User Manual

TMCM-3351 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.06 • 2019-APR-26
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Number Axis Parameter Description Range [Units] Access
112 CL offset Offset for closed loop operation. Measured dur-
ing closed loop initialization.
-2147483648
. . . 2147483647
RW
113 CL current
minimum
Minimum current setting in closed loop opera-
tion.
0. . . 255 RW
114 CL current
maximum
Maximum current setting in closed loop opera-
tion.
0. . . 255 RW
115 CL correction
velocity P
Parameter P of the PI regulator which controls
the maximum velocity during closed loop regu-
lation.
0. . . 16777215 RW
116 CL correction
velocity I
Parameter I of PI regulator which controls the
maximum velocity during closed loop regulation.
0. . . 16777215 RW
117 CL correction
velocity I
clipping
Clipping of the error sum of the integral part of
the PI regulator which controls the maximum
velocity during closed loop regulation.
0. . . 32767 RW
118 CL correction
velocity DV
clock
Clock divider for D part calculation. 0. . . 32767 RW
119 CL correction
velocity DV
clipping
Limit maximum velocity deviation above the
maximum velocity.
0. . .
2147483647
RW
120 CL upscale
delay
Delay when increasing motor current during
closed loop operation.
0. . . 16777215 RW
121 CL downscale
delay
Delay when decreasing motor current during
closed loop operation.
0. . . 16777215 RW
123 Actual scaler
value
Actual value of the closed-loop current scaler. 0. . . 255 R
124 CL correction
position P
Proportional controller P parameter for compen-
sating a detected position deviation. Resulting P
parameter is this parameter divided by 65536.
0. . . 16777215 RW
125 CL max.
correction
tolerance
Tolerance range for position deviation. 0. . . 255 RW
126 CL start up Tolerance range for position deviation. If posi-
tion deviation is within the CL start up window
the current will not ramp up.
0. . . 255 RW
127 Relative
positioning
option
Start position for MVP REL command:
0 last target position
1 actual position
2 encoder position
0/1 RW
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