User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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© 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 6 “Supplemental Directives” (page 51).
Axis Parameter Description (Numbers 1- …254)
Number
Axis
Parameter
Description
Range [Unit]
Access
28
I
2
T exceed
counter
Counts how often an I²t sum was higher than the
I²t limit.
0..4294967295
RWE
29
Clear I
2
T
exceeded flag
Clear the flag that indicates that the I²t sum has
exceeded the I²t limit.
(ignored)
W
31
BLDC
re-initialization
Restart timer and BLDC regulation.
(ignored)
W
133
PID regulation
loop delay
Delay of the position and velocity regulator
0… +20
[50µs]
RWE
134
Current
regulation loop
delay
Delay of the current regulator.
0… +10
[50µs]
RWE
146
Activate ramp
1: Activate velocity ramp generator for position
and velocity mode. (Allows usage of acceleration
and positioning velocity for MVP command.)
0/1
RWE
150
Actual motor
current
Get actual motor current.
-2147483648…
[phone]
[mA]
R
151
Actual voltage
Actual supply voltage.
0…+480
[100mV]
R
152
Actual driver
temperature
Actual temperature of the motor driver.
0…
[phone]
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)
-14000…
+14000
[mA]
RW
156
Error/Status
flags
Bit 0: Overcurrent flag. This flag is set if the
max. current limit is exceeded.
Bit 1: Undervoltage flag. This flag is set if supply
voltage is too low for motor operation.
Bit 2: Overvoltage flag. This flag is set if the
motor becomes switched off due to overvoltage.
Bit 3: Overtemperature flag. This flag is set if
overtemperature limit is exceeded.
Bit 4: Motor halted flag. This flag is set if the
velocity does not reach the value set with
GAP/SAP 9.
Bit 5: Hall error flag. This flag is set upon a hall
error.
Bit 6: Driver error flag
Bit 7: Init error flag
Bit 8: Stop mode active flag
Bit 9: Velocity mode active flag
Bit 10: Position mode active flag.
Bit 11: Torque mode active flag.
Bit 12: unused
Bit 13: unused
Bit 14: Position end flag. This flag is set if the
motor has been stopped at the target position.
Bit 15: Module initialized flag
Flag 0 to 15 are automatically reset.
0…[phone]
95
R
159
Commutation
mode
0: Block based on hall sensor
6: FOC based on hall sensor
7: FOC based on encoder
8: FOC controlled
0, 6, 7, 8
RWE