TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.04 • 2018-Dec-11
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2 Functional Summary
• Servo Controller with Field Oriented Control (FOC)
– Torque (and flux) control mode
– Velocity control mode
– Position control mode
–
update rate of current controller and PWM at maximum frequency of 100 kHz (speed and
position controller update rate is configurable by setting a divider of current controller update
rate)
• Control Functions/PI Controllers
– Programmable clipping of inputs and outputs of interim results
– Integrator windup protection for all controllers
q
– Programmable field oriented voltage circular ( UD2 + UQ2 ) limiter
– Feed-forward offsets for target values and feed-forward friction compensation
– Advanced feed-forward control structure for optimal trajectory tracking performance
– Extended IRQ event masking options and limiter status register
– Advanced encoder initialization algorithms with Hall sensor or/and with minimal movement
• Supported Motor Types
– FOC3 : 3-phase permanent magnet synchronous motors (PMSM)
– FOC2 : 2-phase stepper motors
– DC1 : brushed DC motors, or linear voice coil motors
• ADC Engine with Offset Correction and Scaling
–
Integrated ∆Σ ADCs for current sense voltage, motor supply voltage, analog encoder, two AGPIs
– Integrated ∆Σ-Interface for external ∆Σ-Modulators
• Position Feedback Evaluation
– Open loop position generator (programmable [rpm], [rpm/s]) for initial setup
– Digital incremental encoder (ABN resp. ABZ, up to 5 MHz)
– Secondary digital incremental encoder
–
Digital Hall sensor interface (H1, H2, H3 resp. HU , HV , HW ) with interpolation of interim positions
– Analog encoder/analog Hall sensor interface (SinCos (0°, 90°) or 0°, 120°, 240°)
– multi-turn position counter (32-bit)
– Position target, velocity and target torque filters (Biquad)
• PWM Engine Including SVPWM
– Programmable PWM frequency within the range of 20 kHz . . . 100 kHz
–
Programmable Brake-Before-Make (BBM) times (high side, low side) 0 ns . . . 2.5
and gate driver input signals
µ
s in 10 ns steps
– PWM auto scaling for transparent change of PWM frequency during motion
• SPI Communication Interface
– 40-bit datagram length (1 ReadWrite bit + 7 address bits + 32 data bits)
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