Subsystem for motor thermal overload protection via I²t integration. More...

#include <tmc9660.hpp>

Collaboration diagram for tmc9660::TMC9660< CommType >::IIT:

Public Member Functions
bool	configure (uint16_t timeConstant1_ms, float continuousCurrent1_A, uint16_t timeConstant2_ms, float continuousCurrent2_A) noexcept
	Configure the two I²t monitoring windows.

bool	resetIntegralState () noexcept
	Reset both I²t accumulators to zero.

bool	setThermalWindingTimeConstant1 (uint16_t ms) noexcept
	Set the winding time constant for window 1.

bool	getThermalWindingTimeConstant1 (uint16_t &ms) noexcept
	Get the winding time constant for window 1.

bool	setLimit1 (uint32_t limit) noexcept
	Set the I²t limit for window 1.

bool	getLimit1 (uint32_t &limit) noexcept
	Get the I²t limit for window 1.

bool	setThermalWindingTimeConstant2 (uint16_t ms) noexcept
	Set the winding time constant for window 2.

bool	getThermalWindingTimeConstant2 (uint16_t &ms) noexcept
	Get the winding time constant for window 2.

bool	setLimit2 (uint32_t limit) noexcept
	Set the I²t limit for window 2.

bool	getLimit2 (uint32_t &limit) noexcept
	Get the I²t limit for window 2.

bool	getActualTotalMotorCurrent (uint32_t &current, uint8_t motorIndex=0) noexcept
	Read the total motor current (torque+flux).

bool	getSum1 (uint32_t &sum) noexcept
	Read the current integrated sum of window 1.

bool	getSum2 (uint32_t &sum) noexcept
	Read the current integrated sum of window 2.

Private Member Functions
	IIT (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

template<typename CommType>
struct tmc9660::TMC9660< CommType >::IIT

Subsystem for motor thermal overload protection via I²t integration.

Configures two independent I²t windows that monitor integrated current over time (in A²·ms) to detect thermal overloads. If either limit is exceeded, a fault is triggered.

Refer to: Parameters #224–#228 (Table 41)
Manual: “IIT” section, p. 86
Related fault flags: IIT_1_EXCEEDED, IIT_2_EXCEEDED

Constructor & Destructor Documentation

◆ IIT()

template<typename CommType >

tmc9660::TMC9660< CommType >::IIT::IIT ( TMC9660 & parent )

inlineexplicitprivatenoexcept

Member Function Documentation

◆ configure()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::IIT::configure	(	uint16_t	timeConstant1_ms,
		float	continuousCurrent1_A,
		uint16_t	timeConstant2_ms,
		float	continuousCurrent2_A )

noexcept

Configure the two I²t monitoring windows.

Parameters

timeConstant1_ms	Time constant for window 1 [ms]
continuousCurrent1_A	Current limit for window 1 [A]
timeConstant2_ms	Time constant for window 2 [ms]
continuousCurrent2_A	Current limit for window 2 [A]