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).
4.4 Velocity Ramp Generator
For a controlled startup of the motor's velocity a velocity ramp generator can be
activated or deactivated by axis parameter 146.
The ramp generator uses the maximal allowed motor velocity (axis parameter 4), the
acceleration (axis parameter 11) und the desired target velocity (axis parameter 2) to
calculate a ramp generator velocity for the following velocity PID regulator.
4.5 Position Regulation
Based on current and velocity regulators, the TMCC160 supports a positioning mode
configured with encoder or hall sensor position.
During positioning the velocity ramp generator can be activated to enable motor
positioning with controlled acceleration or it can be disabled to support motor
positioning with max allowed speed.
i The PID regulation uses two basic parameters: the
P
regulation and a
timing control
value.
The timing control value (
PID regulation loop parameter
- axis parameter 133)
determines how often the PID regulator is invoked. It is given in multiple of 50µs:
n
ACTUAL
n
TARGET
P
PARAM
/256
Clip
V
MAX
V
TARGET
Clip
±65535
Figure 4: Positioning Regulation
Axis
Parameter 146
Positioning
Mode
Configuration
Timing Control
Value
= the resulting delay between two position regulation loops
= PID regulation loop multiplier parameter
i For most applications it is recommended to leave the timing control value
unchanged at its default of 50µs. Higher values may be necessary for very
slow and less dynamic drives.
Calculation Examples 4: Position Regulator Timing Control Value
Structure of the Position Regulator