TMCM-3314 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.10 • 2019-JAN-25
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25
SAP 116 , 0, 20
// set CL correction velocity I
SAP 117 , 0, 2000
// set CL correction velocity I clipping
27
SAP 118 , 0, 0
// set CL correction velocity DV clock
SAP 119 , 0, 100000
// set CL correction velocity DV clipping
29
SAP 124 , 0, 65536
// set correction position P ( default 65536)
31
SAP 212 , 0, 1000
// Max . position deviation .
SAP 213 , 0, 30000
// Pos_ERROR output . Max . velocity deviation .
33
SAP 129 , 0, 1
// Turn on closed - loop
35
WaitInit :
37
GAP 133 , 0
// Wait until CL - Init finished
JC ZE , WaitInit
39
// Acceleration , Velocity Settings :
41
SAP 4, 0, 600000
// set positioning velocity
SAP 5, 0, 800000
// set acceleration
43
SAP 17, 0, 800000
// set deceleration
45
STOP
// end of the program
6.3.1
Closed-Loop Parameters
The closed-loop operation of the TMCM-3314 is based on Trinamic’s closed-loop hardware motion controller
IC TMC4361.
The 2-phase closed-loop control of the TMCM-3314 follows a different approach than PID control cascades
to consider stepper motor driver characteristics. The ramp generator which assigns target and velocity is
independent of the position control (commutation angle control) which is also independent of the current
control. The closed-loop control scheme is depicted in the following picture.
Ramp Generator
Position
Control
Velocity
Control
Torque Control
Driver
Stage
Load
Angle
Control
Field
Weakening
Current
Level
Control
Torque Control
Motor
ABN Encoder
Flags /
Status
Ramp
Parameters
Control
Parameters
velocity / position / electrical angle
velocity / position
Figure 11: Closed-Loop Control Scheme
Load angle control and current level control will be executed in parallel.
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