Welcome to Tinymovr documentation!

Note

This documentation covers Tinymovr firmware 3.2.0 and its matching Studio release. See Release 3.2.0 for compatibility and upgrade information. For firmware 0.x.x, see the legacy documentation.

Note

In all examples, the first instance of the found motor controller is used, namely tm1. If working with subsequent instances, please replace with the correct index, e.g. instead of tm1 use tm2, tm3 etc.

Contents:

• Release 3.2.0
  • Compatibility
  • Changes since the frozen public source
  • Upgrading
• From Unbox to First Spin
  • Preparation
  • Installing and Launching Studio
  • Installing on Raspberry Pi
  • Calibrating using the Studio GUI
  • Testing Position Control using the Studio GUI
  • Connecting More Than 1 Tinymovrs
• Hardware Overview
  • R5.x
  • M5.x
  • R3.x
  • X5.1
• Hardware Setup
  • Requirements
  • Supported Motor Types
  • Mechanical Setup
  • Electrical Setup
  • Connecting Motor
  • Connecting Data
  • Connecting Power
  • Connecting Multiple Nodes (Daisy-Chaining)
• Studio Installation
  • Preparation
  • Using pip
  • Legacy source installation
• Studio Usage
  • Launching Studio
  • Alternative Adapters/Firmwares
  • Compatibility
  • Custom Device Specs
  • Issuing Commands in CLI
  • Multiple Instances
  • CAN Node ID Persistence
  • Exporting & Importing Configuration
  • Command-line options
  • Units
  • Socketcan & Linux
• Studio Web
  • Connect
  • Trajectory planner
  • Configuration and firmware
  • Usage analytics
• Integrating Tinymovr
  • Use with Python
  • Exporting & Importing Configuration
  • BusRouter API
  • Error Codes
• Comm Interfaces
  • CAN Bus
  • UART
• Sensors and Encoders
  • Connector Overview
  • Hardware Setup
  • Units
  • Reference Frames
  • Sensor Configuration
  • Examples
  • Observer Bandwidth
• Features
  • Trajectory Planner
  • Homing
  • Flux Braking
• Upgrading Firmware
  • Introduction
  • Connectivity
  • Upgrade using DFU and CAN bus
  • CAN Node ID After Firmware Update
  • Recovery Mode
  • Upgrade using ActiveFlashlight and UART
  • Upgrade using VSCode and J-Link
• Gimbal Motors
  • Introduction
  • Enabling Gimbal Mode
  • Controlling the Motor
• PID Tuning
  • Preliminaries:
  • Tuning the Velocity Controller
  • Tuning the Position Controller
  • Tips and Considerations:
  • Final Testing:
• Control Principles
  • Permanent Magnet Synchronous Motors (PMSMs)
  • Field Oriented Control (FOC)
  • Control loop Overview
  • Further Reading
  • References
• Troubleshooting
  • FAQ
• Developers
  • Overview
  • Hardware Connections
  • Preparation
  • Using VSCode
  • Using Eclipse
  • Setup Studio for Development
  • Custom Device Definitions
• Hardware Errata
  • Tinymovr Alpha CAN Bus Connector
  • Tinymovr Alpha USB Micro Connector
  • Tinymovr R5 UART Silkscreen Reversed
  • Tinymovr R5.2 FLEX2 Port as SPI
• API REFERENCE
  • protocol_hash
  • uid
  • fw_version
  • hw_revision
  • Vbus
  • Ibus
  • power
  • temp
  • calibrated
  • errors
  • warnings
  • save_config() -> void
  • erase_config() -> void
  • nvm.num_slots
  • nvm.current_slot
  • nvm.write_count
  • reset() -> void
  • enter_dfu() -> void
  • config_size
  • scheduler.load
  • scheduler.warnings
  • controller.state
  • controller.mode
  • controller.warnings
  • controller.errors
  • controller.position.setpoint
  • controller.position.p_gain
  • controller.velocity.setpoint
  • controller.velocity.limit
  • controller.velocity.p_gain
  • controller.velocity.i_gain
  • controller.velocity.deadband
  • controller.velocity.increment
  • controller.current.Iq_setpoint
  • controller.current.Id_setpoint
  • controller.current.Iq_limit
  • controller.current.Iq_estimate
  • controller.current.bandwidth
  • controller.current.Iq_p_gain
  • controller.current.max_Ibus_regen
  • controller.current.max_Ibrake
  • controller.voltage.Vq_setpoint
  • calibrate() -> void
  • idle() -> void
  • position_mode() -> void
  • velocity_mode() -> void
  • current_mode() -> void
  • set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint) -> float
  • comms.can.rate
  • comms.can.id
  • comms.can.heartbeat
  • motor.R
  • motor.L
  • motor.pole_pairs
  • motor.type
  • motor.calibrated
  • motor.I_cal
  • motor.errors
  • sensors.user_frame.position_estimate
  • sensors.user_frame.velocity_estimate
  • sensors.user_frame.offset
  • sensors.user_frame.multiplier
  • sensors.setup.onboard.calibrated
  • sensors.setup.onboard.errors
  • sensors.setup.external_spi.type
  • sensors.setup.external_spi.rate
  • sensors.setup.external_spi.calibrated
  • sensors.setup.external_spi.errors
  • sensors.setup.hall.calibrated
  • sensors.setup.hall.errors
  • sensors.select.position_sensor.connection
  • sensors.select.position_sensor.bandwidth
  • sensors.select.position_sensor.raw_angle
  • sensors.select.position_sensor.position_estimate
  • sensors.select.position_sensor.velocity_estimate
  • sensors.select.commutation_sensor.connection
  • sensors.select.commutation_sensor.bandwidth
  • sensors.select.commutation_sensor.raw_angle
  • sensors.select.commutation_sensor.position_estimate
  • sensors.select.commutation_sensor.velocity_estimate
  • sensors.select.transform_init.mode
  • traj_planner.max_accel
  • traj_planner.max_decel
  • traj_planner.max_vel
  • traj_planner.t_accel
  • traj_planner.t_decel
  • traj_planner.t_total
  • move_to(float pos_setpoint) -> void
  • move_to_tlimit(float pos_setpoint) -> void
  • traj_planner.errors
  • homing.velocity
  • homing.max_homing_t
  • homing.retract_dist
  • homing.warnings
  • homing.stall_detect.velocity
  • homing.stall_detect.delta_pos
  • homing.stall_detect.t
  • home() -> void
  • watchdog.enabled
  • watchdog.triggered
  • watchdog.timeout