User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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Motor Velocity [pps]
Load Angle [µSteps]
2034h
2035h
2036h
2027h
(max. 90°)
Field Weakening
Normal Closed Loop
max. 180°
Figure 6: Field Weakening
• Object 2027
h
: Closed-loop beta.
• Object 2036
h
: Field weakening (closed-loop gamma).
• Object 2034
h
: Field weakening minimum velocioty (gamma Vmin).
• Object 2035
h
: Field weakening maximum velocioty (gamma Vmax).
1.5.5 Position Catch up
The TMCM-3351 includes a special feature for closed-loop positioning. Positioning parameters like velocity
and acceleration will be calculated to reach a position in a dedicated time. If the target trapezoidal ramp
cannot be maintained due to high load peaks the TMCM-3351 includes a special position catch-up mode
to ensure that the position will still be reached in time if possible.
Motor Velocity [pps]
Position
202Fh
202Fh
Overload
Catch-upPID control parameters for catch-up:
202Bh, 202Ch, 202Dh, 202Eh
Figure 7: Position Catch up
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