TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
37
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number Axis parameter
Description
Range [Unit]
32
PID d factor
D parameter (unsigned),
pid_e
is sampled with a frequency
of
(f
CLK
[Hz]/128/
pid_d_clkdiv
).
Result: (
pid_e
_last–
pid_e
_now) *
pid_d
(The delta-error (
pid_e
_last–
pid_e
_now) becomes clipped to +/-
127)
0…1677215
33
PID i clipping
Clipping parameter for
pid_isum
Clipping of
(
pid_isum
*2^16*
pid_iclip
)
0…32640
34
PID i sum
PID integrator sum (signed)
Updated with f
CLK
[Hz]/128
Cleared to zero upon write access
35
PID d clock divider
Clock divider for D part calculation
D-part is calculated with a
frequency of:
f
CLK
/ (
pid_d_clkdiv
*128)
(attention:
pid_d_clkdiv
=0 results in
256)
0…255
37
PID dv clipping
Clipping parameter for PID
calculation result
pid_v_actual
pid_v_actual
=
v_actual
+
clip(PID_result,
pid_dv_clip
)
0…2147483647
[µsteps/t]
38
PID error
Position deviation (for monitoring)
pid_e
=
enc_x
–
x_actual
(clipped to +/-2^23)
[µsteps]
39
PID Vactual
PID calculation result (with
PID_base
=0)
resp. PID_
v_actual
(
PID_base
=1)
(clipped to +/-2^31)
[µsteps/t]
40
PID mode
0: do not use PID
1: use PID
0/1
41
Encoder position
Actual position of the encoder.
-2147483648 …
+2147483647
[µsteps/t]
42
Encoder constant
With every pulse this constant is
added to or subtracted from the
encoder position register. This
constant is given in units of
1/65536 when bit 13 in param. 43 is
not set or in 1/10000 when bit 13
in param. 43 is set.
0…2147483647
[µsteps/2
16
]
or decimal:
Bits 31-16:
0… 32767 [µsteps]
Bits 15-0:
0… 9999
[1/1000 µsteps]
