pass
import time
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCM1270.TMCM_1270 import TMCM_1270
"""
Choose the right bustype before starting the script.
If no connection type is given the default connection type for this script is usb_tmcl.
For further details look in our ConnectionManager and the connection interfaces.
"""
connectionManager = ConnectionManager(" --interface pcan_CANopen", connectionType ="CANopen")
network = connectionManager.connect()
node = network.addDs402Node(TMCM_1270.getEdsFile(), 1)
module = node
# This function initialized the ds402StateMachine
node.setup_402_state_machine()
objSwitchParameter = module.sdo[0x2005]
objModeOfOperation = module.sdo[0x6060]
objActualPosition = module.sdo[0x6064]
objTargetPosition = module.sdo[0x607A]
objAcceleration = module.sdo[0x6083]
if node.is_faulted():
node.reset_from_fault() # Reset node from fault and set it to Operation Enable state
def startPP():
Created on 03.12.2019
@author: JM
'''
import PyTrinamic
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCM1270.TMCM_1270 import TMCM_1270
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_1270 = TMCM_1270(myInterface)
DEFAULT_MOTOR = 0
print("Preparing parameters")
Module_1270.setMaxAcceleration(9000)
print("Rotating")
Module_1270.rotate(40000)
time.sleep(5);
print("Stopping")
Module_1270.stop()
print("ActualPostion")
from PyTrinamicMicro import PyTrinamicMicro
import struct
import logging
import time
# Prepare Logger
PyTrinamicMicro.set_logging_console_enabled(False)
logger = logging.getLogger(__name__)
logger.info("TMCL Slave on USB_VCP interface")
# Main program
lin = None
logger.info("Initializing interface ...")
con = usb_vcp_tmcl_interface()
slave = tmcl_slave_demo()
module = TMCM_1270(can_tmcl_interface())
module.setMaxAcceleration(0, 100000)
logger.info("Interface initialized.")
t = 0
while (not (slave.status.stop)):
# Handle connection
if (con.request_available()):
logger.debug("Request available.")
request = con.receive_request()
if (not (slave.filter(request))):
continue
logger.debug("Request for this slave detected.")
reply = slave.handle_request(request)
con.send_reply(reply)
''' Rotate the motor with TMCM1270 using CAN interface. Created on 05.10.2020 @author: LK ''' from PyTrinamic.modules.TMCM1270.TMCM_1270 import TMCM_1270 from PyTrinamicMicro.platforms.motionpy.connections.can_tmcl_interface import can_tmcl_interface from pyb import Pin import time con = can_tmcl_interface() module = TMCM_1270(con) en = Pin(Pin.cpu.A4, Pin.OUT_PP) en.low() module.rotate(0, 1000) time.sleep(5) module.stop(0) en.high() con.close()