User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 42
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Number
Axis Parameter
Description
Range [Unit]
Access
235
I parameter for
velocity PID
I parameter of velocity PID regulator.
-2147483648…
[phone]
RWE
238
Mass inertia
constant
Mass inertia constant. Compensates the rotor
inertia of the motor.
-2147483648…
[phone]
RWE
239
BEMF constant
BEMF constant of the motor. Used for current,
position, and velocity regulation.
-2147483648…
[phone]
[rpm/(10V)]
RWE
240
Motor coil
resistance
Resistance of motor coil. Used for current,
position, and velocity regulation.
-2147483648…
[phone] [mΩ]
RWE
244
Init sine delay
Duration for sine initialization sequence. This
parameter should be set in a way, that the
motor has stopped mechanical oscillations after
the specified time.
-32768… +32767
[ms]
RWE
245
Overvoltage
protection
1: Enable overvoltage protection.
0/1
RWE
249
Init sine mode
0: Initialization in controlled sine commutation
(determines the encoder offset)
1: Initialization in block commutation using hall
sensors
2: Initialization in controlled sine commutation
(use the previous set encoder offset)
-128… +127
RWE
250
Encoder steps
Encoder steps per rotation.
0… [phone]
RWE
251
Encoder
direction
Set the encoder direction in a way, that ROR
increases position counter.
0/1
RWE
253
Number of
motor poles
Number of motor poles.
+2… +254
RWE
254
Hall sensor
invert
1: Hall sensor invert. Invert the hall scheme, e.g.
used by some Maxon motors.
0/1
RWE