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).
|Velocity|
Position
Target position
(set via MVP)
Max. positioning
velocity
MVP target reached distance
Slow-down-distance
Motor regulated by
Velocity PID
Motor regulated by
combination of
Velocity and Position
PID
Acceleration
MVP target
reached velocity
Target reached flag
only set when velocity
and position are in
this area.
Figure 5: Positioning Algorithm
NOTE:
 Depending on motor and mechanics a low oscillation is normal. This can be
reduced to at least +/-1 encoder steps. Without oscillation the regulation cannot
keep the position!
Correlation of Axis Parameters 10 and 7, the Target Position, and the Position End Flag