User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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© 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).
Motor Regulation
4.1 Structure of Cascaded Motor Regulation Modes
The TMCC160-EVAL supports a current, velocity, and position PID regulation mode for motor
control in different application areas. These regulation modes are cascaded as shown in Figure 1
below. Individual modes are explained in the following sections.
motor
current
measurement
hall sensor
or encoder
FOC based
current PID
current
PI D
values
max
target
current
(SAP 6)
target
current
target
current
(SAP 155)
target
position
(SAP 0)
actual current
velocity
PID
actual velocity
velocity
PI D
values
max
target
velocity
(
SAP
4
)
ramp generator
velocity
ramp
generator
accelerat.
(SAP 11)
enable/
disable
ramp
(SAP 146)
position
PID
target
velocity
target
velocity
(SAP 2)
position
PI D
values
actual position
current regulation mode
velocity regulation mode
position regulation mode
actual commutation angle
Figure 1: Cascaded Regulation
4.2 Current Regulation
The current regulation mode uses a PID regulator to adjust a desired motor current.
This target current can be set by axis parameter 155. The maximal target current is
limited by axis parameter 6.
The PID regulation uses three basic parameters:
 The P value.
 The I value .
 The timing control value.
 Please turn page for more information on the timing control value.
Axis Parameter
155: Target
Current Settings