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).
2.1 Axis Parameters Sorted by Functionality
The following section describes all axis parameters that can be used with the SAP, GAP, STAP,
RSAP and AAP commands.
Functional Access Type Description
Access
Type
Related
Command(s)
Description
R
GAP
Parameter readable.
W
SAP, AAP
Parameter writable.
E
STAP, RSAP
Parameter automatically restored from EEPROM after reset or power-on.
These parameters can be stored permanently in EEPROM using STAP
command and also explicitly restored (copied back from EEPROM into RAM)
using RSAP.
Table 58: Functional Access Type Descriptions
Axis Parameter Motor Settings
Number
Axis
Parameter
Description
Range [Unit]
Access
253
Number of
motor poles
Number of motor poles.
+2… +254
RWE
Table 59: Axis Parameter Motor Settings
Axis Parameter Encoder / Initialization Settings
Number
Axis Parameter
Description
Range [Unit]
Access
31
BLDC
re-initialization
Restart timer and bldc regulation.
(ignored)
W
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
165
Actual encoder
commutation
offset
This value represents the internal commutation
offset.
(0 … max. encoder steps per rotation)
0… 65535
RWE
177
Start current
Motor current for controlled commutation.
0… +14000
[mA]
RWE
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
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