Trinamic TMCM-170, Programming And Reference Manual

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TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual 19
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
List of Get Axis Parameter Commands:
Type Axis Parameter Value Range Description
0 Target position 32 bit signed
The target position of a currently executed ramp,
refer to chapter 1.4 for more detailed information
1 Actual position 32 bit signed The encoder position of the motor.
2 Target speed 32 bit signed Programmed target velocity
3 Actual speed 32 bit signed
The actual velocity of the motor. (Only available with
encoder).
4
Max. positioning
velocity
16 bit unsigned See associated SAP command
5 Duty cycle limit 8 bit unsigned Limit duty cycle to a defined value
6 Max. current 8 bit unsigned See associated SAP command, refer 3.2.1.1
7
MVP target
reached velocity
16 bit unsigned See associated SAP command
8
Min. positioning
speed
16 bit unsigned See associated SAP command
9
MVP slow down
distance
16 bit unsigned See associated SAP command
10
MVP target
reached distance
16 bit unsigned See associated SAP command
11 Acceleration 16 bit unsigned See associated SAP command
128 Standalone mode 8 bit unsigned See associated SAP command
130 P-Parameter 16 bit unsigned See associated SAP command
131 I-Parameter 16 bit unsigned See associated SAP command
132 D-Parameter 16 bit unsigned See associated SAP command
133
PID regulation
loop delay
8 bit unsigned See associated SAP command
134
Current
regulation loop
delay
8 bit unsigned
0…254
See associated SAP command
135
I – Clipping –
Parameter
16 bit unsigned See associated SAP command
136
PWM -
Hysteresis
16 bit unsigned See associated SAP command
137
max. I –
Parameter
Boolean See associated SAP command
138
I – Parameter
Correction
Boolean See associated SAP command
140
Velocity P -
Parameter
16 bit unsigned See associated SAP command
141
Velocity I -
Parameter
16 bit unsigned See associated SAP command
142
Velocity D -
Parameter
16 bit unsigned See associated SAP command
143
Velocity I –
Clipping -
Parameter
16 bit unsigned See associated SAP command
146
Velocity PID -
Control
Boolean See associated SAP command
147 Disable PID Boolean See associated SAP command
150
Actual motor
current
0 … 1023
actual motor current (value limited to range of about 8
and 1012), refer 3.2.1.1
151 Actual voltage 0…550 Actual Voltage (in 100mV steps)
152
Actual
Temperature
value
actual temperature, uses calculation formula for
T[°C] = Round( 0.590024 * Power(value, 0.997586))
153
Actual PWM duty
cycle
8 bit unsigned Actual PWM duty cycle
154 ADC readout 10 bit unsigned Potentiometer readout