TMCM-351 TMCL Firmware V4.45 Manual (Rev. 1.06 / 2014-MAY-16)
70
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Number Axis Parameter Description
Range
Acc.
204
Freewheeling
Time after which the power to the motor will
be cut when its velocity has reached zero.
0… 65535
0 = never
[msec]
RWE
205
Stall detection
threshold
The motor will be stopped if the load value
exceeds the stall detection threshold.
0 no stall detection
1…7 Stall detection threshold setting:
1 (low threshold) up to
7 (high threshold).
Switch off mixed decay to get usable results
.
0… 7
RWE
206
Actual load value Readout of the actual load value used for stall
detection.
0… 7
R
207
Extended error
flags
Bit 0: motor has been stopped due to encoder
deviation error.
Bit 1: motor has been stopped due to motor
stall.
These two flags are cleared with the next
movement command.
0… 3
R
208
Driver error flags Bit 0
Overcurrent bridge A low side
Bit 1
Overcurrent bridge B low side
Bit 2
Open load bridge A
Bit 3
Open load bridge B
Bit 4
Overcurrent high side
Bit 5
Driver undervoltage
Bit 6
Temperature warning
Bit 7
Overtemperature
0… 255
R
209
Encoder position The value of an encoder register can be read
out or written.
[encoder steps]
RW
210
Encoder
prescaler
Prescaler for the encoder.
See chapter 7.2.
RWE
211
Fullstep
threshold
When exceeding this speed the driver will
switch to real full step mode.
To disable this feature set this parameter to
zero or to 2048.
Setting a full step threshold allows higher
motor torque of the motor at higher velocity.
When experimenting with this in a given
application, try to reduce the motor current in
order to be able to reach a higher motor
velocity!
0… 2048
RWE
212
Maximum
encoder
deviation
When the actual position (parameter 1) and
the encoder position (parameter 209) differ
more than set here the motor will be
stopped. This function is switched off when
the maximum deviation is set to zero.
0… 65535
[encoder steps]
RWE
213
Group index
All motors on one module that have the same
group index will also get the same commands
when a ROL, ROR, MST, MVP or RFS is issued
for one of these motors.
0… 255
RW
214
Power down
delay
Standstill period before the current is changed
down to standby current. The standard value
is 200msec.
1… 65535
[10msec]
RWE
*
1
Unit of acceleration:
