################################################################################ # 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 TMCM6214(TMCLModule): """ The TMCM-6214 is a six axis controller/driver module. Supply voltage is 24V. """ def __init__(self, connection, module_id=1): super().__init__(connection, module_id) self.name = "TMCM-6214" self.desc = self.__doc__ self.motors = [self._MotorTypeA(self, 0), self._MotorTypeA(self, 1), self._MotorTypeA(self, 2), self._MotorTypeA(self, 3), self._MotorTypeA(self, 4), self._MotorTypeA(self, 5)] def rotate(self, axis, velocity): """ Rotates the motor on the given axis with the given velocity. Parameters: axis: Axis index. velocity: Target velocity to rotate the motor with. Units are module specific. Returns: None """ self.connection.rotate(axis, velocity, self.module_id) def stop(self, axis): """ Stops the motor on the given axis. Parameters: axis: Axis index. Returns: None """ self.connection.stop(axis, self.module_id) def move_to(self, axis, position, velocity=None): """ Moves the motor on the given axis to the given target position. Parameters: axis: Axis index. position: Target position to move the motor to. Units are module specific. velocity: Maximum position velocity to position the motor. Units are module specific. If no velocity is given, the previously configured maximum positioning velocity (AP 4) will be used. Returns: 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): """ Moves the motor on the given axis by the given position difference. Parameters: axis: Axis index. difference: Position difference to move the motor by. Units are module specific. velocity: Maximum position velocity to position the motor. Units are module specific. If no velocity is given, the previously configured maximum positioning velocity (AP 4) will be used. Returns: None """ if velocity: self.motors[axis].linear_ramp.max_velocity = velocity self.connection.move_by(axis, difference, self.module_id) class _MotorTypeA(MotorControlModule): """ Motor class for the motor on axis 0. """ 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): """ Indicates whether a positioning task has been completed. Returns: 1, if target position has been reached. 0, if target position has not been reached. """ return self.get_axis_parameter(self.AP.PositionReachedFlag) class AP: # Axis parameter map for this axis. TargetPosition = 0 ActualPosition = 1 TargetVelocity = 2 ActualVelocity = 3 MaxVelocity = 4 MaxAcceleration = 5 MaxCurrent = 6 RunCurrent = MaxCurrent StandbyCurrent = 7 PositionReachedFlag = 8 HomeSwitch = 9 RightEndstop = 10 LeftEndstop = 11 RightLimitSwitchDisable = 12 LeftLimitSwitchDisable = 13 SwapLimitSwitches = 14 A1 = 15 V1 = 16 MaxDeceleration = 17 D1 = 18 StartVelocity = 19 StopVelocity = 20 RampWaitTime = 21 HighSpeedTheshold = 22 MinDcStepSpeed = 23 RightSwitchPolarity = 24 LeftSwitchPolarity = 25 Softstop = 26 HighSpeedChopperMode = 27 HighSpeedFullstepMode = 28 MeasuredSpeed = 29 PowerDownRamp = 31 DcStepTime = 32 DcStepStallGuard = 33 PositionCompareStart = 40 PositionCompareDistance = 41 PositionCompareOutput = 42 PositionCompareOutputPulseLength = 43 RelativePositioningOptionCode = 127 MicrostepResolution = 140 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 LatchedActualPosition = 198 LatchedEncoderPosition = 199 EncoderMode = 201 MotorFullStepResolution = 202 FreewheelingMode = 204 LoadValue = 206 ErrorFlags = 207 StatusFlags = 208 EncoderPosition = 209 EncoderResolution = 210 EncoderDeviationMax = 212 GroupIndex = 213 PowerDownDelay = 214 DeviationAction = 240 ReverseShaft = 251 UnitMode = 255 class ENUM: """ Constant enums for parameters of this module. """ MicrostepResolutionFullstep = 0 MicrostepResolutionHalfstep = 1 MicrostepResolution4Microsteps = 2 MicrostepResolution8Microsteps = 3 MicrostepResolution16Microsteps = 4 MicrostepResolution32Microsteps = 5 MicrostepResolution64Microsteps = 6 MicrostepResolution128Microsteps = 7 MicrostepResolution256Microsteps = 8 class GP0: """ Global parameter map for this module. """ RS485Baudrate = 65 SerialAddress = 66 SerialHeartbeat = 68 CANBitrate = 69 CANSendId = 70 CANReceiveId = 71 TelegramPauseTime = 75 SerialHostAddress = 76 AutoStartMode = 77 ProtectionMode = 81 CANHeartbeat = 82 CANSecondaryAddress = 83 EepromCoordinateStore = 84 ZeroUserVariables = 85 SerialSecondaryAddress = 86 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 StopLeft_1 = 29 StopRight_1 = 30 StopLeft_2 = 31 StopRight_2 = 32 StopLeft_3 = 33 StopRight_3 = 34 StopLeft_4 = 35 StopRight_4 = 36 StopLeft_5 = 37 StopRight_5 = 38 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 AIN0 = 0 IN1 = 1 IN2 = 2 IN3 = 3 AIN4 = 4 IN5 = 5 IN6 = 6 IN7 = 7 STO = 10 STO1 = 13 STO2 = 14