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).
The timing control value ( current regulation loop multiplier , axis parameter 134)
determines how often the current regulation is invoked.
It is given in multiple of 50µs:
I
ACTUAL
˗
I
TARGET
+
P
PARAM
/256
X
I
PARAM
/65536
X
+
Clip
-32768..
+32767
SVPWM
Clip
I
Max
Clip
I
CLIP
e
SUM
Figure 2: Current Regulation
In order to configure the current regulator, do as follows:
Action:
 Set the P parameter and I parameter to zero.
 Start the motor by using a low target current (e.g. 1000 mA).
 Modify the current P parameter. Start from a low value and go to a higher value,
until the actual current nearly reaches 50% of the desired target current.
 Do the same with the current I parameter.
Result:
Then, the actual motor current is close to the target current.
NOTE:
 See descriptions in the Table below.
 For all tests set the motor current limitation to a realistic value, so that your
power supply does not become overloaded during acceleration phases. If your
power supply reaches current limitation, the unit may reset or undetermined
regulation results may occur.
 Turn page for list of Current Regulation Parameters (Table 74)
Timing Control
Value
Calculation
Example


 

 


= resulting delay between two current regulation loops


= current regulation loop multiplier parameter
i For most applications it is recommended to leave this parameter unchanged
– at its default of 1*50µs. Higher values may be necessary for very slow
and less dynamic drives.
Calculation Examples 2: Current Regulator Timing Control Value
Structure of the Current Regulator
Parameterizing
the Current
Regulator Set
Current
Regulation
Parameters