PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)
94
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
6
Axis parameters
The following sections describe all axis parameters that can be used with the SAP, GAP, AAP, STAP and RSAP
commands.
Meaning of the letters in column
Access
:
R = readable (GAP)
W = writable (SAP)
E = automatically restored from EEPROM after reset or power-on
Number Axis Parameter Description
Range [Unit]
Acc.
0
target (next)
position
The desired position in position mode (see
ramp mode, no. 138).
−2.147.483.648…
+2.147.483.647
[µsteps]
RW
1
actual position
The current position of the motor. Should
only be overwritten for reference point
setting.
−2.147.483.648…
+2.147.483.647
[µsteps]
RW
2
target (next)
speed
The desired speed in velocity mode (see ramp
mode, no. 138). In position mode, this
parameter is set automatically: to the
maximum speed during acceleration, and to
zero during deceleration and rest.
-268.435.455…
+268.435.454
[pps]
RW
3
actual speed
The current rotation speed.
-268.435.455…
+268.435.454
[pps]
RW
4
maximum
positioning
speed
Should not exceed the physically highest
possible value. Adjust the pulse divisor (no.
154), if the speed value is very low (<50) or
above the upper limit.
0… +268.435.454
[pps]
RWE
5
maximum
acceleration
The limit for acceleration (and deceleration).
Changing
this
parameter
requires
re-
calculation of the acceleration factor (no. 146)
and the acceleration divisor (no. 137), which is
done automatically.
0… +268.435.454
[pps/s]
RWE
6
absolute max.
current (CS /
Current Scale)
The most important motor setting, since too
high values might cause motor damage!
The maximum value is 255. This value means
100% of the maximum current of the module.
The current adjustment is within the range 0…
255 and can be adjusted in 32 steps (0… 255
divided by eight; e.g. step 0 = 0… 7, step 1 =
8… 15 and so on).
0… 255
RWE
7
standby current
The current limit two seconds after the motor
has stopped.
0… 255
RWE
8
position reached 1 when target position = actual position
0/1
R
9
home switch
State of the home switch input
0/1
R
10
right stop sw.
State of the right stop switch input
0/1
R
11
left stop sw.
State of the left stop switch input
0/1
R
12
right limit switch
disable
1=right stop switch disabled
0=right stop switch enabled
0/1
RWE
13
left limit switch
disable
1=left stop switch disabled
0=left stop switch enabled
0/1
RWE
