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TMC4670 Datasheet PRELIMINARY • IC Version V0.99 | Document Revision V0.91 • 2016-Nov-09
The analog N pulse is just a raw ADC value. Scaling, offset correction, hand
handling of analog N pulse similar to N pulse handling of digital encoder N pulse
is not implemented for analog encoder.
Info
3.6.8 Analog Position Decoder (SinCos of 0°90° or 0°120°240°)
The extracted positions from the analog decoder are available for read out from registers.
3.6.8.1 Multi-Turn Counter
Electrical angles are mapped to a multi-turn position counter. The user can overwrite this multi-turn
position for initialization purposes.
3.6.8.2 Encoder Engine Phi Selector
The angle selector select the source for the commutation angel PHI_E. That electrical angle is available for
commutation.
3.6.8.3 External Position Register
A register value written vie the application interface into the register bank is available for commutation
also. With this, the user can interface to any encoder by just writing positions extracted from external
encoder into this regulator. From the decoder engine point of view this is just one more selectable encoder
source.
3.7 FOC23 Engine
Support for the TMC4670 is integrated into the TMCL-IDE including wizards for
setting up. With this one can turn a motor with a few steps of setup. with the
TMCL-IDE one has direct access to all registers of the TMC4670.
Info
The FOC23 engine performs the inner current control loop for the torque current IQ and the flux current
ID including the required transformations. Programmable limiters take care of clipping of interim results.
p
p
Per default, the programmable circular limiter clips U_D and U_Q to U_D_R =
U_D. PI controllers perform the regulation tasks.
(
2)
·
U_Q and U_R_R =
(
2)
·
3.7.1 PI(D) Controllers
PI controllers are used for current control and velocity control. A P regulator is used for position control.
The D part not yet supported, it is just a register place holder for future variants.
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