UM0324 datasheet(21/105 Pages) STMICROELECTRONICS

21 / 105 page

UM0324

Getting started with the library

21/105

Start-up torque ramp parameters

See Section 3.1: Open loop and Section 3.2: Closed loop on page 29 for details.

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#define STARTUP_TIMEOUT

Define here, in ms, the overall time allowed for start-up;

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#define STARTUP_RAMP_DURATION

Define here, in ms, the duration of the torque ramp up;

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#define STARTUP_FINAL_TORQUE

Define here, in q1.15 format, the final reference value for torque ramp up (closed loop

only);

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#define TACHO_SPEED_VAL

Define here, in 0.1Hz, the lowest speed for tachogenerator reading validation.

Linear variation of PID constants according to mechanical speed.

Refer to Section 4.8.5: Adjusting speed regulation loop Ki, Kp and Kd vs motor frequency on

page 87.

2.2.3

Incremental encoder parameters: MC_encoder_param.h

The MC_encoder_parameter.h header file is to be filled out if position/speed sensing is

performed by means of a quadrature, square wave, relative rotary encoder.

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#define ENCODER_PPR

Define here the number of pulses, generated by a single channel, for one shaft

revolution (actual resolution will be 4x);

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#define TIMER0_HANDLES_ENCODER

To be uncommented if the two sensor output signals are wired to TIMER0 input pins;

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#define TIMER1_HANDLES_ENCODER

to be uncommented if the two sensor output signals are wired to TIMER1 input pins;

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#define TIMER2_HANDLES_ENCODER

To be uncommented if the two sensor output signals are wired to TIMER2 input pins

(default; required if using STR750-MCKIT).

2.2.4

Tachogenerator parameters: MC_tacho_prm.h

The MC_tacho_prm.h header file is to be filled out if speed sensing is performed using an

AC tachogenerator. Extra details and more explanations on tacho-based speed

measurement can be found in Section 4.7 on page 76 and Section A.4 on page 100.

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#define TACHO_PULSE_PER_REV

Define here the number of pulses per revolution given by the tachogenerator; in order

to verify the correct operation of the tacho module, this parameter can be set to 1, so

that the frequency measurement can be directly compared with the one of a signal

generator.

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