Datasheet

TMC4671 Datasheet • IC Version V1.3 | Document Revision V2.00 • 2020-Apr-17
89 / 142
12: phi_m_hal
0x52
h
PHI_E_SELECTION
PHI_E_SELECTION u8(7:0) 0: reserved
1: phi_e_ext
2: phi_e_openloop
3: phi_e_abn
4: reserved
5: phi_e_hal
6: phi_e_aenc
7: phi_a_aenc
0x53
h
PHI_E
PHI_E s16(15:0) Angle used for the inner FOC loop.
0x54
h
PID_FLUX_P_FLUX_I
PID_FLUX_I s16(15:0)
PID_FLUX_P s16(31:16)
0x56
h
PID_TORQUE_P_TORQUE_I
PID_TORQUE_I s16(15:0)
PID_TORQUE_P s16(31:16)
0x58
h
PID_VELOCITY_P_VELOCITY_I
PID_VELOCITY_I s16(15:0)
PID_VELOCITY_P s16(31:16)
0x5A
h
PID_POSITION_P_POSITION_I
PID_POSITION_I s16(15:0)
PID_POSITION_P s16(31:16)
0x5C
h
PID_TORQUE_FLUX_TARGET_DDT_LIMITS
PID_TORQUE_FLUX_TARGET_DDT_LIMITS u32(31:0) Limits of change in time [d/dt] of
the target torque and target flux.
0x5D
h
PIDOUT_UQ_UD_LIMITS
PIDOUT_UQ_UD_LIMITS u16(15:0) Two dimensional circular limiter
for inputs of iPark.
0x5E
h
PID_TORQUE_FLUX_LIMITS
PID_TORQUE_FLUX_LIMITS u16(15:0) PID torque limt and PID flux limit,
limits the target values coming
from the target registers.
0x5F
h
PID_ACCELERATION_LIMIT
PID_ACCELERATION_LIMIT u32(31:0) Acceleration limit.
0x60
h
PID_VELOCITY_LIMIT
©2020 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com