User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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Read entire documentation; especially the 6 “Supplemental Directives” (page 51).
Velocity Regulation Mode
Number
Axis Parameter
Description
Range [Unit]
Access
9
Motor halted
velocity
If the actual speed is below this value the
motor halted flag is set.
0 +200000 [rpm]
RWE
133
PID regulation
loop delay
Delay of the position and velocity regulator
0… +20
[µs]
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
228
Velocity PID error
Actual error of PID velocity regulator
-2147483648…
[phone]
R
229
Velocity PID error
sum
Sum of errors of PID velocity regulator
-2147483648…
[phone]
R
Table 62: Velocity Regulation Mode