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PD-109 Scheda tecnica(PDF) 2 Page - TRINAMIC Motion Control GmbH & Co. KG.

Il numero della parte PD-109
Spiegazioni elettronici  High power stepper motor motion system
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Produttore elettronici  TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]
Homepage  http://www.trinamic.com
Logo TRINAMIC - TRINAMIC Motion Control GmbH & Co. KG.

PD-109 Scheda tecnica(HTML) 2 Page - TRINAMIC Motion Control GmbH & Co. KG.

  PD-109_06 Datasheet HTML 1Page - TRINAMIC Motion Control GmbH & Co. KG. PD-109_06 Datasheet HTML 2Page - TRINAMIC Motion Control GmbH & Co. KG.  
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Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
www.trinamic.com
1. Make sure the COM port you intend to use is
not blocked by an other program.
2. Open TMCL IDE (available at TechLibCD and www.trinamic.com) by
clicking TMCL.exe.
3. Choose Setup and Options…
and then the connection tab.
4. Choose COM port and type in
parameters
shown
above
(baudrate 9600). Click OK.
5. Write a program code into
the white field and save it
with File/Save.
Assemble
Download
Run
Stop
6. Click “Assemble” first, then
“Download”
and
“Run”
button to start the program.
"Direct Mode"
7. Stop all running programs
by clicking “Stop button”
and start “Direct Mode”.
8. If communication is established the PD-109 is automatically detected.
Issue a command by choosing Instruction, Type, Motor, Value and
press Execute to send it to the PD-109.
Following commands can be
included into a program or
used in “Direct Mode”. There are motion (ROR, ROL,
MST, MVP) and SAP (Set Axis Parameter) commands to
set motion and control parameters. GAP delivers their
actual value.
Instr.
Type
Value
Description
(don´t care)
0..2047
Rotate right
ROR
ROR <motor no.>, <Value>
(don´t care)
0..2047
Rotate left
ROL
ROL <motor no.>, <Value>
(don´t care)
Motor stop
MST
MST <motor no.>, <Value>
ABS|REL|COORD
23 bit
Move to pos.
MVP
MVP <type>, <motor no.>, <Value>
2
23 bit
Actual pos.
4
0..2047
Max speed
5
0..2047
Max accell.
6
0..1500
Max current
7
0..1500
Standby curr.
140
0..6
Microstep res.
SAP <type no.>,<motor no.>,<Value>
SAP
Sets motion and control parameters
GAP <type no.>, <motor no.>
GAP
Gives actual values of SAP parameters
For full instruction set and further description refer to
TMCL-Reference at TechLibCD or www.trinamic.com.
If communication is not established:
Check if the LED of the PD-109 lights. If not check
your power supply.
Try to start “Direct Mode” and see if the PD-109 is
detected automatically. If not close window.
Check if you are using the right COM port and it
is not used by another program.
Check
your
connection
settings,
default:
9600 baud and address 1.
Check your interface connection to PD-109.
Termination and telegram pause time OK ?
Refer to PD-109 manual or Trinamic discussion
group.
If motor does not respond:
Usually it is a problem with the communication
described above.
If you are using a TMCL program try a movement
command in “Direct Mode” to see if there is a
problem with your program.
Check the motor connection. And power LED of
the module.
Restore factory settings to cancel all settings
modified by user by issuing instruction 137.
TMCL IDE:
Commands:
Troubleshooting:


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