USB-2-RTMI datasheet(21/157 Pages) TRINAMIC

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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.04 • 2018-Dec-11

21 / 157

Hexadecimal Value

u16

s16

q8.8

q4.12

0x5A81

23169

23169 / 256

23169 / 4096

0x7FFF

32767

32767 / 256

32767 / 4096

0x8000

32768

-32768

-32768 / 256

-32768 / 4096

0x8001

32769

-32767

-32767 / 256

-32767 / 4096

0x8002

32770

-32766

-32766 / 256

-32766 / 4096

0xC001

49153

-16383

-16383 / 256

-16383 / 4096

0xFFFE

65534

-2

-2 / 256

-2 / 4096

0xFFFF

65535

-1

-1 / 256

-1 / 4096

Table 5: Examples of u16, s16, q8.8, q4.12

The q8.8 and q4.12 are used for P and I parameters which are positive numbers. Note that q8.8 and q4.12

are used as signed numbers. This is because theses values are multiplied with signed error values resp.

error integral values.

4.3.2 N_POLE_PAIRS, PHI_E, PHI_M

The parameter N_POLE_PAIRS de nes the factor between electrical angle PHI_E and mechanical angle

PHI_M of a motor (pls. refer

gure 12).

A motor with one (1) pole pair turns once for each electrical period. A motor with two (2) pole pairs turns

once for every two electrical periods. A motor with three (3) pole pairs turns once for every three electrical

periods. A motor with four pole (4) pairs turns once for every four electrical periods.

The electrical angle PHI_E is relevant for the commutation of the motor. It is relevant for the torque control

of the inner FOC loop.

PHI_E = PHI_M · N_POLE_PAIRS

(3)

The mechanical angle PHI_M is primarily relevant for velocity control and for positioning. This is because

one wants to control the motor speed in terms of mechanical turns and not in terms of electrical turns.

PHI_M = PHI_E/N_POLE_PAIRS

(4)

Diﬀerent encoders give diﬀerent kinds of position angles. Digital Hall sensors normally give the electrical

position PHI_E that can be used for commutation. Analog encoders give - depending on their resolu-

tion - angles that have to be scaled

rst to mechanical angles PHI_M and to electrical angles PHI_E for

commutation.

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