Datasheet

TMC4671 Datasheet • IC Version V1.3 | Document Revision V2.00 • 2020-Apr-17

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Y_PID_POSITION = PID_POSITION_P * ERROR_POSITION / 65536

Y_PID_POSITION_RATE = PID_POSITION_I * ERROR_POSITION / 65536 / (256 µs)

Table 18: Scalings and Change Rate Timings of PID controllers (classic structure) for currents, velocity, and

position for clock frequency fCLK = 25MHz

Number Motion Mode Description

0 Stopped Mode Disabling all controllers

1 Torque Mode Standard Torque Control Mode

2 Velocity Mode Standard Velocity Control Mode

3 Position Mode Standard Position Control Mode

4 PRBS Flux Mode PRBS Value is used as Target Flux Value for Ident.

5 PRBS Torque Mode PRBS Value is used as Target Torque Value for Ident.

6 PRBS Velocity Mode PRBS Value is used as Target Velocity Value for Ident.

7 PRBS Position Mode PRBS Value is used as Target Position Value for Ident.

8 UQ UD Ext Mode Voltage control mode (Software Mode)

9 reserved reserved

10 AGPI_A Torque Mode AGPI_A used as Target Torque value

11 AGPI_A Velocity Mode AGPI_A used as Target Velocity value

12 AGPI_A Position Mode AGPI_A used as Target Position value

13 PWM_I Torque Mode PWM_I used as Target Torque value

14 PWM_I Velocity Mode PWM_I used as Target Velocity value

15 PWM_I Position Mode PWM_I used as Target Position value

Table 19: Motion Modes

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