TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
94
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number Axis parameter
Description
Range [Unit]
Access
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
RWE
15
Stop deceleration
Deceleration when touching a stop
switch.
1…16777215
[µsteps/t
2
]
RWE
16
Max. acceleration
Acceleration
1…16777215
[µsteps/t
2
]
RWE
17
Max. deceleration
Deceleration
1…16777215
[µsteps/t
2
]
RWE
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.
0…18
[µsteps/t
3
]
RWE
19
Shaft
Reverses the motor direction when
set to 1.
0/1
RWE
20
Standby delay
Time after the motor has stopped
until the current is changed to
standby current.
0…4095
[1/f
CLK
/ 2
16
]
RWE
21
Mixed decay run
0: no mixed decay when running
1: use mixed decay when running
0/1
RWE
22
Mixed decay standby
0: no mixed decay when standing
1: use mixed decay when standing
0/1
RWE
23
Chopper clock divider
Chopper clock frequency divider. Do
not change!
Chopper clock = 16MHz/value
Default = 444
96…818
RWE
25
Actual load value
The actual load value.
7 = low load
0 = high load
0…7
R
26
Driver status
Bit 0: driver error
Bit 1: over temperature pre-warning
R
