TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
83
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number Axis parameter
Description
193
Reference search mode
1 – Only the left reference switch
is searched.
2 – The right switch is searched
and afterwards the left switch is
searched.
3 – Three-switch-mode: the right
switch is searched first and
afterwards the reference switch
will be searched.
Please see 9.2 for details on
reference search
194
Reference search speed
Specifies the reference search
speed.
195
Reference switch speed
Specifies the speed for the exact
reference switch calibration.
212
Maximum
encoder
deviation
When the actual position (param. 1)
and the encoder position (param.
41) differ more than the value set
here, the motor will be stopped.
Setting this parameter to 0 disables
this function.
255
Unit conversion mode
Units to use for velocity and
acceleration:
0: use TMC457 units
1: use PPS units
Example:
Positioning motor by a potentiometer connected to the analogue input #0:
Start: GIO 0,1
// get value of analogue input line 0
CALC MUL, 4
// multiply by 4
AAP 0,0
// transfer result to target position of motor 0
JA Start
// jump back to start
Binary format of the AAP 0,0 command:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$22
$00
$00
$00
$00
$00
$00
$23
