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TMCM-6212 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.07 • 2019-JAN-25
113 / 140
Number
Axis Parameter
Description
Range [Units]
Access
192
PWM autoscale
PWM automatic amplitude scaling for Stealth-
Chop.
0 - User defined PWM amplitude. The current
settings do not have any influence.
1 - Enable automatic current control.
0. . . 1
RW
193
Reference
search mode
1
Search left stop switch only.
2
Search right stop switch,
then
search left stop switch.
3
Search right stop switch,
then
search left stop switch from both
sides.
4
Search left stop switch from both
sides.
5
Search home switch in negative di-
rection, reverse the direction when
left stop switch reached.
6
Search home switch in positive di-
rection, reverse the direction when
right stop switch reached.
7
Search home switch in positive di-
rection, ignore end switches.
8
Search home switch in negative di-
rection, ignore end switches.
Additional functions:
• Add 128 to a mode value for inverting
the home switch (can be used with mode
5. . . 8).
• Add 64 to a mode for searching the right
instead of the left reference switch (can be
used with mode 1. . . 4).
1..8
RW
194
Reference
search speed
This value specifies the speed for roughly search-
ing the reference switch.
0. . . 7999774
[pps]
RW
195
Reference
switch speed
This parameter specifies the speed for searching
the switching point. It should be slower than
parameter 194.
0. . . 7999774
[pps]
RW
196
End switch
distance
This parameter provides the distance between
the end switches after executing the RFS com-
mand (with reference search mode 2 or 3).
-2147483648
. . . 2147483647
[µsteps]
R
197
Last reference
position
This parameter contains the last position value
before the position counter is set to zero during
reference search.
-2147483648
. . . 2147483647
[µsteps]
R
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