TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
97
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number Axis parameter
Description
Range [Unit]
Access
46
Position latch
Motor position latched on stop
switch event.
R
47
Encoder warn distance
Maximum deviation between motor
and encoder.
[µsteps]
RWE
48
Compare position
Tbd
-2147483648 …
+2147483647
[µsteps]
RWE
50
Right position limit
Position limit when moving in
positive direction.
-2147483648 …
+2147483647
[µsteps]
RWE
51
Left position limit
Position limit when moving in
negative direction.
-2147483648 …
+2147483647
[µsteps]
RWE
52
Right position limit
enable
The motor cannot drive beyond the
right position limit when set to 1.
0/1
RWE
53
Left position limit enable
The motor cannot drive beyond the
left position limit when set to 1.
0/1
RWE
63
Microstep table position
Position of the microstep table
pointer.
0…8191
RW
64
Step pulse length
Length of the step pulses on the
step/direction output.
0…255
[1/16 MHz]
RWE
128
Ramp mode
Normally set automatically by the
ROL, ROR, MVP and MST commands.
0: positioning mode
1: reserved
2: velocity mode
3: hold mode
0...3
RW
129
Status flags
Bit 0: target position reached (same
as parameter 8)
Bit 1: target velocity reached (same
as parameter 130)
Bit 2: motor not moving (v=0)
Bit 3: encoder warn distance
exceeded
R
130
Velocity reached
Reads 1 when the actual speed is
equal to the target speed
0/1
R
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
1/2/3
RWE
194
Reference search speed
Specifies the reference search
speed.
0…2147483647
[µsteps/t]
RWE
195
Reference switch speed
Specifies the speed for the exact
reference switch calibration.
0…2147483647
RWE
196
End switch distance
Provides the distance between the
two end switches after executing a
reference search in mode 2 or 3.
0…2147483647
[µsteps]
R
