tmc9660::TMC9660< CommType >::MotorConfig::MotorProfile Struct Reference

Configuration structure for auto-configuring motor parameters. More...

#include <tmc9660.hpp>

Public Attributes
tmc9660::tmcl::MotorType	motorType
	Motor type (DC, BLDC, STEPPER)
uint8_t	polePairs
	Number of pole pairs (for BLDC/Stepper, typically 1-21)
uint32_t	pwmFrequency_Hz
float	maxPhaseCurrent_A
tmc9660::tmcl::MotorDirection	direction
	Motor direction (default: FORWARD)
tmc9660::tmcl::PwmSwitchingScheme	pwmSwitchingScheme
float	maxFluxCurrent_A
uint16_t	outputVoltageLimit
	Output voltage limit for FOC controller (default: 8000)
tmc9660::tmcl::IdleMotorPwmBehavior	idlePwmBehavior
std::optional< tmc9660::tmcl::CommutationMode >	commutationMode

Detailed Description

template<typename CommType>
struct tmc9660::TMC9660< CommType >::MotorConfig::MotorProfile

Configuration structure for auto-configuring motor parameters.

This structure captures high-level motor characteristics and automatically derives all necessary low-level configuration parameters.

Member Data Documentation

commutationMode

template<typename CommType >

std::optional<tmc9660::tmcl::CommutationMode> tmc9660::TMC9660< CommType >::MotorConfig::MotorProfile::commutationMode

Commutation mode to apply after configuration (optional, default: remains SYSTEM_OFF). Applied last, after all motor parameters are set.

direction

template<typename CommType >

tmc9660::tmcl::MotorDirection tmc9660::TMC9660< CommType >::MotorConfig::MotorProfile::direction

Initial value:

=
          tmc9660::tmcl::MotorDirection::FORWARD

Motor direction (default: FORWARD)

idlePwmBehavior

template<typename CommType >

tmc9660::tmcl::IdleMotorPwmBehavior tmc9660::TMC9660< CommType >::MotorConfig::MotorProfile::idlePwmBehavior

Initial value:

=
          tmc9660::tmcl::IdleMotorPwmBehavior::PWM_OFF_WHEN_MOTOR_IDLE

Idle motor PWM behavior (default: PWM_OFF)

maxFluxCurrent_A

template<typename CommType >

float tmc9660::TMC9660< CommType >::MotorConfig::MotorProfile::maxFluxCurrent_A

Initial value:

=
          std::numeric_limits<float>::quiet_NaN()

Maximum flux current in amperes (optional, defaults to maxPhaseCurrent_A * 0.2 for BLDC/Stepper)

maxPhaseCurrent_A

template<typename CommType >

float tmc9660::TMC9660< CommType >::MotorConfig::MotorProfile::maxPhaseCurrent_A

Maximum phase current in amperes (used to set MAX_TORQUE and MAX_FLUX)

motorType

template<typename CommType >

tmc9660::tmcl::MotorType tmc9660::TMC9660< CommType >::MotorConfig::MotorProfile::motorType

Motor type (DC, BLDC, STEPPER)

outputVoltageLimit

template<typename CommType >

uint16_t tmc9660::TMC9660< CommType >::MotorConfig::MotorProfile::outputVoltageLimit

Initial value:

=
          8000

Output voltage limit for FOC controller (default: 8000)

polePairs

template<typename CommType >

uint8_t tmc9660::TMC9660< CommType >::MotorConfig::MotorProfile::polePairs

Number of pole pairs (for BLDC/Stepper, typically 1-21)

pwmFrequency_Hz

template<typename CommType >

uint32_t tmc9660::TMC9660< CommType >::MotorConfig::MotorProfile::pwmFrequency_Hz

PWM frequency in Hz (10000-100000, recommended: 20-25kHz for BLDC, 20kHz for stepper)

pwmSwitchingScheme

template<typename CommType >

tmc9660::tmcl::PwmSwitchingScheme tmc9660::TMC9660< CommType >::MotorConfig::MotorProfile::pwmSwitchingScheme

Initial value:

=
          tmc9660::tmcl::PwmSwitchingScheme::SVPWM

PWM switching scheme (default: SVPWM for BLDC, STANDARD for others)

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The documentation for this struct was generated from the following file:

• tmc9660.hpp