TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual
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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
List of Set Axis Parameter Commands:
Type
Axis Parameter
Value Range
Description
1
Actual position
32 bit signed
Change the position and encoder counter without
moving the motor
4
Max. positioning
velocity
16 bit unsigned
1…65535
The maximum velocity used for MVP command when
executing a ramp to a position.
5
PWM limit
8 bit unsigned
0…255
Set PWM limit, 0…255
Ù
0%…100%
6
Max. current
8 bit unsigned
0…250
Max. current setting, refer to 3.2.1.1
7
MVP Target
reached velocity
16 bit unsigned
Maximum velocity at which POS_END can be set.
Prevents issuing of POS_END when the target is
passed at high velocity.
8
Min. speed for
velocity PID
16 bit unsigned
Adjusts the limit to switch between velocity PID
controller and mixed position/velocity PID controller.
Default = 1000RPM, refer to 1.4
9
Clear Target
distance
16 bit unsigned
Velocity is set to 0 if actual position differs from motor
position for more than value*256, until the motor
catches up. Prevents velocity overshoot if the motor
can’t follow the velocity ramp. Default = 160
10
MVP
Target reached
distance
16 bit unsigned
Maximum distance at which the Flag POS_END is set.
In hall sensor only mode, the regulation algorithm is
stopped within this distance to the target position.
11
Acceleration
16 bit unsigned
0, 1 … 65535
Acceleration parameter for MVP, ROL and ROR. Value
in RPM/s
2
, 0 = max. acceleration (i.e. no ramp)
128
Standalone Mode 0, 1, 2, 3
0: Normal operation
1: In this mode the motor velocity is controlled by the
setting Power on velocity (157) scaled by the input
voltage on the analog input
2: Velocity after power up is initialized by Power on
Velocity setting (157)
3: Step-/Direction mode (not on TMCM-170): In this
mode, the target position is controlled by the
external step pulse. Scaling is set by Power On
Velocity setting (157): One pulse increases the
target position by 1/256 of parameter 157. To
enable the motor, use an MVP command first, e.g.
issue MVP 0,0 in TMCL using Autostart.
130
Position P –
Parameter
16 bit unsigned
1 … 32767
P – Parameter of PID regulator, refer to 1.4
131
Position I –
Parameter
16 bit unsigned
1 … 32767
I – Parameter of PID regulator, refer to 1.3
132
Position D –
Parameter
16 bit unsigned
1 … 32767
D – Parameter of PID regulator, refer to 1.4
133
PID regulation
loop delay
8 bit unsigned
1 ... 255
PID calculation delay (0-255 * 1ms): Set operational
frequency PID
134
Current
regulation loop
delay
8 bit unsigned
0…254
Delay of current limitation algorithm (0 - 254 * 1ms)
Default = 10
135
Position
I – Clipping –
Parameter
16 bit unsigned
1 … 32767
Adjust in stand still to lowest possible value at which
the motor keeps its position. A too high value causes
overshooting at positioning mode. (0 … 2^15)
Typical: 20*256< I-Param. * I-Clip-Param. < 1024*256
136
PWM -
Hysteresis
16 bit unsigned
0 … 100
Compensates dead time of PWM and motor friction.
Default = 20
137
PID opt Clear I –
Max
Boolean
1: Clears I - Sum if PWM reaches maximum value of
100%, default = 1
138
PID opt Clear I-
Sign
Boolean
1: Clears I - Sum if the position overshoots the target
value, default = 0
