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TMC4670 Datasheet PRELIMINARY • IC Version V0.99 | Document Revision V0.91 • 2016-Nov-09
Figure 9: Encoder ABN Timing - high precise n pulse and less precise N pulse
3.6.3 Secondary Incremental ABN Encoder
For commutating a motor with FOC one selects a position sensor source (digital incremental encoder,
digital hall, analog hall, analog incremental encoder, . . . ) that is mounted close to the motor. The inner
FOC loop control torque and flux of the motor based on the measured phase currents and the electrical
angle of the rotor.
The TMC4670 is equipped with a secondary incremental encoders interface. This secondary encoder
interface is available as source for velocity control or position control. This is for applications where a
motor turns an object with a gear to position the object. An example is a robot arm where a motor moves
an angle with a the mechanical angle of the arm as the target.
The secondary incremental encoder is not available for commutation (phi_e) for
the inner FOC. In others words, there is no electrical angle phi_e selectable from
the secondary encoder.
Info
3.6.4 Digital Hall Sensor Interface with optional Interim Position Interpolation
The digital hall interface is the position sensor interface for digital hall signals. The digital hall signal
interface first maps the digital hall signals to an electrical position PHI_E_RAW. An offset PHI_E_OFFSET can
be used to rotated the orientation of the hall signal angle. The electrical angle PHI_E is for commutation.
Optionally, the default electrical positions of the Hall sensors can be adjusted by writes into the associated
registers.
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