TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
32
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number Axis parameter
Description
Range [Unit]
37
PID dv clipping
Clipping parameter for PID
calculation result
pid_v_actual
pid_v_actual
=
v_actual
+
clip(PID_result,
pid_dv_clip
)
0…2147483647
[µsteps/t]
40
PID mode
0: do not use PID
1: use PID
0/1
42
Encoder constant
With every pulse this constant is
added to or subtracted from the
encoder position register. This
constant is given in units of
1/65536 when bit 13 in param. 43 is
not set or in 1/10000 when bit 13
in param. 43 is set.
0…2147483647
[µsteps/2
16
]
or decimal:
Bits 31-16:
0… 32767 [µsteps]
Bits 15-0:
0… 9999
[1/1000 µsteps]
43
Encoder mode
Bit 0: polarity of channel A when
null channel is active
Bit 1: polarity of channel B when
null channel is active
Bit 2: polarity of null channel
Bit 3: ignore polarity of A and B
channel when null channel is active
Bit 4: continuous clear while null
channel is active
Bit 5: clear once at next null
channel event.
Bit 6: null channel is positive edge
triggered
Bit 7: null channel is negative edge
triggered
Bit 8: clear encoder position on null
event (otherwise it is latched only)
Bit 13: Encoder divisor selection
(0=encoder constant/65535,
1=encoder constant/10000).
47
Encoder warn distance
Maximum deviation between motor
and encoder.
[µsteps]
48
Compare position
Tbd
-2147483648 …
+2147483647
[µsteps]
50
Right position limit
Position limit when moving in
positive direction.
-2147483648 …
+2147483647
[µsteps]
51
Left position limit
Position limit when moving in
negative direction.
-2147483648 …
+2147483647
[µsteps]
52
Right position limit
enable
The motor cannot drive beyond the
right position limit when set to 1.
0/1
53
Left position limit enable
The motor cannot drive beyond the
left position limit when set to 1.
0/1
63
Microstep table position
Position of the microstep table
pointer.
0…8191
64
Step pulse length
Length of the step pulses on the
step/direction output.
0…255
[1/16 MHz]
