Trinamic TMCM-170 Manuel du propriétaire

TMCM-170 and -171

BLDC-module

Reference and Programming

Manual

Version 1.14

Dec 20h, 2007

Trinamic Motion Control GmbH & Co. KG

Sternstraße 67

D – 20357 Hamburg, Germany

http://www.trinamic.com

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 2

Contents

1Functional description..................................................................................................................... 3

1.1 Introduction ............................................................................................................................ 3

1.2 Getting started........................................................................................................................ 3

1.3 Stand alone operation using TMCL ....................................................................................... 3

1.4 Parameterizing the PID regulator........................................................................................... 4

1.4.1 Finding a setting for the P, I and D values......................................................................... 4

1.5 Parameterizing the positioning algorithm............................................................................... 6

1.6 Homing procedure.................................................................................................................. 7

2Interface Protocol............................................................................................................................ 8

2.1 Assignment of the command bytes sent from the host to the BLDC-module:....................... 8

2.2 Assignment of the reply bytes sent from the BLDC-module:................................................. 8

3TMCL Command Set...................................................................................................................... 9

3.1 TMCL Motion Control Commands ....................................................................................... 10

3.1.1 ROR - Rotate Right.......................................................................................................... 10

3.1.2 ROL - Rotate Left............................................................................................................. 11

3.1.3 MST - Motor Stop ............................................................................................................ 12

3.1.4 MVP - Move to Position ................................................................................................... 13

3.2 TMCL – Axis Parameter Commands ................................................................................... 14

3.2.1 SAP - TMCL Set Axis Parameter..................................................................................... 14

3.2.2 GAP - TMCL Get Axis Parameters.................................................................................. 18

3.2.3 STAP – Store Axis Parameter......................................................................................... 22

3.3 Global Parameters...............................................................................................................23

3.3.1 SGP - Set Global Parameter ........................................................................................... 23

3.3.2 GGP - Get Global Parameters......................................................................................... 26

3.4 Get Version Number ............................................................................................................ 28

3.5 Restore Factory Default Settings......................................................................................... 28

4Revision History............................................................................................................................ 29

4.1 Documentation Revision...................................................................................................... 29

5References.................................................................................................................................... 29

Tables

Table 1: Default PID Values.................................................................................................................... 5

Table 2: TMCL command overview......................................................................................................... 9

Table 3: TMCL Commands, Set Axis Parameter (SAP) ....................................................................... 16

Table 4: Max. Current Regulation / Actual Current ...............................................................................17

Table 5: TMCL Commands, Get Axis Parameter (GAP)....................................................................... 20

Table 6: Error / Status flags................................................................................................................... 21

Table 7: TMCL Commands, Set Global Parameters (SGP).................................................................. 24

Table 8: Baud Rate of RS232 / RS485 and CAN.................................................................................. 25

Table 9: TMCL Commands, Get Global Parameters (GGP)................................................................. 27

Table 10: Documentation Revisions...................................................................................................... 29

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 3

1 Functional description

1.1 Introduction

The TMCM-170/-171 module can either be remote controlled via the PC demonstration software or the

TMCL environment or by a user specific program. A number of stand-alone features is also integrated.

For a detailed hardware information please refer to the specific hardware manual (5 References).

This manual describes the BLDC specific parameters and BLDC specific commands available on the

BLDC modules. Further, the modules provide control instructions like branches, arithmetic functions,

comparison commands and functions for reading / setting the I/O lines. For these, please refer to the

TMCL reference manual (5 References).

Attention: It is important to properly set motor and encoder settings before trying to operate the motor.

The changes become effective after a full restart (power off-on).

You can use the demonstration application and / or the TMCL development environment to make

these settings. Please refer to the TMCM-170/-171 Hardware Manual for the basic settings.

1.2 Getting started

The demonstration application for the TMCM-170/-171 module gives a simple way to set the module

into operation. The TRINAMIC TMCL IDE allows to update the modules firmware and to test / set all of

the modules’ parameters via all supported bus systems. Please refer to the hardware manual for

setting up the unit. It is especially important, to correctly set initialization parameters, if you have

purchased the unit without a motor.

1.3 Stand alone operation using TMCL

The TMCM-170 and TMCM-171 support stand alone TMCL operation. To implement a stand alone

program, please use the TMCL-IDE. The TMCM-170 supports programs up to 64 commands long,

while the TMCM-171 supports up to 2048 commands. The full control command set can be found in

the TMCL reference manual.

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 4

1.4 Parameterizing the PID regulator

The motion control commands (TMCL_ROL, TMCM_ROR, TMCL_MVP) use a PID regulator for

position and velocity control. The PID regulator has to be parameterized with respect to a given motor

in a given application. The default parameter set of the PID regulator covers a range of motors

suitable for the TMCM-170/-171 module, and typically works stable up to 8000 rpm maximum motor

velocity (related to an 8 pole motor) with an encoder resolution of up to 4096. However, for slower

motors or lower encoder resolution, the response time with this parameter set may become quite slow.

The PID regulator uses four basic parameters: The P, I and D values, as well as a timing control

value. The timing control value (PID regulation loop delay) determines, how often the PID regulator is

evoked. It is given in multiple of 1ms:

tPIDDELAY = xPIDRLD * 1ms

xPIDRLD is the PID regulation loop delay parameter, tPIDDELAY is the resulting delay between two PID

calculations

For most applications it is recommended to leave this parameter unchanged at its default of 1ms.

Higher values may be necessary for very slow and less dynamic drives.

1.4.1 Finding a setting for the P, I and D values

To parameterize the PID regulator for a given motor, first modify the P parameter with all other

parameters set to 0, starting from a low value and going to a higher value, until fastest response with

minimum oscillation around the target position is given (touch the motor / watch the actual position and

motor current). Try with low velocities and stand still if you want to tune positioning response. To

modify parameters, always use the double or half of the previous value, in order to really see how the

parameter influences behavior.

After that, do the same for the I parameter with the D parameter still set to zero. For the I parameter,

there is also a clipping value: The I-clip should be send to a relatively low value, to avoid overshooting,

but high enough to allow exact position maintenance at stand still, when maximum required stand-still

torque is applied to the motor axis.

Now, modify the D parameter in the same way. It will dampen part of the oscillations caused by the

other parameters, too. An additional parameter is the hysteresis. This value can be adapted to give

lowest oscillation of the motor at stand-still. It helps to compensate the motor’s detent torque by driving

the PID regulator near the motors reaction threshold even for lowest PID differences. Try a range 0 to

40.

actual position

from encoder

target position /

ramp generator

position

Clip

65535

P-param /

256

I-sum Clip

I-param /

65536

last

D-param /

256

new PWM

[0..1023]

CLK: 1000Hz /

PID regulation

loop delay

Clip

duty

cycle limit

CLK: 1000Hz /

PID regulation

loop delay

I-Clip param

* 256

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 5

There is one PID parameter set for position maintenance and one parameter set for velocity mode.

For the first tests, you can set both parameter sets equal. After having found suitable values, the

velocity mode parameters should be set to “less stiff”, i.e. to lower values, to minimize regulation

oscillation during constant rotation. The switch-over between both sets is soft, and occurs between

stand still and the velocity given by “min speed for velocity PID”.

As you can see in the default value table, the positioning and velocity mode PID parameters in this

example have a relationship of about 4 to 1. But the I-Clipping parameter typically has the inverse

relationship: 1 to 4 in this example! This allows the I parameter to apply the same maximum torque

difference in both parameter sets.

Position Velocity

P-Parameter 100 25

I-Parameter 167 42

D-Parameter 30 8

I-Clipping-Parameter 160 640

Table 1: Default PID Values

Attention: For all tests set the motor current limitation to a realistic value, so that your power supply

does not become overloaded during acceleration phases. If your power supply goes to

current limiting, the unit may reset or undetermined regulation results may occur.

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 6

1.5 Parameterizing the positioning algorithm

The module supports a positioning based on the encoder position. The user can either use the pure

positioning PID parameter set for positioning, or an integrated ramp generator with linear ramp control

(enable the “Velocity PID – Control setting”). Parameters for the ramp generator are the maximum

positioning speed as well as the acceleration value. It is recommended to use the ramp generator.

The ramp generator automatically calculates the slow down point, i.e. the point at which velocity is to

be reduced in order to stop at the programmed target position. This calculation is based on the

velocity setting and the acceleration setting. The PID parameter sets are used as follows:

• Above min_pos_speed the motor speed is regulated by the Velocity PID

• Below min_pos_speed a combination of Velocity and Position PID is used to get the best

performance

PID setting

stiffness

Velocity PID

Position PID

velocity

min

pos

speed

max

pos

speed

min

pos

speed

max

pos

speed

velocity difference for slow-down

Reaching the target position is signaled by setting the POS_END flag. In order to minimize the time

until this flag becomes set, a positioning tolerance (MVP_target_reached_distance) can be chosen.

Since the motor typically is assumed not to signal target reached when the target was just passed in a

short moment of time at a high velocity, additionally a maximum target reached velocity

(MVP_target_reached_velocity) can be defined. A value of zero is the most universal, since it implies

that the motor stands still at the target. But when a fast raising of the POS_END flag is desired, a

higher value for MVP_target_reached_velocity will save a lot of time. The best value should be tried

out in the actual application. In hall sensor only mode (see SGP 250), this distance setting is used to

stop the regulation algorithm in order to avoid oscillations around the target position.

Depending upon the motor / mechanics, a bit of oscillation is normal, in the best case it can be

reduced to be at least +/-1 encoder step, because otherwise the regulation can not keep the position!

In order to dampen oscillations as much as possible, also try using the PWM hysteresis. Especially

with a friction in the mechanics, increasing this parameter might help to overcome it and to speed up

the regulation. Then, at the next step you should again try to optimize the P-part for the positioning P-

regulator, and after that add a bit of I and D, while always trying to keep the regulation loop stable /

stable to within your desired target range.

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 7

|velocity|

position

target position

(set via MVP)

max_pos_speed

min_pos_speed

MVP_target_reached_distance

Motor off in this area

slow-down-distance

actual motor velocity

Motor regulated by

Velocity PID

Motor regulated by

combination of

Velocity and Position

PID

Acceleration

MVP_target_

reached_velocity

Target reached flag

only set when velocity

and position are in this

area.

1.6 Homing procedure

There are two ways provided for homing: The encoder N channel and a reference switch input. A

combined procedure will bring the most exact result for linear drives: First do a homing to the switch,

then move the motor away from the switch again and do a homing to the next N-channel event. To

home the drive to either of them, you need to set the following parameters:

1. Enable Encoder_Set_Null or Switch_Set_Null (set desired parameters to 1). Enable

Clear_Set_Null, to do the homing procedure only once. For the switch, set Enable_Stop_Switch, if

the motor is to stop after hitting the switch, i.e. because the switch is positioned at the end point of

a linear axis.

2. Now move the motor in the direction of the Switch using a rotation command. As soon as the

motor hits the stop switch, the encoder position becomes set to zero. If at the same time the motor

switch is enabled as a stop switch, the motor is stopped and the target position is also set to zero.

If the switch is not used to stop the motor, or the Encoder_Set_Null has been enabled, only the

actual position becomes influenced. This would cause a large difference between the actual

(encoder) position and the target position, because the target position (as read by GAP 0 value) is

not influenced by the nulling of the encoder counter! Thus, the motor would at once try to re-

position to the actual target, based on the new encoder position. This would result in a fast

movement to an undefined position, if the initialization had not been done once before. To avoid

this effect, use the Clear_Target_Distance setting:

Set the Clear_Target_Distance to some reasonably low value, e.g. corresponding to one motor

rotation or less. Example: For a 2000 step encoder a homing is done based on the N-channel. The

motor shall not re-position automatically, when the old home position has been further away than

a quarter of a rotation. The resulting maximum offset would be 500 steps, or a

Clear_Target_Distance value of 2 (=500/256).

Hint: A very low value for Clear_Target_Distance may result in problems when working with high

velocities and / or low PID parameter setting. Use a higher value for normal motion.

3. Homing is finished now.

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 8

2 Interface Protocol

The TMCM modules use the TMCL 9 byte protocol. The interface parameters are 9600 baud, 8

bit, 1 stop bit (default values). This is not the case when communicating via the CAN bus as

address and checksum are included in the CAN standard and do not have to be supplied by the

user (default 250kBit/s). Please refer to the TMCL manual for a more detailed description of the

TMCL basics. However, the BLDC modules define a different function set, detailed in the following.

2.1 Assignment of the command bytes sent

from the host to the BLDC-module:

Cmd[0]: Module address (set to one for the RS232 module)

Cmd[1]: Command byte / Instruction number

Cmd[2]: "Type" byte (e.g. parameter number)

Cmd[3]: "Axis" byte (always set to zero for a one axis module)

Cmd[4], Cmd[5], Cmd[6], Cmd[7]: optional parameter (CMD[4] is the MSB, Cmd[7] is the LSB)

Parameters can have one to four bytes.

Cmd[8]: Check sum (1 byte sum of the complete datagram)

Do not sent the next command before you have received the reply!

Example: Rotate right, motor #0, velocity = 350 (refer to 3.1.1 ROR - Rotate Right)

Byte Index 0 1 2 3 4 5 6 7 8

Function Target-

address Instruction

Number Type Motor/

Bank Operand

Byte3 Operand

Byte2 Operand

Byte1 Operand

Byte0 Checksum

Value (hex) $01 $01 $00 $00 $00 $00 $01 $5e $61

When using CAN bus, the first byte (reply address) and the last byte (checksum) are left out.

2.2 Assignment of the reply bytes sent from

the BLDC-module:

Reply[0]: Host Address

Reply[1]: Module Address

Reply[2]: Status

Reply[3]: Last command byte which was received by the module

Reply[4],Reply[5],Reply[6],Reply[7]: Value (Reply[4] is the MSB, Reply[7] is the LSB)

All reply values are extended to 32 bit

Reply[8]: Check sum

Example: get the actual position of motor #0 (refer to 3.2.2 GAP - TMCL Get Axis Parameters)

Sent:

Byte Index 0 1 2 3 4 5 6 7 8

Function Target-

address Instruction

Number Type Motor/

Bank Operand

Byte3 Operand

Byte2 Operand

Byte1 Operand

Byte0 Checksum

Value (hex) $01 $06 $01 $00 $00 $00 $00 $00 $08

When using CAN bus, the first byte (reply address) and the last byte (checksum) are left out.

Reply:

Byte Index 0 1 2 3 4 5 6 7 8

Function Host-

address Target-

address Status Instruction Operand

Byte3 Operand

Byte2 Operand

Byte1 Operand

Byte0 Checksum

Value (hex) $02 $01 $64 $06 $00 $00 $02 $c7 $36

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 9

3 TMCL Command Set

To enable TMCL control set SAP Type 128 to “1” (refer to 3.2.1).

This chapter describes all TMCL commands. The commands are sorted by their command numbers.

For every command the mnemonic with its syntax and the binary representation are given.

Ranges for the parameters are also given.

Last but not least some examples are given at the end of every command description. In the examples

for the binary representation always RS232 communication (9 byte) format is used with module

address 1 and host address 2. The motor number is always zero for a one axis module.

Position values (xpos) are in units of encoder resolution (4x mode, i.e. a 1024 line encoder give a 4096

resolution).

resolutionencoder

]rotations[x 1pos2pos −

The TMCM-170/-171 module enfolds a TMCL command set as outlined in Table 1. The commands

itself are described afterwards and within the tables Table 2 and Table 4.

TMCL Command Instruction Function

ROR 1 Rotate Right

ROL 2 Rotate Left

MST 3 Motor Stop

MVP 4 Move to Position

SAP 5 Set Axis Parameter

GAP 6 Get Axis Parameter

STAP 7 Store Axis Parameter

- 8 -

SGP 9 Set Global Parameter

GGP 10 Get Global Parameter

Get Version Number 136 Get Version Number

Restore factory settings 137 Restore factory settings

Table 2: TMCL command overview

TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 10

3.1 TMCL Motion Control Commands

3.1.1 ROR - Rotate Right

Description: This instruction starts rotation in "right" direction, i.e. increasing the position counter.

Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis

parameter #0 ("target velocity").

Mnemonic: ROR <motor number>, <velocity>

Value Range: ±100.000, actual usable value depends on motor

Related commands: ROL, MST, SAP, GAP

Binary representation:

INSTRUCTION NO. TYPE MOT/BANK VALUE

1 (don't care) <motor number> <velocity>

Example:

Rotate right, motor #0, velocity = 350

Mnemonic: ROR 0, 350

Binary:

Byte Index 0 1 2 3 4 5 6 7 8

Function Target-

address Instruction

Number Type Motor/

Bank Operand

Byte3 Operand

Byte2 Operand

Byte1 Operand

Byte0 Checksum

Value (hex) $01 $01 $00 $00 $00 $00 $01 $5e $61

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