Datasheet

TMC4671 Datasheet • IC Version V1.3 | Document Revision V2.00 • 2020-Apr-17
91 / 142
PID_TORQUE_OFFSET s16(31:16) Torque offset for feed forward con-
trol.
0x66
h
PID_VELOCITY_TARGET
PID_VELOCITY_TARGET s32(31:0) Target velocity register (for velocity
mode).
0x67
h
PID_VELOCITY_OFFSET
PID_VELOCITY_OFFSET s32(31:0) Velocity offset for feed forward
control.
0x68
h
PID_POSITION_TARGET
PID_POSITION_TARGET s32(31:0) Target position register (for posi-
tion mode).
0x69
h
PID_TORQUE_FLUX_ACTUAL
PID_FLUX_ACTUAL s16(15:0)
PID_TORQUE_ACTUAL s16(31:16)
0x6A
h
PID_VELOCITY_ACTUAL
PID_VELOCITY_ACTUAL s32(31:0) Actual velocity.
0x6B
h
PID_POSITION_ACTUAL
PID_POSITION_ACTUAL s32(31:0) Actual multi turn position for posi-
tioning. Input position differences
are accumulated. Lower 16 bits
display one revolution of input an-
gle. Upper 16 bits display revolu-
tions. WRITE on PID_POSITION_
ACTUAL writes same value into
PID_POSITION_TARGET to avoid
unwanted move.
0x6C
h
PID_ERROR_DATA
PID_TORQUE_ERROR s32(31:0) PID torque error.
PID_FLUX_ERROR s32(31:0) PID flux error.
PID_VELOCITY_ERROR s32(31:0) PID velocity error.
PID_POSITION_ERROR s32(31:0) PID position error.
PID_TORQUE_ERROR_SUM s32(31:0) PID torque error.
PID_FLUX_ERROR_SUM s32(31:0) PID flux error sum.
PID_VELOCITY_ERROR_SUM s32(31:0) PID velocity error sum.
PID_POSITION_ERROR_SUM s32(31:0) PID position error sum.
0x6D
h
PID_ERROR_ADDR
PID_ERROR_ADDR u8(7:0) 0: PID_TORQUE_ERROR
1: PID_FLUX_ERROR
2: PID_VELOCITY_ERROR
3: PID_POSITION_ERROR
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