User Manual

TMCC160 TMCL Firmware Version 2.11 2018-FEB-08 | Document Revision 1.01 2018-FEB-08
© 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
214
Driver
diagnostic
Driver diagnostic value
0..1000 [0,1%]
R
215
Driver
acknowledge
Acknowledge driver status.
(ignored)
W
216
Enable driver
SPI
Disable the driver and initialize the driver SPI
access.
(ignored)
W
217
Driver status
register 2
Read/Write driver status register 2
-2147483648…
+2147483647
RW
218
Driver status
register 3
Read/Write driver status register 3
-2147483648…
+2147483647
RW
219
Driver status
register 4
Read/Write driver status register 4
-2147483648…
+2147483647
RW
226
Position PID
error
Actual error of position PID regulator
-2147483648…
+2147483647
R
228
Velocity PID
error
Actual error of velocity PID regulator
-2147483648…
+2147483647
R
229
Velocity PID
error sum
Sum of errors of velocity PID regulator
-2147483648…
+2147483647
R
230
P parameter for
position PID
P parameter of position PID regulator.
0… 65535
RWE
234
P parameter for
velocity PID
P parameter of velocity PID regulator.
0… 65535
RWE
235
I parameter for
velocity PID
I parameter of velocity PID regulator.
0… 65535
RWE
237
Enable brake
chopper
Enable brake chopper functionality.
0 / 1
RWE
238
Brake chopper
limit voltage
If the brake chopper is enabled and supply
voltage exceeds this value, the brake chopper
output will be activated.
50..480
[100mV]
RWE
239
Brake chopper
hysteresis
An activated brake chopper will be disabled if the
actual supply voltage is lower than (limit voltage-
hysteresis).
0..50 [100mV]
RWE
241
Sine
initialization
speed
Velocity during initialization in encoder init mode
2. Refer to axis parameter 249, too.
-200000…
+200000 [rpm]
RWE
244
Init sine delay
Duration for sine initialization sequence. This
parameter should be set in a way, that the motor
has stopped mechanical oscillations after the
specified time.
0… 10000
[ms]
RWE
249
Encoder Init
mode
0: Initialization in controlled sine commutation
(determines the encoder offset)
1: Initialization in block commutation using hall
sensors
2: Initialization in controlled sine commutation
(use the previous set encoder offset)
0, 1, 2
RWE
250
Encoder steps
Encoder steps per rotation.
0… +65535
RWE
251
Encoder
direction
Set the encoder direction in a way, that ROR
increases position counter.
0/1
RWE
252
Hall
interpolation
Select hall interpolation to interpolate the 16-bit
FOC commutation angle between hall states.
0/1
RWE
253
Number of
motor poles
Number of motor poles.
+2… +254
RWE