################################################################################ # Copyright © 2019 TRINAMIC Motion Control GmbH & Co. KG # (now owned by Analog Devices Inc.), # # Copyright © 2023 Analog Devices Inc. All Rights Reserved. # This software is proprietary to Analog Devices, Inc. and its licensors. ################################################################################ from ..modules import TMCLModule # features from ..features import MotorControlModule, DriveSettingModule, LinearRampModule from ..features import StallGuard2Module, CoolStepModule class TMCM1311(TMCLModule): """ The TMCM-1311 is a single axis stepper motor controller/driver module with closed loop regulation. * Supply voltage: 12 - 48V """ def __init__(self, connection, module_id=1): super().__init__(connection, module_id) self.name = "TMCM-1311" self.desc = self.__doc__ self.motors = [self._MotorTypeA(self, 0)] def rotate(self, axis, velocity): self.connection.rotate(axis, velocity, self.module_id) def stop(self, axis): self.connection.stop(axis, self.module_id) def move_to(self, axis, position, velocity=None): if velocity: self.motors[axis].linear_ramp.max_velocity = velocity self.connection.move_to(axis, position, self.module_id) def move_by(self, axis, difference, velocity=None): if velocity: self.motors[axis].linear_ramp.max_velocity = velocity self.connection.move_by(axis, difference, self.module_id) class _MotorTypeA(MotorControlModule): def __init__(self, module, axis): MotorControlModule.__init__(self, module, axis, self.AP) self.drive_settings = DriveSettingModule(module, axis, self.AP) self.linear_ramp = LinearRampModule(module, axis, self.AP) self.stallguard2 = StallGuard2Module(module, axis, self.AP) self.coolstep = CoolStepModule(module, axis, self.AP, self.stallguard2) def get_position_reached(self): return self.get_axis_parameter(self.AP.PositionReachedFlag) class AP: TargetPosition = 0 ActualPosition = 1 TargetVelocity = 2 ActualVelocity = 3 MaxVelocity = 4 MaxAcceleration = 5 MaxCurrent = 6 StandbyCurrent = 7 PositionReachedFlag = 8 HomeSwitch = 9 RightEndstop = 10 LeftEndstop = 11 RightLimitSwitchDiable = 12 LeftLimitSwitchDisable = 13 CLTorqueModeTargetCurrent = 14 MaximumPossibleCurrent = 15 CLVelocityReached = 16 CLVelocityReachedWindow = 17 StatusWord = 18 CLTorqueModeActualCurrent = 19 CLTorqueModeSlope = 20 ThermalWindingTimeConstant = 25 IITLimit = 26 IITSum = 27 IITExceedCounter = 28 ClearIITExceededFlag = 29 CLFieldWeakeningMinimumVelocity= 108 CLFieldWeakeningMaximimVelocity= 109 CLEncoderOffset = 112 CLCurrentScaleMinimum = 113 CLCurrentScaleMaximum = 114 CLCurrentScaleInputSelect = 115 CLCurrentScaleLowerErrorLimit = 116 CLCurrentScaleUpperErrorLimit = 117 CLCurrentScaleIncrementValue = 118 CLCurrentScaleDecrementValue = 119 CLCurrentScaleIncrementTimeout = 120 CLCurrentScaleDecrementTimeout = 121 CLCurrentScaleEnable = 122 CLActualCurrentScaleFactor = 123 CLCorrectionVelocityP = 124 CLMaxFollowingError = 125 CLMaxCorrectionVelocity = 126 RelativePositioningOption = 127 RampMode = 128 ClosedLoopMode = 129 StartStopVelocity = 130 MeasuredSpeed = 131 EncoderInitialization = 132 CLInitFlag = 133 CLPositionReachedWindow = 134 EncoderDeviation = 134 CLPositionReachedTime = 135 CLStandstillPositionErrorGain = 136 CLStandstillPosErrDampening = 137 CLStandtstillPositionErrorLimit= 138 MicrostepResolution = 140 CLTorqueModeStartStopCurrent = 141 CurrentPhaseA = 151 CurrentPhaseB = 152 SupplyVoltage = 153 ActualDCCurrent = 154 ModuleTemperature = 155 ChopperBlankTime = 162 ChopperMode = 163 ChopperHysteresisDecrement = 164 ChopperHysteresisEnd = 165 ChopperHysteresisStart = 166 TOff = 167 SmartEnergyCurrentMinimum = 168 SmartEnergyCurrentDownStep = 169 SmartEnergyHysteresis = 170 SmartEnergyCurrentUpStep = 171 SmartEnergyHysteresisStart = 172 StallGuard2FilterEnable = 173 StallGuard2Threshold = 174 SlopeControlHighSide = 175 SlopeControlLowSide = 176 ShortToGroundProtection = 177 ShortDetectionTime = 178 VSense = 179 SmartEnergyActualCurrent = 180 SmartEnergyStallVelocity = 181 SmartEnergyThresholdSpeed = 182 SmartEnergySlowRunCurrent = 183 ReferenceSearchMode = 193 ReferenceSearchSpeed = 194 ReferenceSwitchSpeed = 195 EndSwitchDistance = 196 BoostCurrent = 200 EncoderMode = 201 FullstepResolution = 202 Freewheeling = 204 LoadValue = 206 ExtendedErrorFlags = 207 DriverErrorFlags = 208 EncoderPosition = 209 EncoderResolution = 210 MaxPositionEncoderDeviation = 212 SettingDelay = 214 CLGamma = 230 CLVirtualActualPosition = 233 CLActualTargetCurrentScaleFactor = 236 CLPositionError = 237 StepDirMode = 254 class ENUM: MicrostepResolutionFullstep = 0 MicrostepResolutionHalfstep = 1 MicrostepResolution4Microsteps = 2 MicrostepResolution8Microsteps = 3 MicrostepResolution16Microsteps = 4 MicrostepResolution32Microsteps = 5 MicrostepResolution64Microsteps = 6 MicrostepResolution128Microsteps = 7 MicrostepResolution256Microsteps = 8 class GP0: serialBaudRate = 65 serialAddress = 66 serialHeartbeat = 68 CANBitrate = 69 CANReplyID = 70 CANModuleID = 71 telegramPauseTime = 75 serialHostAddress = 76 autoStartMode = 77 endSwitchPolarity = 79 protectionMode = 81 CANSecondaryAddress = 83 eepromCoordinateStore = 84 zeroUserVariables = 85 serialSecondaryAddress = 87 interfaceSelection = 88 applicationStatus = 128 downloadMode = 129 programCounter = 130 tickTimer = 132 randomNumber = 133 SuppressReply = 255 class GP3: timer_0 = 0 timer_1 = 1 timer_2 = 2 stopLeft_0 = 27 stopRight_0 = 28 input_0 = 39 input_1 = 40 input_2 = 41 input_3 = 42 input_4 = 43 input_5 = 44 input_6 = 45 input_7 = 46 class IO: OUT0 = 0 OUT1 = 1 OUT2 = 2 OUT3 = 3 OUT4 = 4 OUT5 = 5 OUT6 = 6 OUT7 = 7 IN0 = 0 IN1 = 1 IN2 = 2 IN3 = 3 IN4 = 4 IN5 = 5 IN6 = 6 IN7 = 7 Home = 0