TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.04 • 2018-Dec-11
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In position control mode, the user can feed the step and direction interface to generate a position target
value for the controller cascade. Additional motion modes are the motion mode for encoder initialisation
(ENCODER_INIT_MINI_MOVE), and motion modes where target values are fed into the TMC4671 via PWM
interface (Pin: PWM_IN) or analog input via pin AGPI_A.
There are additional motion modes, which are using input from the PWM_I input or the AGPI_A input.
Input signals can be scaled via a standard scaler providing offset and gain correction. The interface can
be configured via the registers SINGLE_PIN_IF_OFFSET_SCALE and SINGLE_PIN_IF_STATUS_CFG, where the
status of the interface can be monitored as well. PWM input signals which are out of frequency range can
be neglected. In case of wrong input data, last correct position is used or velocity and torque are set to
zero.
Number
Motion Mode
Stopped Mode
Description
Disabling all controllers
0
1
Torque Mode
Standard Torque Control Mode
2
Velocity Mode
Standard Velocity Control Mode
3
Position Mode
Standard Position Control Mode
4
PRBS Flux Mode
PRBS Torque Mode
PRBS Velocity Mode
PRBS Position Mode
UQ UD Ext Mode
PRBS Value is used as Target Flux Value for Ident.
PRBS Value is used as Target Torque Value for Ident.
PRBS Value is used as Target Velocity Value for Ident.
PRBS Value is used as Target Position Value for Ident.
Voltage control mode (Software Mode)
5
6
7
8
9
Encoder Init Mini Move Mode Encoder Initialization by minimal movement of the rotor.
10
11
12
13
14
15
AGPI_A Torque Mode
AGPI_A Velocity Mode
AGPI_A Position Mode
PWM_I Torque Mode
PWM_I Velocity Mode
PWM_I Position Mode
AGPI_A used as Target Torque value
AGPI_A used as Target Velocity value
AGPI_A used as Target Position value
PWM_I used as Target Torque value
PWM_I used as Target Velocity value
PWM_I used as Target Position value
Table 16: Motion Modes
4.8.11 Brake Chopper
During regenerative braking of the motor, current is driven into the DC link. If the power frontend is not
actively controlled, the DC link voltage will rise. The brake chopper output pin (BRAKE) can be used for
control of an external brake chopper, which burns energy over a brake resistor. The BRAKE pin is set to
high for a complete PWM cycle if measured voltage is higher then ADC_VM_LIMIT_HIGH. Once active it will
be deactivated when voltage drops below ADC_VM_LIMIT_LOW. This acts like a hysteresis. BRAKE can be
deactivated by setting both registers to Zero. By setting proper values in the registers it is automatically
enabled.
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