Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
210/230
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
PID & Closed-Loop Registers
PID and Closed-Loop Registers
R/W
Addr
Bit
Val
Description
RW
0x1C
8:0
CL_BETA (0x0FF)
U
Maximum commutation angle for closed-loop regulation.
i Set CL_BETA > 255 carefully (esp. if cl_vlimit_en = 1).
i Exactly 255 is recommended for best performance.
23:16
CL_GAMMA (Default:0xFF)
U
Maximum balancing angle to compensate back-EMF at higher velocities during
closed-loop regulation.
RW
0x59
31:0
CL_OFFSET (Default: 0x00000000)
(Closed-loop operation)
S
Offset between ENC_POS and XACTUAL after closed-loop calibration. It is set
during closed-loop calibration process. It can be written manually.
W
0x5A
23:0
PID_P (Default: 0x000000)
(PID regulation)
U
Parameter P of PID regulator. Proportional term = PID_E · PID_P / 256
W
CL_VMAX_CALC_P (Default: 0x000000)
(Closed-loop operation)
U
Parameter P of PI regulator controls maximum catch-up velocity limitation.
R
31:0
PID_VEL (Default: 0x00000000)
(PID regulation)
S
Actual PID output velocity.
W
0x5B
23:0
PID_I ( Default: 0x000000)
(PID regulation)
U
Parameter I of PID regulator. Integral term = PID_ISUM / 256 · PID_I / 256
W
CL_VMAX_CALC_I (Default: 0x000000)
(Closed-loop operation)
U
Parameter I of PI regulator controls maximum catch-up velocity limitation.
R
31:0
PID_ISUM_RD ( Default: 0x00000000)
(PID regulation)
S
Actual PID integrator sum. Update frequency = f
CLK
/128
W
0x5C
23:0
PID_D (Default: 0x000000)
(PID regulation)
U
Parameter D of PID regulator. PID_E is sampled with f
CLK
/ 128 / PID_D_CLKDIV .
Derivative term = (PID_E
LAST
– PID_E
ACTUAL
) · PID_D
W
CL_DELTA_P (Default: 0x000000)
(Closed-loop operation)
U
Gain parameter that is multiplied with the actual position difference in order to
calculate the actual commutation angle for position maintenance stiffness. Clipped
at CL_BETA. Real value = CL_DELTA_P / 2
16
;Ex: 65536  1.0 (gain=1)
Value representation: 8 digits and 16 decimal places.
W
0x5D
14:0
PID_I_CLIP (Default: 0x0000)
(PID regulation) (Closed-loop operation)
U
Clipping parameter for PID_ISUM . Real value = PID_ISUM • 2
16
• PID_ICLIP
W
23:16
PID_D_CLKDIV (Default:0x00)
(PID regulation)
U
Clock divider for D part calculation.
R
31:0
PID_E (Default:0x00000000)
(PID regulation)
S
Actual position deviation.
W
0x5E
30:0
PID_DV_CLIP (Default:0x00000000)
(PID regulation) (Closed-loop operation)
U
Clipping parameter for PID_VEL .
 Continued on next page.