Trinamic TMCM-1021 TMCL, Руководство пользователя

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TMCM-1021 TMCL
™
Firmware Manual • Firmware Version V1.42 | Document Revision V1.10 • 2018-JAN-09
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6.2.1 Matching Encoder Resolution and Motor Resolution
When choosing a different microstep resolution than the factory default setting, the encoder prescaler also
has to be adapted so that functions using the built-in encoder still work properly. Table 20 shows which
prescaler settings are to be used with which microstep resolution settings. The factory default setting is
256 microsteps and prescaler 50.
Internal Encoder Settings
Microstep Encoder
Resolution SAP command Prescaler SAP command
256 SAP 140, 0, 8 50 SAP 210, 0, 25600
128 SAP 140, 0, 7 25 SAP 210, 0, 12800
64 SAP 140, 0, 6 12.5 SAP 210, 0, 6400
32 SAP 140, 0, 5 6.25 SAP 210, 0, 3200
16 SAP 140, 0, 4 3.125 SAP 210, 0, 1600
8 SAP 140, 0, 3 1.5625 SAP 210, 0, 800
4 SAP 140, 0, 2 0.78125 SAP 210, 0, 400
2 SAP 140, 0, 1 0.390625 SAP 210, 0, 200
Table 20: Internal Encoder Settings
Other encoder prescalers than those shown in table 20 can also be used, but are mostly not needed for
the internal encoder. The formula for the prescaler setting is p = prescaler · 512 where <p> is the value
passed to axis parameter #210. Hence, a setting of SAP 210, 0, 512 would for example result in a prescaler
of 1. The lower four bits of the <p> value must not be used for the prescaler setting as they are reserved
for activating special encoder functions.
6.2.2 Special Encoder Functions
The only special function of the internal sensOstep™ encoder is the clear-on-null function. This will clear
the encoder position each time the encoder passes its absolute zero point. This can be useful for finding
a reference position. To activate this function, add the value of 4 to the value passed to axis parameter
#210.
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