation
# All Bytes summed together modulo 256 have to be 0
'''
Created on 17.04.2020
@author: ed
'''
if __name__ == '__main__':
pass
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from modules.TMC4671_TMC6100_TOSV_REF import TMC4671_TMC6100_TOSV_REF
import time
connectionManager = ConnectionManager(
"--interface serial_tmcl --port COM4 --data-rate 115200".split())
myInterface = connectionManager.connect()
module = TMC4671_TMC6100_TOSV_REF(myInterface)
" motor configuration "
module.setAxisParameter(module.APs.MaxCurrent, 2000)
module.showMotorConfiguration()
" hall sensor configuration"
module.showHallConfiguration()
" PI controller configuration "
module.setAxisParameter(module.APs.PressureP, 500)
module.setAxisParameter(module.APs.PressureI, 1000)
module.showPIConfiguration()
'''
Created on 06.05.2020
@author: ED
'''
if __name__ == '__main__':
pass
import time
import PyTrinamic
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCM1633.TMCM_1633 import TMCM_1633
PyTrinamic.showInfo()
connectionManager = ConnectionManager(
"--interface kvaser_tmcl") # You can select any CAN TMCL interface here
myInterface = connectionManager.connect()
module = TMCM_1633(myInterface)
"""
Define all motor configurations for the TMCM-1633.
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.
"""
# motor configuration
module.setMotorPoles(8)
module.setMaxTorque(4000)
module.showMotorConfiguration()
8: "TMC2209",
9: "TMCC160",
10: "TMC6200",
11: "TMC2160",
12: "TMC7300",
13: "TMC2590",
18: "TMC2225",
19: "TMC6100",
14: "TMC2300",
21: "TMC6300",
22: "TMC2226",
}
if __name__ == "__main__":
from PyTrinamic.connections.ConnectionManager import ConnectionManager
cm = ConnectionManager()
interface = cm.connect()
LB = Landungsbruecke(interface)
print("ID EEPROM content:")
print("Mc: ", LB.EepromDrv.read_id_info())
print("Drv:", LB.EepromMc.read_id_info())
print("Board IDs:")
print(LB.getBoardIDs())
print("Board Names:")
print(LB.getBoardNames())
'''
Move a motor back and forth using the TMCM1370 module
Created on 08.07.2020
@author: JM
'''
import PyTrinamic
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCM1370.TMCM_1370 import TMCM_1370
import time
PyTrinamic.showInfo()
connectionManager = ConnectionManager("--interface serial_tmcl")
myInterface = connectionManager.connect()
Module_1370 = TMCM_1370(myInterface)
DEFAULT_MOTOR = 0
print("Preparing parameters")
Module_1370.setMaxAcceleration(10000)
print("Rotating")
Module_1370.rotate(50000)
time.sleep(2);
print("Stopping")
Module_1370.stop()
'''
Move a motor back and forth using the TMCM6212 module
Created on 28.02.2019
@author: JM
'''
import PyTrinamic
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCM6212.TMCM_6212 import TMCM_6212
import time
PyTrinamic.showInfo()
connectionManager = ConnectionManager(
) # If no Interface is selected , the default interface is usb_tmcl
myInterface = connectionManager.connect()
Module_6212 = TMCM_6212(myInterface)
DEFAULT_MOTOR = 0
print("Preparing parameters")
Module_6212.setMaxAcceleration(9000)
print("Rotating")
Module_6212.rotate(40000)
time.sleep(5)
print("Stopping")
Module_6212.stop()
