import PyTrinamic
" interfaces "
from PyTrinamic.modules.tmcl_module_interface import tmcl_module_interface
from PyTrinamic.modules.tmcl_motor_interface import tmcl_motor_interface
" features "
from PyTrinamic.modules.features.open_loop_ap_feature import open_loop_ap_feature
from PyTrinamic.modules.features.digital_hall_ap_feature import digital_hall_ap_feature
from PyTrinamic.modules.features.abn_encoder_ap_feature import abn_encoder_ap_feature
from PyTrinamic.modules.features.linear_ramp_ap_feature import linear_ramp_ap_feature
from PyTrinamic.modules.features.pid_ap_feature import pid_ap_feature
from PyTrinamic.modules.features.commutation_selection_ap_feature import commutation_selection_ap_feature
class TMCM_1630(tmcl_module_interface):
pub async fn __init__(&mut self, connection, moduleID=1) {
tmcl_module_interface.__init__(self, connection, moduleID)
self.GP = _GP
" add the motor with available features "
self._motors.append(TMCM_1630_motor_interface(self, 0, PyTrinamic.MotorTypes.BLDC, _AP_MOTOR_0, _ENUM_MOTOR_0))
def moduleName(self):
return "TMCM-1630"
def moduleDescription(self):
return "The TMCM-1630 is a highly integrated single axis BLDC servo controller module with several interface options. Voltage supply: 14,5 - 48V"
class _GP():
serialBaudRate = 65
serialAddress = 66
CANBitRate = 69
CANsendID = 70
CANreceiveID = 71
telegramPauseTime = 75
serialHostAddress = 76
autoStartMode = 77
applicationStatus = 128
programCounter = 130
tickTimer = 132
class _AP_MOTOR_0():
TargetPosition = 0
ActualPosition = 1
TargetVelocity = 2
ActualVelocity = 3
MaxVelocity = 4
MaxTorque = 6
TargetReachedVelocity = 7
MotorHaltedVelocity = 9
TargetReachedDistance = 10
Acceleration = 11
RampVelocity = 13
ThermalWindingTimeConstant = 25
IItlimit = 26
IItSum = 27
IItExceededCounter = 28
ClearIItExceededFlag = 29
ReinitBldcRegulation = 31
PIDRegulationLoopDelay = 133
CurrentRegulationLoopDelay = 134
EnableRamp = 146
ActualTorque = 150
SupplyVoltage = 151
DriverTemperature = 152
TargetTorque = 155
StatusFlags = 156
CommutationMode = 159
ClearOnNull = 161
ClearOnce = 163
EncoderOffset = 165
TorqueP = 172
TorqueI = 173
StartCurrent = 177
DebugValue0 = 190
DebugValue1 = 191
DebugValue2 = 192
DebugValue3 = 193
DebugValue4 = 194
DebugValue5 = 195
DebugValue6 = 196
DebugValue7 = 197
DebugValue8 = 198
DebugValue9 = 199
CurrentPIDError = 200
CurrentPIDErrorSum = 201
ActualHallAngle = 210
ActualEncoderAngle = 211
ActualControlledAngle = 212
PositionPIDError = 226
VelocityPIDError = 228
VelocityPIDErrorSum = 229
PositionP = 230
VelocityP = 234
VelocityI = 235
InitVelocity = 241
InitSineDelay = 244
EncoderInitMode = 249
EncoderSteps = 250
EncoderDirection = 251
HallInterpolation = 252
MotorPoles = 253
HallSensorInvert = 254
class _ENUM_MOTOR_0():
COMM_MODE_BLOCK_HALL = 0
COMM_MODE_FOC_HALL = 6
COMM_MODE_FOC_ENCODER = 7
COMM_MODE_FOC_CONTROLLED = 8
ENCODER_INIT_MODE_0 = 0
ENCODER_INIT_MODE_1 = 1
ENCODER_INIT_MODE_2 = 2
FLAG_POSITION_END = 0x00004000
class TMCM_1630_motor_interface(tmcl_motor_interface):
pub async fn __init__(&mut self, parent, axisID, motorType, axisParameter, constants) {
tmcl_motor_interface.__init__(self, parent, axisID, motorType, axisParameter, constants)
" add features "
self.openLoop = open_loop_ap_feature(self)
self.feature.update({"open_loop" : self.openLoop})
self.digitalHall = digital_hall_ap_feature(self)
self.feature.update({"digital_hall" : self.digitalHall})
self.abnEncoder = abn_encoder_ap_feature(self)
self.feature.update({"abn_encoder" : self.abnEncoder})
self.linearRamp = linear_ramp_ap_feature(self)
self.feature.update({"linear_ramp" : self.linearRamp})
self.pid = pid_ap_feature(self)
self.feature.update({"pid" : self.pid})
self.commutationSelection = commutation_selection_ap_feature(self)
self.feature.update({"commutation_selection" : self.commutationSelection})
" motor type (BLDC only) "
pub async fn setMotorType(&mut self, motorType) {
pass
def motorType(self):
return PyTrinamic.MotorTypes.BLDC
" motor pole pairs "
pub async fn setMotorPolePairs(&mut self, polePairs) {
self.setAxisParameter(self.AP.MotorPoles, polePairs*2)
def motorPolePairs(self):
return int(self.axisParameter(self.AP.MotorPoles)/2)