TMCM-3314 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.10 • 2019-JAN-25
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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. . . 2
RW
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