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).
Only the P parameter of the position regulator must to be parameterized because the
regulator is based on the velocity regulator.
In order to configure the position regular, do as follows:
Action:
Disable the velocity ramp generator and set position P parameter to zero.
Choose a target position and increase the position P parameter until the actual
motor position is close to the target position.
Switch on the velocity ramp generator. Based on the max. Positioning velocity
(axis parameter 4) and the acceleration value (axis parameter 11) the ramp
generator automatically calculates the slow down point, i.e. the point at which
the velocity has to be reduced in order to stop at the desired target position.
i Reaching the target position is signaled by setting the position end flag.
Result:
Then, the actual position is close to the target position.
NOTE:
In order to minimize the time until this flag becomes set, the positioning tolerance
MVP target reached distance can be chosen with axis parameter 10.
Since the motor typically is assumed not to signal target reached when the target
was just passed in a short moment at a high velocity, additionally the maximum
target reached velocity (MVP target reached velocity) can be defined by axis
parameter 7.
A value of zero for axis parameter 7 is the most universal, since it implies that
the motor stands still at the target. But when a fast rising of the position end flag
is desired, a higher value for the MVP target reached velocity parameter will save
a lot of time. The best value should be tried out in the actual application.
Parameterizing
the Position
Regulation
Position Regulation Parameters
Parameter
Description
n
ACTUAL
Actual motor position (GAP 1)
n
TARGET
Target motor position (SAP 0)
P
PARAM
Position P parameter (SAP 230)
V
MAX
Max. allowed velocity (SAP 4)
V
TARGET
New target velocity for ramp generator (GAP 13)
Table 76: Position Regulation Parameters
Position
Regulation
Parameters