TMCM-1021 TMCL
™
Firmware Manual • Firmware Version V1.42 | Document Revision V1.10 • 2018-JAN-09
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Number
Axis Parameter
Description
Range [Units]
Access
204
Freewheeling
delay
Time after which the power to the motor will be
cut when its velocity has reached zero (a value
of 0 (default setting) means never).
0. . . 65535
[10ms]
RWE
206
Actual load
value
Readout of the actual load value used for stall
detection (stallGuard2).
0. . . 1023
R
207
Extended error
flags
A
combination
of
the
following
values:
1
stallGuard error
2
deviation error
These error flags are cleared automatically
when this parameter has been read out or when
a motion command has been executed.
0. . . 3
R
208
TMC262 error
flags
A
combination
of
the
following
values:
Bit 0
stallGuard2 status
(1: threshold reached)
Bit 1
Overtemperature
(1: driver is shut down due to overtemper-
ature)
Bit 2
Overtemperature pre-warning
(1: temperature threshold is exceeded)
Bit 3
Short to ground A
(1: short condition detected, driver cur-
rently shut down)
Bit 4
Short to ground B
(1: short condition detected, driver cur-
rently shut down)
Bit 5
Open load A
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 6
Open load B
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 7
Stand still
(1: no step impulse occurred on the step
input during the last
2
20
clock cycles)
Please also refer to the TMC262 Datasheet for more
information.
0. . . 255
R
209
Encoder
position
Encoder counter value.
-2147483648
. . . 2147483647
[µsteps]
RW
210
Encoder
prescaler
Prescaler for the encoder. Please see section
See section
RW
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
. . . 2147483647
[encoder
steps]
RW
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