TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
80
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number Axis parameter
Description
14
Switch mode
Bit 2: left stop switch polarity
Bit 3: right stop switch polarity
Bit 4: swap left and right stop
switch
Bit 5: enable soft stop
Bit 8: latch position on left stop
switch going active
Bit 9: latch position on left stop
switch going inactive
Bit 10: latch position on right stop
switch going active
Bit 11: latch position on right stop
switch going inactive
Bit 12: latch encoder position on
stop switch event
15
Stop deceleration
Deceleration when touching a stop
switch.
16
Max. acceleration
Acceleration
17
Max. deceleration
Deceleration
18
Bow
0
trapezoidal ramps,
corresponds to an infinite
bow value
1…18 S-shaped ramps in
logarithmic
representation.
bow_value = 2^(
bow_index-1)
bow_index
= 1, 2, 3… 18
bow_value = 1, 2, 4… 262144
The resulting bow_value
must not exceed A_MAX or
D_MAX setting. Otherwise
oscillations may result.
19
Shaft
Reverses the motor direction when
set to 1.
20
Standby delay
Time after the motor has stopped
until the current is changed to
standby current (in units of
4.069ms).
21
Mixed decay run
0: no mixed decay when running
1: use mixed decay when running
22
Mixed decay standby
0: no mixed decay when standing
1: use mixed decay when standing
23
Chopper clock divider
Chopper clock frequency divider. Do
not change!
Chopper clock = 16MHz/value
Default = 444
