User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 49
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7 Motor Regulation
7.1 Structure of the Cascaded Motor Regulation Modes
The TMCM-1640 supports a current, velocity, and position PID regulation mode for motor control in different
application areas. These regulation modes are cascaded as shown in figure 12.1. The individual modes are
explained in the following sections.
motor
current
measurement
hall sensor
or encoder
FOC based
current PID
current
PID
values
max
target
current
(SAP 6)
target
current
target
current
(SAP 155)
target
position
(SAP 0)
actual current
velocity
PID
actual velocity
velocity
PID
values
max
target
velocity
(
SAP
4
)
ramp generator
velocity
ramp
generator
accelerat.
(SAP 11)
enable/
disable
ramp
(SAP 146)
position
PID
target
velocity
target
velocity
(SAP 2)
position
PID
values
actual position
current regulation mode
velocity regulation mode
position regulation mode
actual commutation angle
7.1 Cascaded regulation