Tinkerforge::BrickSilentStepper - Silently drives one bipolar stepper motor with up to 46V and 1.6A per phase
This constant is used to identify a Silent Stepper Brick.
The get_identity() subroutine and the CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.
This constant represents the display name of a Silent Stepper Brick.
This constant is used with the register_callback() subroutine to specify the CALLBACK_UNDER_VOLTAGE callback.
This constant is used with the register_callback() subroutine to specify the CALLBACK_POSITION_REACHED callback.
This constant is used with the register_callback() subroutine to specify the CALLBACK_ALL_DATA callback.
This constant is used with the register_callback() subroutine to specify the CALLBACK_NEW_STATE callback.
This constant is used with the get_response_expected(), set_response_expected() and set_response_expected_all() subroutines.
Creates an object with the unique device ID *uid* and adds it to the IP Connection *ipcon*.
Sets the maximum velocity of the stepper motor in steps per second. This function does *not* start the motor, it merely sets the maximum velocity the stepper motor is accelerated to. To get the motor running use either :func:`Set Target Position`, :func:`Set Steps`, :func:`Drive Forward` or :func:`Drive Backward`.
Returns the velocity as set by :func:`Set Max Velocity`.
Returns the *current* velocity of the stepper motor in steps per second.
Sets the acceleration and deacceleration of the stepper motor. The values are given in *steps/s²*. An acceleration of 1000 means, that every second the velocity is increased by 1000 *steps/s*.
For example: If the current velocity is 0 and you want to accelerate to a velocity of 8000 *steps/s* in 10 seconds, you should set an acceleration of 800 *steps/s²*.
An acceleration/deacceleration of 0 means instantaneous acceleration/deacceleration (not recommended)
The default value is 1000 for both
Returns the acceleration and deacceleration as set by :func:`Set Speed Ramping`.
Executes an active full brake.
.. warning:: This function is for emergency purposes, where an immediate brake is necessary. Depending on the current velocity and the strength of the motor, a full brake can be quite violent.
Call :func:`Stop` if you just want to stop the motor.
Sets the current steps of the internal step counter. This can be used to set the current position to 0 when some kind of starting position is reached (e.g. when a CNC machine reaches a corner).
Returns the current position of the stepper motor in steps. On startup the position is 0. The steps are counted with all possible driving functions (:func:`Set Target Position`, :func:`Set Steps`, :func:`Drive Forward` or :func:`Drive Backward`). It also is possible to reset the steps to 0 or set them to any other desired value with :func:`Set Current Position`.
Sets the target position of the stepper motor in steps. For example, if the current position of the motor is 500 and :func:`Set Target Position` is called with 1000, the stepper motor will drive 500 steps forward. It will use the velocity, acceleration and deacceleration as set by :func:`Set Max Velocity` and :func:`Set Speed Ramping`.
A call of :func:`Set Target Position` with the parameter *x* is equivalent to a call of :func:`Set Steps` with the parameter (*x* - :func:`Get Current Position`).
Returns the last target position as set by :func:`Set Target Position`.
Sets the number of steps the stepper motor should run. Positive values will drive the motor forward and negative values backward. The velocity, acceleration and deacceleration as set by :func:`Set Max Velocity` and :func:`Set Speed Ramping` will be used.
Returns the last steps as set by :func:`Set Steps`.
Returns the remaining steps of the last call of :func:`Set Steps`. For example, if :func:`Set Steps` is called with 2000 and :func:`Get Remaining Steps` is called after the motor has run for 500 steps, it will return 1500.
Sets the step resolution from full-step up to 1/256-step.
If interpolation is turned on, the Silent Stepper Brick will always interpolate your step inputs as 1/256-step. If you use full-step mode with interpolation, each step will generate 256 1/256 steps.
For maximum torque use full-step without interpolation. For maximum resolution use 1/256-step. Turn interpolation on to make the Stepper driving less noisy.
If you often change the speed with high acceleration you should turn the interpolation off.
The default is 1/256-step with interpolation on.
Returns the step mode as set by :func:`Set Step Configuration`.
Drives the stepper motor forward until :func:`Drive Backward` or :func:`Stop` is called. The velocity, acceleration and deacceleration as set by :func:`Set Max Velocity` and :func:`Set Speed Ramping` will be used.
Drives the stepper motor backward until :func:`Drive Forward` or :func:`Stop` is triggered. The velocity, acceleration and deacceleration as set by :func:`Set Max Velocity` and :func:`Set Speed Ramping` will be used.
Stops the stepper motor with the deacceleration as set by :func:`Set Speed Ramping`.
Returns the stack input voltage in mV. The stack input voltage is the voltage that is supplied via the stack, i.e. it is given by a Step-Down or Step-Up Power Supply.
Returns the external input voltage in mV. The external input voltage is given via the black power input connector on the Slient Stepper Brick.
If there is an external input voltage and a stack input voltage, the motor will be driven by the external input voltage. If there is only a stack voltage present, the motor will be driven by this voltage.
.. warning:: This means, if you have a high stack voltage and a low external voltage, the motor will be driven with the low external voltage. If you then remove the external connection, it will immediately be driven by the high stack voltage
Returns the current consumption of the motor in mA.
Sets the current in mA with which the motor will be driven. The minimum value is 360mA, the maximum value 1640mA and the default value is 800mA.
.. warning:: Do not set this value above the specifications of your stepper motor. Otherwise it may damage your motor.
Returns the current as set by :func:`Set Motor Current`.
Enables the driver chip. The driver parameters can be configured (maximum velocity, acceleration, etc) before it is enabled.
Disables the driver chip. The configurations are kept (maximum velocity, acceleration, etc) but the motor is not driven until it is enabled again.
Returns *true* if the driver chip is enabled, *false* otherwise.
Sets the basic configuration parameters for the different modes (Stealth, Coolstep, Classic).
* Standstill Current: This value can be used to lower the current during stand still. This might be reasonable to reduce the heating of the motor and the Brick. When the motor is in standstill the configured motor phase current will be driven until the configured Power Down Time is elapsed. After that the phase current will be reduced to the standstill current. The elapsed time for this reduction can be configured with the Standstill Delay Time. The unit is in mA and the maximum allowed value is the configured maximum motor current (see :func:`Set Motor Current`).
* Motor Run Current: The value sets the motor current when the motor is running. Use a value of at least one half of the global maximum motor current for a good microstep performance. The unit is in mA and the maximum allowed value is the current motor current. The API maps the entered value to 1/32 ... 32/32 of the maximum motor current. This value should be used to change the motor current during motor movement, whereas the global maximum motor current should not be changed while the motor is moving (see :func:`Set Motor Current`).
* Standstill Delay Time: Controls the duration for motor power down after a motion as soon as standstill is detected and the Power Down Time is expired. A high Standstill Delay Time results in a smooth transition that avoids motor jerk during power down. The value range is 0 to 307ms
* Power Down Time: Sets the delay time after a stand still. The value range is 0 to 5222ms.
* Stealth Threshold: Sets the upper threshold for Stealth mode in steps/s. The value range is 0-65536 steps/s. If the velocity of the motor goes above this value, Stealth mode is turned off. Otherwise it is turned on. In Stealth mode the torque declines with high speed.
* Coolstep Threshold: Sets the lower threshold for Coolstep mode in steps/s. The value range is 0-65536 steps/s. The Coolstep Threshold needs to be above the Stealth Threshold.
* Classic Threshold: Sets the lower threshold for classic mode. The value range is 0-65536 steps/s. In classic mode the stepper becomes more noisy, but the torque is maximized.
* High Velocity Shopper Mode: If High Velocity Shopper Mode is enabled, the stepper control is optimized to run the stepper motors at high velocities.
If you want to use all three thresholds make sure that Stealth Threshold < Coolstep Threshold < Classic Threshold.
The default values are:
* Standstill Current: 200 * Motor Run Current: 800 * Standstill Delay Time: 0 * Power Down Time: 1000 * Stealth Threshold: 500 * Coolstep Threshold: 500 * Classic Threshold: 1000 * High Velocity Shopper Mode: false
Returns the configuration as set by :func:`Set Basic Configuration`.
Note: If you don't know what any of this means you can very likely keep all of the values as default!
Sets the Spreadcycle configuration parameters. Spreadcycle is a chopper algorithm which actively controls the motor current flow. More information can be found in the TMC2130 datasheet on page 47 (7 spreadCycle and Classic Chopper).
* Slow Decay Duration: Controls duration of off time setting of slow decay phase. The value range is 0-15. 0 = driver disabled, all bridges off. Use 1 only with Comparator Blank time >= 2.
* Enable Random Slow Decay: Set to false to fix chopper off time as set by Slow Decay Duration. If you set it to true, Decay Duration is randomly modulated.
* Fast Decay Duration: Sets the fast decay duration. The value range is 0-15. This parameters is only used if the Chopper Mode is set to Fast Decay.
* Hysteresis Start Value: Sets the hysteresis start value. The value range is 0-7. This parameter is only used if the Chopper Mode is set to Spread Cycle.
* Hysteresis End Value: Sets the hysteresis end value. The value range is -3 to 12. This parameter is only used if the Chopper Mode is set to Spread Cycle.
* Sine Wave Offset: Sets the sine wave offset. The value range is -3 to 12. This parameters is only used if the Chopper Mode is set to Fast Decay. 1/512 of the value becomes added to the absolute value of the sine wave.
* Chopper Mode: 0 = Spread Cycle, 1 = Fast Decay.
* Comparator Blank Time: Sets the blank time of the comparator. Available values are
* 0 = 16 clocks, * 1 = 24 clocks, * 2 = 36 clocks and * 3 = 54 clocks. A value of 1 or 2 is recommended for most applications.
* Fast Decay Without Comparator: If set to true the current comparator usage for termination of the fast decay cycle is disabled.
* Slow Decay Duration: 4 * Enable Random Slow Decay: 0 * Fast Decay Duration: 0 * Hysteresis Start Value: 0 * Hysteresis End Value: 0 * Sine Wave Offset: 0 * Chopper Mode: 0 * Comparator Blank Time: 1 * Fast Decay Without Comparator: false
Sets the configuration relevant for Stealth mode.
* Enable Stealth: If set to true the stealth mode is enabled, if set to false the stealth mode is disabled, even if the speed is below the threshold set in :func:`Set Basic Configuration`.
* Amplitude: If autoscale is disabled, the PWM amplitude is scaled by this value. If autoscale is enabled, this value defines the maximum PWM amplitude change per half wave. The value range is 0-255.
* Gradient: If autoscale is disabled, the PWM gradient is scaled by this value. If autoscale is enabled, this value defines the maximum PWM gradient. With autoscale a value above 64 is recommended, otherwise the regulation might not be able to measure the current. The value range is 0-255.
* Enable Autoscale: If set to true, automatic current control is used. Otherwise the user defined amplitude and gradient are used.
* Force Symmetric: If true, A symmetric PWM cycle is enforced. Otherwise the PWM value may change within each PWM cycle.
* Freewheel Mode: The freewheel mode defines the behavior in stand still if the Standstill Current (see :func:`Set Basic Configuration`) is set to 0.
* Enable Stealth: true * Amplitude: 128 * Gradient: 4 * Enable Autoscale: true * Force Symmetric: false * Freewheel Mode: 0 (Normal)
Returns the configuration as set by :func:`Set Stealth Configuration`.
Sets the configuration relevant for Coolstep.
* Minimum Stallguard Value: If the Stallguard result falls below this value*32, the motor current is increased to reduce motor load angle. The value range is 0-15. A value of 0 turns Coolstep off.
* Maximum Stallguard Value: If the Stallguard result goes above (Min Stallguard Value + Max Stallguard Value + 1) * 32, the motor current is decreased to save energy.
* Current Up Step Width: Sets the up step increment per Stallguard value. The value range is 0-3, corresponding to the increments 1, 2, 4 and 8.
* Current Down Step Width: Sets the down step decrement per Stallguard value. The value range is 0-3, corresponding to the decrements 1, 2, 8 and 16.
* Minimum Current: Sets the minimum current for Coolstep current control. You can choose between half and quarter of the run current.
* Stallguard Threshold Value: Sets the level for stall output (see :func:`Get Driver Status`). The value range is -64 to +63. A lower value gives a higher sensitivity. You have to find a suitable value for your motor by trial and error, 0 works for most motors.
* Stallguard Mode: Set to 0 for standard resolution or 1 for filtered mode. In filtered mode the Stallguard signal will be updated every four full-steps.
* Minimum Stallguard Value: 2 * Maximum Stallguard Value: 10 * Current Up Step Width: 0 * Current Down Step Width: 0 * Minimum Current: 0 * Stallguard Threshold Value: 0 * Stallguard Mode: 0
Returns the configuration as set by :func:`Set Coolstep Configuration`.
Sets miscellaneous configuration parameters.
* Disable Short To Ground Protection: Set to false to enable short to ground protection, otherwise it is disabled.
* Synchronize Phase Frequency: With this parameter you can synchronize the chopper for both phases of a two phase motor to avoid the occurrence of a beat. The value range is 0-15. If set to 0, the synchronization is turned off. Otherwise the synchronization is done through the formula f_sync = f_clk/(value*64). In Classic Mode the synchronization is automatically switched off. f_clk is 12.8MHz.
* Disable Short To Ground Protection: 0 * Synchronize Phase Frequency: 0
Returns the configuration as set by :func:`Set Misc Configuration`.
Returns the current driver status.
* Open Load: Indicates if an open load is present on phase A, B or both. This could mean that there is a problem with the wiring of the motor. False detection can occur in fast motion as well as during stand still.
* Short To Ground: Indicates if a short to ground is present on phase A, B or both. If this is detected the driver automatically becomes disabled and stays disabled until it is enabled again manually.
* Over Temperature: The over temperature indicator switches to "Warning" if the driver IC warms up. The warning flag is expected during long duration stepper uses. If the temperature limit is reached the indicator switches to "Limit". In this case the driver becomes disabled until it cools down again.
* Motor Stalled: Is true if a motor stall was detected.
* Actual Motor Current: Indicates the actual current control scaling as used in Coolstep mode.
* Stallguard Result: Indicates the load of the motor. A lower value signals a higher load. Per trial and error you can find out which value corresponds to a suitable torque for the velocity used in your application. After that you can use this threshold value to find out if a motor stall becomes probable and react on it (e.g. decrease velocity). During stand still this value can not be used for stall detection, it shows the chopper on-time for motor coil A.
* Stealth Voltage Amplitude: Shows the actual PWM scaling. In Stealth mode it can be used to detect motor load and stall if autoscale is enabled (see :func:`Set Stealth Configuration`).
Sets the minimum voltage in mV, below which the :cb:`Under Voltage` callback is triggered. The minimum possible value that works with the Slient Stepper Brick is 8V. You can use this function to detect the discharge of a battery that is used to drive the stepper motor. If you have a fixed power supply, you likely do not need this functionality.
The default value is 8V.
Returns the minimum voltage as set by :func:`Set Minimum Voltage`.
Sets the time base of the velocity and the acceleration of the Silent Stepper Brick (in seconds).
For example, if you want to make one step every 1.5 seconds, you can set the time base to 15 and the velocity to 10. Now the velocity is 10steps/15s = 1steps/1.5s.
The default value is 1.
Returns the time base as set by :func:`Set Time Base`.
Returns the following parameters: The current velocity, the current position, the remaining steps, the stack voltage, the external voltage and the current consumption of the stepper motor.
There is also a callback for this function, see :cb:`All Data` callback.
Sets the period in ms with which the :cb:`All Data` callback is triggered periodically. A value of 0 turns the callback off.
Returns the period as set by :func:`Set All Data Period`.
Returns the timeout count for the different communication methods.
The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.
This function is mostly used for debugging during development, in normal operation the counters should nearly always stay at 0.
Enables the status LED.
The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.
The default state is enabled.
Disables the status LED.
Returns *true* if the status LED is enabled, *false* otherwise.
Returns the firmware and protocol version and the name of the Bricklet for a given port.
This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.
Returns the temperature in °C/10 as measured inside the microcontroller. The value returned is not the ambient temperature!
The temperature is only proportional to the real temperature and it has an accuracy of +-15%. Practically it is only useful as an indicator for temperature changes.
Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.
After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!
Returns the UID, the UID where the Brick is connected to, the position, the hardware and firmware version as well as the device identifier.
The position can be '0'-'8' (stack position).
The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|
To install Tinkerforge, copy and paste the appropriate command in to your terminal.
cpanm
cpanm Tinkerforge
CPAN shell
perl -MCPAN -e shell install Tinkerforge
For more information on module installation, please visit the detailed CPAN module installation guide.