PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)
31
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Number Axis Parameter
Description
Range [Unit]
183
smartEnergy slow
run current
Sets the motor current which is used blow
the threshold speed.
0… 255
193
ref. search mode
1 search left stop switch only
search right stop switch, then search
left stop switch
3 search right stop switch, then search
left stop switch from both sides
4 search left stop switch from both sides
search home switch in negative
direction, reverse the direction when
left stop switch reached
6 search home switch in positive
direction, reverse the direction when
right stop switch reached
7 search home switch in positive
direction, ignore end switches
8 search home switch in negative
direction, ignore end switches
Adding 128 to these values reverses the
polarity of the home switch input.
1… 8
194
ref. search speed Speed for searching the switch roughly
0… +268.435.454
[pps]
195
ref. switch speed Speed for exact search of the switch
0… +268.435.454
[pps]
204
freewheeling
Time after which the power to the motor will
be cut when its velocity has reached zero.
0… 65535
0 = never
[msec]
209
encoder position The value of an encoder register can be read
out or written.
[encoder steps]
210
encoder prescaler Prescaler for the encoder.
See paragraph 0
212
maximum
encoder
deviation
When the actual position (parameter 1) and
the encoder position (parameter 209) differ
more than set here the motor will be
stopped. This function is switched off when
the maximum deviation is set to zero.
0… 65535
[encoder steps]
214
power down
delay
Standstill period before the current is changed
down to standby current. The standard value
is 200 (value equates 2000msec).
1… 65535
[10msec]
254
step/dir
0 normal mode (move motor using
TMCL™ commands)
1 step/direction mode (move motor via
step/direction inputs)
0/1
Hardware related parameters for the more experienced users. Do not change unless you are
absolutely sure!
