TMC9660::IIT Struct Reference

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

#include <TMC9660.hpp>

Collaboration diagram for TMC9660::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

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()

TMC9660::IIT::IIT ( TMC9660 &  parent )

inlineexplicitprivatenoexcept

Member Function Documentation

configure()

bool TMC9660::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]

Returns

true if parameters written successfully

• THERMAL_WINDING_TIME_CONSTANT_1/2
• IIT_LIMIT_1/2

getActualTotalMotorCurrent()

bool TMC9660::IIT::getActualTotalMotorCurrent ( uint32_t &  current, uint8_t  motorIndex = 0  )

noexcept

Read the total motor current (torque+flux).

• ACTUAL_TOTAL_MOTOR_CURRENT

getLimit1()

bool TMC9660::IIT::getLimit1 ( uint32_t &  limit )

noexcept

Get the I²t limit for window 1.

getLimit2()

bool TMC9660::IIT::getLimit2 ( uint32_t &  limit )

noexcept

Get the I²t limit for window 2.

getSum1()

bool TMC9660::IIT::getSum1 ( uint32_t &  sum )

noexcept

Read the current integrated sum of window 1.

• IIT_SUM_1

getSum2()

bool TMC9660::IIT::getSum2 ( uint32_t &  sum )

noexcept

Read the current integrated sum of window 2.

• IIT_SUM_2

getThermalWindingTimeConstant1()

bool TMC9660::IIT::getThermalWindingTimeConstant1 ( uint16_t &  ms )

noexcept

Get the winding time constant for window 1.

getThermalWindingTimeConstant2()

bool TMC9660::IIT::getThermalWindingTimeConstant2 ( uint16_t &  ms )

noexcept

Get the winding time constant for window 2.

resetIntegralState()

bool TMC9660::IIT::resetIntegralState ( )

noexcept

Reset both I²t accumulators to zero.

• RESET_IIT_SUMS

setLimit1()

bool TMC9660::IIT::setLimit1 ( uint32_t  limit )

noexcept

Set the I²t limit for window 1.

• IIT_LIMIT_1

setLimit2()

bool TMC9660::IIT::setLimit2 ( uint32_t  limit )

noexcept

Set the I²t limit for window 2.

• IIT_LIMIT_2

setThermalWindingTimeConstant1()

bool TMC9660::IIT::setThermalWindingTimeConstant1 ( uint16_t  ms )

noexcept

Set the winding time constant for window 1.

• THERMAL_WINDING_TIME_CONSTANT_1

setThermalWindingTimeConstant2()

bool TMC9660::IIT::setThermalWindingTimeConstant2 ( uint16_t  ms )

noexcept

Set the winding time constant for window 2.

• THERMAL_WINDING_TIME_CONSTANT_2

Friends And Related Symbol Documentation

TMC9660

friend class TMC9660

friend

Member Data Documentation

driver

TMC9660& TMC9660::IIT::driver

private

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

• TMC9660.hpp
• TMC9660.cpp