PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)
98
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Number Axis Parameter Description
Range [Unit]
Acc.
193
ref. search mode
1 search left stop switch only
2 search right stop switch, then search
left stop switch
3 search right stop switch, then search
left s op switch from both sides
4 search left stop switch from both sides
5 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
RWE
194
ref. search speed Speed for searching the switch roughly
0… +268.435.454
[pps]
RWE
195
ref. switch speed Speed for exact search of the switch
0… +268.435.454
[pps]
RWE
196
switch distance
Distance between left and right and switch in
microsteps (mode 2 and 3 only).
0… +2.147.483.647
[µsteps]
R
204
freewheeling
Time after which the power to the motor will
be cut when its velocity has reached zero.
0… 65535
0 = never
[msec]
RWE
206
actual load value Readout of the actual load value used for stall
detection (stallGuard2™).
0… 1023
R
208
TMC262 driver
error flags
Bit 0
stallGuard™ status
(1: threshold reached)
Bit 1
Overtemperature
(1: driver is shut down due to
overtemperature)
Bit 2
Pre-warning overtemperature
(1: Threshold is exceeded)
Bit 3
Short to ground A
(1: Short condition detected, driver currently
shut d
n)
Bit 4
Short to ground B
(1: Short condition detected, driver currently
shut down)
Bit 5
Open load A
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 6
Open load B
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 7
Stand still
(1: No step impulse occurred on the step
input during the last 2^20 clock cycles)
Please refer to the TMC262 Datasheet for more
information.
0/1
R
209
encoder position The value of an encoder register can be read
out or written.
[encoder steps]
RW
210
Encoder
prescaler
Prescaler for the encoder.
See paragraph 0
RWE
