TMCM-1021 TMCL
™
Firmware Manual • Firmware Version V1.42 | Document Revision V1.10 • 2018-JAN-09
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Number
Axis Parameter
Description
Range [Units]
Access
128
Ramp mode
Automatically set when using ROR, ROL, MST
and MVP.
0: Position mode. Steps are generated, when the
parameters actual position and target position
differ. Trapezoidal speed ramps are provided.
1: Velocity mode. The motor will run continu-
ously and the speed will be changed using the
maximum acceleration parameter when the tar-
get speed gets changed.
0/1
RW
130
Minimum
speed
Ramp generation for acceleration and deceler-
ation begins and ends with this start and stop
value. Default: 0.
0. . .
2147483647
[pps]
RWE
140
Microstep
resolution
Microstep
resolutions
per
full
step:
0
fullstep
1
halfstep
2
4 microsteps
3
8 microsteps
4
16 microsteps
5
32 microsteps
6
64 microsteps
7
128 microsteps
8
256 microsteps
0. . . 8
RW
160
Step
interpolation
enable
Step interpolation is supported with 16 mi-
crostep setting only. With this option activated,
each microstepstep will internally be executed
as 16 1/256 microsteps. This causes the mo-
tor to run as smooth as with 256 microsteps
resolution.
This only works for step/direction
mode.
0 - step interpolation off
1 - step interpolation on
0/1
RW
161
Double step
enable
With this option turned on, each microstep will
be executed twice.
This option only works for
step/direction mode
. Every edge of the step
signal then causes a microstep to be executed.
0 - double step off
1 - double step on
0/1
RW
162
Chopper blank
time
Selects the comparator blank time. This time
needs to safely cover the switching event and
the duration of the ringing on the sense resistor.
Normally leave at the default value.
0. . . 3
RW
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