ADRD3161 Quick Start Guide

Connect a motor

Note

Wire colors are not standard and vary between motors. These tables reflect the wiring of Trinamic motors. Check your motor’s datasheet!

Motor phase

Wire color

Terminal

A+

Black

UX1

A-

Green

VX2

B+

Red

WY1

B-

Blue

Y2

Motor phase

Wire color

Terminal

U

Yellow

UX1

V

Red

VX2

W

Black

WY1

Motor phase

Wire color

Terminal

M+

Red

UX1

M-

Black

VX2

Control using TMCL-IDE

Prerequisites:

  • Install the latest version of TMCL-IDE

  • Obtain a suitable UART probe (TODO list of compatible probes, TODO pinout)

Steps:

  1. Connect a UART probe to header P7

  2. Open TMCL-IDE and connect to the corresponding serial port (115200 baud):

Once connected, the list on the left should expand, revealing a useful set of TMCL-IDE features.

Motor configuration and tuning

Enter the TMC9660 tuning wizard. Carefully go through each step, up to and including encoder configuration. Exit the tuning wizard after reaching the closed loop tuning steps.

Todo

  • Encoder connector diagrams

  • TMCL-IDE tuning steps explained

  • Elaborate all points

  1. Use the TMC9660 tuning wizard until the drive parameters are satisfactory

  2. Disconnect in TMCL-IDE, and move the debug probe over to header P6

  3. Open a serial terminal

  4. Press Ctrl-U to erase junk that might have accumulated on UART

  5. Type and run the tmc_params save command

All parameters configured by TMCL-IDE will be saved to the drive board’s flash and be loaded at each following boot.

Motor control

TMCL-IDE is the main software package for Trinamic parts. The TMC9660 may be directly interfaced with from TMCL-IDE if connected via UART. The TMC9660 may be controlled via UART and by the MAX32662 at the same time, seamlessly. This usage is helpful for debugging and lower level access to the TMC9660 than the CANopen interface allows.

  1. Connect a UART probe to header P7.

  2. In TMCL-IDE, select the corresponding serial port from the Connected devices menu on the left side.

  3. Use the following settings to initiate a connection:

    • 115200 baud

    • search IDs from 1 to 1

TODO: how to reconcile the “control” and “tuning” via TMCL-IDE parts, given they start out the same, have the same prerequisites, but are two separate user stories / use cases?

Control via CAN bus

The ADRD3161 implements CANopen, with the CiA 402 profile for motor drives. The device is interoperable with other CANopen devices, but has limited applicability on a CAN bus that is not CANopen, unless carefully configured.

The boards’ CANopen node IDs can be configured using the DIP switches S2 (TODO: diagram). The node ID is 0x10 + the binary value of the DIP switches. Assigning node IDs via CANopen LSS is planned as a future feature. Most CAN messages sent and received by a specific device will have the lower 7 bits set to the node ID, allowing for easy identification when monitoring the bus.

Table 1 DIP switch, CANopen node ID, CAN frame ID correspondence

S2 config

Node ID

CAN frame IDs

000

0x10

x10, x90

001

0x11

x11, x91

010

0x12

x12, x92

011

0x13

x13, x93

100

0x14

x14, x94

101

0x15

x15, x95

110

0x16

x16, x96

111

0x17

x17, x97

The LEDs on the board signal the CANopen status according to CiA 303-3.

Table 2 CiA 303-3 RUN LED patterns

RUN LED (Green, DS2)

CANopen NMT state

Solid on

OPERATIONAL

Blinking 1 Hz

PRE-OPERATIONAL

Single flash

STOPPED

Flickering 10 Hz

AutoBaud/LSS (not currently implemented)
Table 3 CiA 303-3 ERR LED patterns

ERR LED (Red, DS3)

CANopen error state

Off

No error

Single flash

Warning limit reached: too many CAN error frames

Double flash

Error Control Event (irrelevant)

Triple flash

Sync timeout

Flickering 10 Hz

AutoBaud/LSS (not currently implemented)

Solid on

CAN bus off

Check that the board has started up correctly:

  • The RUN LED (green) should be constantly on

  • The FAULT LED (red) should be off

—

On the software side, CAN communication depends on the OS and used hardware interface. The following guide assumes a Linux machine. On Windows, this setup can be achieved in WSL with USB forwarding of CAN adapters.

Todo

Write or link to a WSL CAN setup guide

Install / load the appropriate kernel modules for your CAN adapter:

Many off-the-shelf adapters (TODO: list a handful) need the gs_can driver which is widely available, in many cases even already installed or built into the kernel.

Todo

Elaborate instructions for gs_can

Todo

ADRD4161 instructions

Configure and bring up the CAN interface (replace can0 with the name of the interface, if different):

$ ip link set can0 down
$ ip link set can0 type can bitrate 500000
$ ip link set can0 up

Additionally, the can-utils package has a useful set of tools which aid in bus monitoring and troubleshooting.

If connected to an ADRD3161 board, you should see regular heartbeat messages using candump:

$ candump can0
can0  716   [1]  05
can0  716   [1]  05
can0  716   [1]  05
...

In the above snippet, 716 is the CAN message ID, and it corresponds to node ID 0x16. The following content of each line signifies a message length of 1 bytes and hexadecimal content 05. This is an CANopen NMT heartbeat message signaling the node is in the OPERATIONAL state.

To remotely reset all nodes on the bus, run:

$ cansend can0 000#0081

To remotely reset a specific node, with ID xx, run (after replacing xx with the ID in hexadecimal):

$ cansend can0 000#xx81

—

Todo

Link to software guide for programatic control, or merge these two documents?