TMC457_1 Datasheet, PDF (20/37 Pages) TRINAMIC Motion Control GmbH & Co. KG. – S-profile motion controller with PID feedback control and high resolution micro stepping sequencer for stepper motors and piezo motors

TMC457 DATASHEET (V. 1.16 / 2009-Nov-25)
20
0x19: venc_us_sel – Vector Control Register
R/W Bit
Function Value
Description
W
1, 0 venc_us_
00 2048 microsteps: microstep_adr bits 12 downto 5 are used to
sel
determine angle within one electrical period
01 1024 microsteps: microstep_adr bits 11 downto 4 are used to
determine angle within one electrical period
10 256 microsteps: microstep_adr bits 9 downto 2 are used to
determine angle within one electrical period
11 64 microsteps: microstep_adr bits 7 downto 0 are used to
determine angle within one electrical period
9, 8 venc_phi_ 00 vector encoder function load angle limit to
load_sel
+/- 90°
(64/256 of an electrical period) (max. torque)
01 +/- 101.25° (72/256 of an electrical period)
10 +/- 112,5°
(80/256 of an electrical period)
11 +/- 123,75° (88/256 of an electrical period) (max. velocity)
PID Register Set - easyPID^TM
R/W Addr Bits
Register
W 0x20 23…0 pid_p
W 0x21 23…0 pid_i
W 0x22 23…0 pid_d
W 0x23
R
W+C
0x24
14…0 pid_iclip
31…0 pid_isum
W 0x25
W 0x26
7…0
pid_d_
clkdiv
--
W 0x27 30…0 pid_dv_clip
23…0
R 0x28 (31… pid_e
0)
R 0x29 31…0 pid_v_actual
W 0x2A 19…0 pid_tolerance
Description
P parameter (unsigned)
update frequency f_CLK/128;
Result: pid_e*pid_p/256
(becomes clipped to +/-2^31)
I parameter (unsigned)
Result: (pid_isum/256)*pid_i/256
(becomes clipped to +/-2^31)
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)
Clipping parameter for pid_isum
Clipping of (pid_isum*2^16*pid_iclip)
PID integrator sum (signed)
Updated with f_CLK[Hz]/128
Cleared to zero upon write access
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)
-
Clipping parameter for PID calculation
result pid_v_actual
pid_v_actual = v_actual + clip(PID_result,
pid_dv_clip)
Position deviation (for monitoring)
pid_e = enc_x – x_actual
(clipped to +/-2^23)
PID calculation result (with PID_base=0)
resp. PID_result + v_actual (PID_base=1)
(clipped to +/-2^31)
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.
Range
(0: disable)
(0: disable)
(0: disable)
0…$7F80
±
1…255, 0
= 1…256
-
bits 7…0 are
always 0
(0: disable PID)
±2^23
±
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG