TMC457_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC457_1 Datasheet - Page 20

• Manufacturer Part Number: TMC457_1
• Description: S-profile motion controller with PID feedback control and high resolution micro stepping sequencer for stepper motors and piezo motors
• Manufacturer: TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

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