Datasheet
TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
159/230
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 224.
MAIN MANUAL
Based on a position difference error
PID_E
=
XACTUAL
–
ENC
_
POS
the
PID (proportional integral differential) controller calculates a signed velocity value
(v
PID
), which is used for minimizing the position error. During this process, TMC4361A
moves with v
PID
until |
PID
_
E
| –
PID
_
TOLERANCE
≤ 0 is reached and the position error
is removed.
v
PID
is calculated by:
Key:
PID_P = proportional term; PID_I = integral term; PID_D = derivate term
The following parameters can be read out during PID operation.
Actual PID output velocity.
Actual PID position deviation between
XACTUAL
and
ENC_POS
.
Actual PID integrator sum (update frequency: f
CLK
/128), which is calculated by:
PID_ISUM
=
PID_E
· f
CLK
/128
Turn page for information on configuration of PID regulation.
PID-based
Control of
XACTUAL
PID Readout
Parameters
PID_VEL 0x5A
PID_E 0x5D
PID_ISUM 0x5B