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).
Parameter
Description of
Velocity
Regulator Set
Parameter
Description
v
ACTUAL
Actual motor velocity (GAP 3)
v
RAMPGEN
Target velocity of ramp generator (SAP 2, GAP 13)
v
Max
Max. target velocity (SAP 4)
e
SUM
Error sum for integral calculation (GAP 229)
P
PARAM
Velocity P parameter (SAP 234)
I
PARAM
Velocity I parameter (SAP 235)
I
Max
Max. target current (SAP 6)
I
Target
Target current for current PID regulator (GAP 155)
Table 75: Parameter Description of Velocity Regulator Set