################################################################################ # 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 TMCM3312(TMCLModule): """ The TMCM-3312 is a three axis stepper motor controller/driver module for sensorless load dependent current control. """ def __init__(self, connection, module_id=1): super().__init__(connection, module_id) self.name = "TMCM-3312" self.desc = self.__doc__ self.motors = [self._MotorTypeA(self, 0), self._MotorTypeA(self, 1), self._MotorTypeA(self, 2)] 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 RunCurrent = 6 StandbyCurrent = 7 PositionReachedFlag = 8 HomeSwitch = 9 RightEndstop = 10 LeftEndstop = 11 RightLimit = 12 LeftLimit = 13 RampType = 14 StartVelocity = 15 StartAcceleration = 16 MaxDeceleration = 17 BreakVelocity = 18 FinalDeceleration = 19 StopVelocity = 20 StopDeceleration = 21 Bow1 = 22 Bow2 = 23 Bow3 = 24 Bow4 = 25 VirtualStopLeft = 26 VirtualStopRight = 27 VirtualStopEnable = 28 VirtualStopMode = 29 SwapStopSwitches = 33 EnableSoftStop = 34 BowScalingFactor = 35 TorqueMode = 50 CLgammaVmin = 108 CLgammaVmax = 109 CLmaximumGamma = 110 CLbeta = 111 CLoffset = 112 CLcurrentMin = 113 CLcurrentMax = 114 CLcorrectionVelocityP = 115 CLcorrectionVelocityI = 116 CLcorrectionVelocityIClipping = 117 CLcorrectionVelocityDVClock = 118 CLcorrectionVelocityDVClipping = 119 CLupscaleDelay = 120 CLdownscaleDelay = 121 ActualScalerValue = 123 CLcorrectionPositionP = 124 CLmaxCorrectionTolerance = 125 CLstartUp = 126 RelativePositioningOption = 127 ClosedLoopMode = 129 MeasuredSpeed = 131 CurrentMeasuredSpeed = 132 ClosedLoopInitFlag = 133 PositioningWindow = 134 EncMeanWait = 136 EncMeanFilter = 137 EncMeanInt = 138 MicrostepResolution = 140 EncoderInputSampleRate = 150 EncoderInputFilterLength = 151 ChopperBlankTime = 162 ConstantTOffMode = 163 DisableFastDecayComparator = 164 ChopperHysteresisEnd = 165 ChopperHysteresisStart = 166 TOff = 167 SEIMIN = 168 SECDS = 169 SmartEnergyHysteresis = 170 SECUS = 171 SmartEnergyHysteresisStart = 172 SG2FilterEnable = 173 SG2Threshold = 174 ShortToGroundProtection = 177 VSense = 179 SmartEnergyActualCurrent = 180 SmartEnergyStallVelocity = 181 SmartEnergyThresholdSpeed = 182 RandomTOffMode = 184 ChopperSynchronization = 185 PWMThresholdSpeed = 186 PWMGrad = 187 PWMAmplitude = 188 PWMScale = 189 PWMMode = 190 PWMFrequency = 191 PWMAutoscale = 192 ReferenceSearchMode = 193 ReferenceSearchSpeed = 194 RefSwitchSpeed = 195 RightLimitSwitchPosition = 196 LastReferencePosition = 197 BoostCurrent = 200 EncoderMode = 201 MotorFullStepResolution = 202 FreewheelingMode = 204 LoadValue = 206 ErrorFlags = 207 StatusFlags = 208 EncoderPosition = 209 EncoderResolution = 210 MaxPositionEncoderDeviation = 212 MaxVelocityEncoderDeviation = 213 PowerDownDelay = 214 GroupIndex = 249 ReverseShaft = 251 class ENUM: microstep_resolution_fullstep = 0 microstep_resolution_halfstep = 1 microstep_resolution_4_microsteps = 2 microstep_resolution_8_microsteps = 3 microstep_resolution_16_microsteps = 4 microstep_resolution_32_microsteps = 5 microstep_resolution_64_microsteps = 6 microstep_resolution_128_microsteps = 7 microstep_resolution_256_microsteps = 8 class GP0: SerialBaudRate = 65 SerialAddress = 66 SerialHearbeat = 68 CANBitRate = 69 CANsendID = 70 CANreceiveID = 71 TelegramPauseTime = 75 SerialHostAddress = 76 AutoStartMode = 77 TMCLCodeProtection = 81 CANHeartbeat = 82 CANSecondaryAddress = 83 eepromCoordinateStore = 84 zeroUserVariables = 85 serialSecondaryAddress = 87 ApplicationStatus = 128 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 stopLeft_1 = 29 stopRight_1 = 30 stopLeft_2 = 31 stopRight_2 = 32 input_0 = 39 input_1 = 40 input_2 = 41 input_3 = 42 class IO: OUT0 = 0 OUT1 = 1 OUT2 = 2 OUT3 = 3 IN0 = 0 IN1 = 1 IN2 = 2 IN3 = 3