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).
Velocity Ramp Parameter
Velocity Ramp Mode
Number
Axis
Parameter
Description
Range [Unit]
Access
4
Max. absolute
ramp velocity
The maximum velocity used for velocity ramp in
velocity mode and positioning mode. Set this value
to a realistic velocity which the motor can reach!
0 +200000
[rpm]
RWE
11
Acceleration
Acceleration parameter for ROL, ROR, and the
velocity ramp of MVP.
0… +100000
[rpm/s]
RWE
13
Ramp
generator
speed
The actual speed of the velocity ramp used for
positioning and velocity mode.
-2147483648…
+2147483647
[rpm]
R
146
Activate ramp
1: Activate velocity ramp generator for position
PID control. (Allows usage of acceleration and
positioning velocity for MVP command.)
0/1
RWE
Table 63: Velocity Ramp Mode
Position Regulation Mode
Position Regulation Mode
Number
Axis
Parameter
Description
Range [Unit]
Access
1
Actual position
Set/get the position counter without moving the
motor.
-2147483648…
+2147483647
RW
0
Target position
The target position of a currently executed ramp.
-2147483648…
+2147483647
RW
7
MVP Target
reached
velocity
Maximum velocity at which end position flag can
be set. Prevents issuing of end position when the
target is passed at high velocity.
0 +200000 [rpm]
RWE
10
MVP target
reached
distance
Maximum distance at which the position end flag
is set.
0… +100000
RWE
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
230
P parameter for
position PID
P parameter of position PID regulator.
0… 65535
RWE
226
Position PID
error
Actual error of PID position regulator
-2147483648…
+2147483647
R
Table 64: Position Regulation Mode