TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
93
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
7
Axis parameters
The following section describes 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]
Access
0
Target position
-2147483648 …
+2147483647
[µsteps]
RW
1
Actual position
-2147483648 …
+2147483647
[µsteps]
RW
2
Target speed
-2147483648 …
+2147483647
[µsteps/t]
RW
3
Actual speed
-2147483648 …
+2147483647
[µsteps/t]
RW
4
Max. positioning speed
Speed used for positioning (MVP
commands).
0…2147483647
[µsteps/t]
RWE
5
Max. acceleration and
deceleration
Sets acceleration and deceleration
to the same value.
1…16777215
[µsteps/t
2
]
RWE
6
Max. current
Current when motor is running. 0
means 0%, 15 means 100% of the
maximum possible current.
0…15
RWE
7
Standby current
Current when motor is standing. 0
means 0%, 15 means 100% of the
maximum possible current.
0…15
RWE
8
Position reached
1 when the target position and the
actual position are equal.
0/1
R
9
Switch status
Bit 0: left limit switch status (same
as par. 11)
Bit 1: right limit switch status
(same as par. 12)
Bit 2: latch left ready (cleared when
read)
Bit 3: latch right ready (cleared
when read)
Bit 4: stop left condition due to
stop switch
Bit 5: stop right condition due to
stop switch
R
10
Right limit switch status
Logic state of the right switch.
0/1
R
11
Left limit switch status
Logic state of the left switch.
0/1
R
12
Right limit switch disable
Deactivates the function of the
right limit switch when set to 1.
0/1
RWE
13
Left limit switch disable
Deactivates the function of the left
limit switch when set to 1.
0/1
RWE
