User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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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
161
Encoder set
NULL
1: set position counter to zero at next N channel
event.
0/1
RWE
163
Encoder clear
set NULL
1: set position counter to zero only once
0: always at an N channel event
0/1
RWE
165
Actual encoder
commutation
offset
This value represents the internal commutation
offset.
(0 … max. encoder steps per rotation – 1)
0… 65535
RWE
172
P parameter for
current PID
P parameter of current PID regulator.
0… 65535
RWE
173
I parameter for
current PID
I parameter of current PID regulator.
0… 65535
RWE
175
Single-shunt
offset
The actual ADC offset of the single-shunt current
measurement.
0..4095
RWE
176
single-shunt
vref
Manually set/get the single-shunt reference
voltage.
RWEX
177
Start current
Motor current for controlled commutation.
0… +14000
[mA]
RWE
190
Debug value 0
Freely usable debugging value.
RW
191
Debug value 1
Freely usable debugging value.
RW
192
Debug value 2
Freely usable debugging value.
RW
193
Debug value 3
Freely usable debugging value.
RW
194
Debug value 4
Freely usable debugging value.
RW
195
Debug value 5
Freely usable debugging value.
RW
196
Debug value 6
Freely usable debugging value.
RW
197
Debug value 7
Freely usable debugging value.
RW
198
Debug value 8
Freely usable debugging value.
RW
199
Debug value 9
Freely usable debugging value.
RW
200
Current PID
error
Actual error of current PID regulator
-2147483648…
[phone]
R
201
Current PID
error sum
Error sum of current PID regulator
-2147483648…
[phone]
R
202
Flux PID error
Actual error of flux PID regulator
-2147483648…
[phone]
R
203
Flux PID error
sum
Error sum of flux PID regulator
-2147483648…
[phone]
R
205
Enable single-
shunt
measurement
Use single-shunt measurement for block
commutation.
0..1
RWE
208
Dual shunt
factor
Manually adjust the dual shunt current
measurement factor.
RWEX
209
Single shunt
factor
Manually adjust the single shunt current
measurement factor.
RWEX
210
Actual hall
angle
Actual hall angle value
-32767…
+32767
R
211
Actual encoder
angle
Actual encoder angle value
-32767…
+32767
R
212
Actual
controlled angle
Actual controlled angle value
-32767…
+32767
R