TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
96
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number Axis parameter
Description
Range [Unit]
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
RWE
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]
RWE
38
PID error
Position deviation (for monitoring)
pid_e
=
enc_x
–
x_actual
(clipped to +/-2^23)
[µsteps]
R
39
PID Vactual
PID calculation result (with
PID_base
=0)
resp. PID_
v_actual
(
PID_base
=1)
(clipped to +/-2^31)
[µsteps/t]
R
40
PID mode
0: do not use PID
1: use PID
0/1
RWE
41
Encoder position
Actual position of the encoder.
-2147483648 …
+2147483647
[µsteps/t]
R
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]
RWE
43
Encoder mode
Bit 0: polarity of channel A when
null channel is active
Bit 1: polarity of channel B when
null channel is active
Bit 2: polarity of null channel
Bit 3: ignore polarity of A and B
channel when null channel is active
Bit 4: continuous clear while null
channel is active
Bit 5: clear once at next null
channel event.
Bit 6: null channel is positive edge
triggered
Bit 7: null channel is negative edge
triggered
Bit 8: clear encoder position on null
event (otherwise it is latched only)
Bit 13: Encoder divisor selection
(0=encoder constant/65535,
1=encoder constant/10000).
RWE
44
Encoder status
1 when an encoder null channel
event has been detected.
Cleared after reading.
0/1
R
45
Encoder latch
Encoder position latched on N
channel event.
[µsteps]
R
