TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
36
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number Axis parameter
Description
Range [Unit]
21
Mixed decay run
0: no mixed decay when running
1: use mixed decay when running
0/1
22
Mixed decay standby
0: no mixed decay when standing
1: use mixed decay when standing
0/1
23
Chopper clock divider
Chopper clock frequency divider. Do
not change!
Chopper clock = 16MHz/value
Default = 444
96…818
25
Actual load value
The actual load value.
7 = low load
0 = high load
0…7
26
Driver status
Bit 0: driver error
Bit 1: over temperature pre-warning
27
Microstep resolution
0
2048 micro steps
1
1024 micro steps
2
512 micro steps
3
256 micro steps
4
128 micro steps
5
64 micro steps
6
32 micro steps
7
16 micro steps
8
8 micro steps
9
4 micro steps
10
2 micro steps
11
1 full step
0…11
28
PID tolerance
Tolerance for PID regulation
If the absolute value of the error
pid_e
is below
pid_tolerance
after
an exact hit, then the pid_error_in
becomes 0 and
pid_i_sum
is set to
zero, until the tolerance zone is left
again.
0… 1048575
[µsteps]
29
Sine wave offset
The sine wave offset can be
adapted for optimum microstep
performance on zero crossing of
the coil currents. A too low offset
leads to the motor turning too
slow during zero transition, a too
high offset leads to a larger step.
This parameter can be optimized
for the motor type. It mainly
depends on motor inductivity and
coil resistance.
0…255
[1/1024 of sine
wave
amplitude]
30
PID p factor
P parameter (unsigned)
update frequency f
CLK
/128;
Result:
pid_e
*
pid_p
/256
(becomes clipped to +/-2^31)
0…1677215
31
PID i factor
I parameter (unsigned)
Result: (
pid_isum
/256)*
pid_i
/256
(becomes clipped to +/-2^31)
0…1677215
