TMCM-351 TMCL Firmware V4.45 Manual (Rev. 1.06 / 2014-MAY-16)
67
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5
Axis Parameters
The following sections describe all axis parameters that can be used with the SAP, GAP, AAP, STAP and RSAP
commands.
M
EANING OF THE LETTERS IN COLUMN
A
CCESS
:
Access
type
Related
command(s)
Description
R
GAP
Parameter readable
W
SAP, AAP
Parameter writable
E
STAP, RSAP
Parameter automatically restored from EEPROM after reset or power-on. These
parameters can be stored permanently in EEPROM using STAP command and
also explicitly restored (copied back from EEPROM into RAM) using RSAP.
Basic parameters should be adjusted to motor / application for proper module operation.
Number Axis Parameter Description
Range
Acc.
0
Target (next)
position
The desired position in position mode (see
ramp mode, no. 138).
-2
31
… 2
31
-1
[µsteps]
RW
1
Actual position
The current position of the motor. Should
only be overwritten for reference point
setting.
-2
31
… 2
31
-1
[µsteps]
RW
2
Target (next)
speed
The desired speed in velocity mode (see ramp
mode, no. 138). In position mode, this
parameter is set by hardware: to the
maximum speed during acceleration, and to
zero during deceleration and rest.
2047
RW
3
Actual speed
The current rotation speed.
2047
RW
4
Maximum
positioning
speed
Should not exceed the physically highest
possible value. Adjust the pulse divisor (no.
154), if the speed value is very low (<50) or
above the upper limit. See TMC429 datasheet
for calculation of physical units.
0… 2047
RWE
5
Maximum
acceleration
The limit for acceleration (and deceleration).
Changing
this
parameter
requires
re-
calculation of the acceleration factor (no. 146)
and the acceleration divisor (no. 137), which is
done automatically. See TMC429 datasheet for
calculation of physical units.
0… 2047*
1
RWE
6
Absolute max.
current
(CS / Current
Scale)
The maximum value is 255. This value means
100% of the maximum current of the module.
The current adjustment is within the range 0…
255 and can be adjusted in 32 steps.
The most important motor setting, since too
high values might cause motor damage!
0… 7
79…87
160… 167
240… 247
8… 15
88… 95
168… 175
248… 255
16… 23
96… 103
176… 183
24… 31
104… 111
184… 191
32… 39
112… 119
192… 199
40… 47
120… 127
200… 207
48… 55
128… 135
208… 215
56… 63
136… 143
216… 223
64… 71
144… 151
224… 231
72… 79
152… 159
232… 239
0… 255
RWE
