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).
4.3 Velocity Regulation
Based on the current regulation the motor velocity can be controlled by the velocity
PID regulator.
Also, the velocity PID regulator uses a timing control value ( PID regulation loop delay ,
axis parameter 133) that determines how often the PID regulator is invoked. It is
given in multiple of 50µs:
v
ACTUAL
v
RAMPGEN
I
PARAM
/ 65536
P
PARAM
/ 256
Clip
I
CLIP
e
SUM
Clip
I
Max
I
TARGET
Clip
V
Max
Figure 3: Velocity Regulation
In order to configure the velocity regulator, do as follows:
Action:
 Set the velocity I parameter to zero.
 Start the motor by using a medium target velocity (e.g. 2000 rpm).
 Modify the velocity P parameter. Start from a low value and go to a higher value,
until the actual motor speed reaches 80 or 90% of the target velocity.
 The lasting 10 or 20% speed difference can be reduced by slowly increasing the
velocity I parameter.
Result:
Then, the actual velocity is close to the target velocity.
Timing Control
Value


 

 


= resulting delay between two PID calculations


= PID regulation loop delay parameter
i For most applications it is recommended to leave this parameter unchanged
at its default value of 50µs.
Higher values may be necessary for very slow and less dynamic drives.
Calculation Examples 3: Velocity Regulator Timing Control Value
Structure of the Velocity Regulator
Parameterizing
the Velocity
Regulator Set