TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
95
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number Axis parameter
Description
Range [Unit]
Access
27
Microstep resolution
0
2048 micro steps
1
1024 micro steps
2
512 micro steps
3
256 micro steps
4
128 micro steps
5
64 micro steps
6
32 micro steps
7
16 micro steps
8
8 micro steps
9
4 micro steps
10
2 micro steps
11
1 full step
0…11
RWE
28
PID tolerance
Tolerance for PID regulation
If the absolute value of the error
pid_e
is below
pid_tolerance
after
an exact hit, then the pid_error_in
becomes 0 and
pid_i_sum
is set to
zero, until the tolerance zone is left
again.
0… 1048575
[µsteps]
RWE
29
Sine wave offset
The sine wave offset can be
adapted for optimum microstep
performance on zero crossing of
the coil currents. A too low offset
leads to the motor turning too
slow during zero transition, a too
high offset leads to a larger step.
This parameter can be optimized
for the motor type. It mainly
depends on motor inductivity and
coil resistance.
0…255
[1/1024 of sine
wave
amplitude]
RWE
30
PID p factor
P parameter (unsigned)
update frequency f
CLK
/128;
Result:
pid_e
*
pid_p
/256
(becomes clipped to +/-2^31)
0…1677215
RWE
31
PID i factor
I parameter (unsigned)
Result: (
pid_isum
/256)*
pid_i
/256
(becomes clipped to +/-2^31)
0…1677215
RWE
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
RWE
33
PID i clipping
Clipping parameter for
pid_isum
Clipping of
(
pid_isum
*2^16*
pid_iclip
)
0…32640
RWE
34
PID i sum
PID integrator sum (signed)
Updated with f
CLK
[Hz]/128
Cleared to zero upon write access
R
