Python TMCM_1633 예제들

예제 #1

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()

" hall configuration "
module.setHallInvert(0)
module.showHallConfiguration()

예제 #2

파일: TMCM_1633_CANopen_encoder_PP_Mode.py 프로젝트: trinamic-AA/PyTrinamic

if __name__ == '__main__':
    pass

import time
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCM1633.TMCM_1633 import TMCM_1633
"""
    Choose the right bustype before starting the script
"""

connectionManager = ConnectionManager(" --interface pcan_CANopen",
                                      connectionType="CANopen")
network = connectionManager.connect()

node = network.addDs402Node(TMCM_1633.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)
print("Hardware version: %s" % objManufacturerHardwareVersion.raw)

######################