TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual
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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
140
Velocity P -
Parameter
16 bit unsigned
1 … 32767
Additional P – Parameter for PID, refer to 1.4
This PID parameter set is used at higher velocity.
141
Velocity I -
Parameter
16 bit unsigned
1 … 32767
Additional I – Parameter for PID, refer to 1.4
This PID parameter set is used at higher velocity.
142
Velocity D -
Parameter
16 bit unsigned
1 … 32767
Additional D – Parameter for PID, refer to 1.4
This PID parameter set is used at higher velocity.
143
Velocity I –
Clipping -
Parameter
16 bit unsigned
1 … 32767
Typically set this value based on the following formula:
Pos I-Clip-Param * Pos I-Param / Vel-I-Param
Typical: 20*256< I-Param. * I-Clip-Param. < 1024*256
This PID parameter set is used at higher velocity.
146
Velocity PID -
Control
Boolean
1: Activate velocity ramp generator for MVP
Allows usage of acceleration and positioning velocity
for MVP command
147
Disable PID
Boolean
1: Disable the PID calculation. The Motor PWM is then
directly derived from the target velocity. The Maximum
Positioning Velocity (SAP 4) sets the 100% reference.
157
Power on velocity
/ Step-Dir scale
16 bit signed
Power on velocity: Velocity after power on. Default = 0
To enable, set Standalone Mode (128) to 2.
Step-Dir scale: Scaling of the Step-/Direction signals.
Distance per step-pulse = Value / 256.
The sign controls the direction.
159
Commutation
Mode
Boolean
0=Block (Hall sensors), 1=Sine
160
Re-Initialization
of Sine
Commutation
-
Sine Commutation is re-initialized upon next
positioning / rotate command in sine comm. mode.
Attention: Depending on initialization mode, stop motor
before issuing this command!
161
Encoder Set
NULL
Boolean
1 = Set Encoder counter to zero at next N channel
event
162
Switch Set NULL Boolean
1 = Set Encoder counter to zero at next switch event
163
Encoder / Switch
Clear Set Null
Boolean
1 = Set Encoder counter zero only once, 0 = always at
a N channel event, respectively switch event.
164
Enable Stop
Switch
Boolean
1 = enable: the motor goes to a halt if the switch goes
active (as determined by polarity setting SAP 166) –
please see 3.2.2.1 for details on halt condition
165
Actual
Commutation
Offset
16 bit unsigned
This value represents the internal commutation offset.
This value should be determined and stored to
EEPROM if you want to use Encoder N-channel
initialization mode 4. It may also be used in order to
find out the calibration values for block commutation
correction CW/CCW setting. The range is 0 to Encoder
Steps-1.
166
Stop Switch
Polarity
Boolean
1 = Stop switch is high active, 0 = low active
Table 3: TMCL Commands, Set Axis Parameter (SAP)
