TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
43
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number Axis parameter
Description
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
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.
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.
30
PID p factor
P parameter (unsigned)
update frequency f
CLK
/128;
Result:
pid_e
*
pid_p
/256
(becomes clipped to +/-2^31)
31
PID i factor
I parameter (unsigned)
Result: (
pid_isum
/256)*
pid_i
/256
(becomes clipped to +/-2^31)
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)
33
PID i clipping
Clipping parameter for
pid_isum
Clipping of
(
pid_isum
*2^16*
pid_iclip
)
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)
