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 Encoder / Initialization Settings
Number
Axis Parameter
Description
Range [Unit]
Access
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… 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
254
Hall sensor invert
1: Invert the hall scheme
0/1
RWE
Table 60: Axis Parameter Encoder / Initialization Settings
Torque Regulation Mode
Number
Axis Parameter
Description
Range [Unit]
Access
6
Max current
Set/get the max allowed motor current.
*This value can be temporarily exceeded
marginal due to the operation of the current
regulator.
0… +14000
[mA]
RWE
150
Actual motor
current
Get actual motor current.
-2147483648…
+2147483647
[mA]
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
134
Current regulation
loop delay
Delay of the current regulator.
0… +10
[50µs]
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
200
Current PID error
Actual error of current PID regulator
-2147483648…
+2147483647
R
201
Current PID error
sum
Error sum of current PID regulator
-2147483648…
+2147483647
R
208
Dual shunt factor
Manually adjust the dual shunt current
measurement factor.
RWEX
Table 61: Torque Regulation Mode
Velocity Regulation Mode
Velocity Regulation Mode
Number
Axis Parameter
Description
Range [Unit]
Access
2
Target velocity
Set/get the desired target velocity.
-200000…+200000
[rpm]
RW
3
Actual velocity
The actual velocity of the motor.
-2147483648…
+2147483647
[rpm]
R