Datasheet
TMC4671 Datasheet • IC Version V1.3 | Document Revision V2.00 • 2020-Apr-17
90 / 142
PID_VELOCITY_LIMIT u32(31:0) Velocity limit.
0x61
h
PID_POSITION_LIMIT_LOW
PID_POSITION_LIMIT_LOW s32(31:0)
Position limit low, programmable
positon barrier.
0x62
h
PID_POSITION_LIMIT_HIGH
PID_POSITION_LIMIT_HIGH s32(31:0)
Position limit high, programmable
positon barrier.
0x63
h
MODE_RAMP_MODE_MOTION
MODE_MOTION u8(7:0) 0: stopped_mode
1: torque_mode
2: velocity_mode
3: position_mode
4: prbs_flux_mode
5: prbs_torque_mode
6: prbs_velocity_mode
7: prbs_position_mode
8: uq_ud_ext
9: reserved
10: AGPI_A torque_mode
11: AGPI_A velocity_mode
12: AGPI_A position_mode
13: PWM_I torque_mode
14: PWM_I velocity_mode
15: PWM_I position_mode
MODE_FF u8(23:16) 0: disabled
1: velocity control
2: torque control
MODE_PID_SMPL u7(30:24)
MODE_PID_TYPE bit(31) 0: parallel PI
1: sequential PI
0x64
h
PID_TORQUE_FLUX_TARGET
PID_FLUX_TARGET s16(15:0)
PID_TORQUE_TARGET s16(31:16)
0x65
h
PID_TORQUE_FLUX_OFFSET
PID_FLUX_OFFSET s16(15:0)
Flux offset for feed forward con-
trol.
©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