Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
211/230
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
W
0x5F
19:0
PID_TOLERANCE (Default:0x00000)
(PID regulation)
U
Tolerated position deviation: PID_E = 0 in case | PID_E | < PID_TOLERANCE
W
7:0
CL_TOLERANCE (Default:0x00)
(Closed-loop operation)
U
Tolerated position deviation:
CL_DELTA_P = 65536 (gain=1) in case | ENC_POS_DEV | < CL_TOLERANCE
W
0x60
23:0
CL_VMIN_EMF (Default:0x000000)
(Closed-loop operation)
U
Encoder velocity at which back-EMF compensation starts.
2
nd
assignment: Also used as DC_VEL if dcStep is enabled (see section 19.27. )
3
rd
assignment: Also used as FS_VEL if no dcStep or closed-loop is enabled (see 19.16. )
W
0x61
23:0
CL_VADD_EMF (Default:0x000000)
U
Additional velocity value to calculate the encoder velocity at which back-EMF
compensation reaches the maximum angle CL_GAMMA.
31:0
2
nd
assignment: Also used as a dcStep configuration register (see section 19.27. )
W
0x62
31:0
ENC_VEL_ZERO (Default:0xFFFFFF)
U
Delay time [# clock cycles] after the last incremental encoder change to set
V_ENC_MEAN = 0.
W
0x63
7:0
ENC_VMEAN_WAIT (Default:0x00)
(incremental encoders only)
U
Delay period [# clock cycles] between two consecutive actual encoder velocity
values that account for calculaton of mean encoder velocity.
Set ENC_VMEAN_WAIT > 32.
i Is set automatically to SER_PTIME for absolute SSI/SPI encoder.
7:0
SER_ENC_VARIATION (Default:0x00)
(absolute encoders only)
U
Multiplier for maximum permitted serial encoder variation between consecutive
absolute encoder requests.
Maximum permitted value = ENC_VARIATION / 256 • 1/8 •
ENC_IN_RES.
If ENC_VARIATION = 0: Maximum permitted value = 1/8 •
ENC_IN_RES.
11:8
ENC_VMEAN_FILTER (Default:0x0)
U
Filter exponent to calculate mean encoder velocity.
31:16
ENC_VMEAN_INT (Default:0x0000)
(incremental encoders only)
U
Encoder velocity update time [# clock cycles].
i Minimum value is set automatically to 256.
31:16
CL_CYCLE (Default:0x0000)
(absolute encoders only)
U
Closed-loop control cycle [# clock cycles].
i Is set automatically to fastest possible cycle for ABN encoders.
R
0x65
31:0
V_ENC (Default:0x00000000)
S
Actual encoder velocity [pps].
0x66
31:0
V_ENC_MEAN (Default:0x00000000)
S
Filtered encoder velocity [pps].
Table 90: PID and Closed-Loop Registers