User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 44
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Number
Axis Parameter
Description
Range [Unit]
Access
177
Start current
Motor current for controlled commutation. This
parameter is used in commutation mode.
0… [phone]
[mA]
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)
0… 2
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
159
Commutation
mode
6: FOC based on hall sensor
7: FOC based on encoder
6, 7
RWE
TORQUE REGULATION MODE
Number
Axis Parameter
Description
Range [Unit]
Access
6
Max current
Set/get the max allowed motor current.
This value can be temporarily exceeded marginal due to the
operation of the current regulator.
0… [phone]
[mA]
RWE
150
Actual motor
current
Get actual motor current.
-2147483648…
[phone]
[mA]
R
155
Target current
Get desired target current or set target current to
activate current regulation mode. (+= turn motor
in right direction; -= turn motor in left direction)
-2147483648…
[phone]
[mA]
RW
134
Current
regulation loop
delay
Delay of the PID current regulator.
0… [phone]
[50µs]
RWE
172
P parameter for
current PID
P parameter of current PID regulator.
-2147483648…
[phone]
RWE
173
I parameter for
current PID
I parameter of current PID regulator.
-2147483648…
[phone]
RWE
200
Current PID
error
Actual error of current PID regulator
-2147483648…
[phone]
R
201
Current PID
error sum
Sum of errors of current PID regulator
-2147483648…
[phone]
R
VELOCITY REGULATION MODE
Number
Axis Parameter
Description
Range [Unit]
Access
3
Actual speed
The actual velocity of the motor.
-2147483648…
[phone]
[rpm]
R
2
Target speed
Set/get the desired target velocity.
-2147483648…
[phone]
[rpm]
RW
9
Motor halted
velocity
If the actual speed is below this value the motor
halted flag will be set.
-2147483648…
[phone]
[rpm]
RWE
133
PID regulation
loop delay
Delay of the position and velocity
0… [phone]
[ms]
RWE
234
P parameter for
velocity PID
P parameter of velocity PID regulator.
-2147483648…
[phone]
RWE
235
I parameter for
velocity PID
I parameter of velocity PID regulator.
-2147483648…
[phone]
RWE
228
Velocity PID
error
Actual error of PID velocity regulator
-2147483648…
[phone]
R