User manual
TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 31
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Number
Axis Parameter
Description
Range [Unit]
181
stop on stall
Below this speed motor will not be stopped.
Above this speed motor will stop in case
stallGuard2™ load value reaches zero.
0… 2047
182
smartEnergy
threshold speed
Above this speed coolStep™ becomes
enabled.
0… 2047
183
smartEnergy slow
run current
Sets the motor current which is used below
the threshold speed.
0… 255
193
referencing mode
1 – Only the left reference switch is searched.
2 – The right switch is searched and
afterwards the left switch is searched.
3 – Three-switch-mode: the right switch is
searched first and afterwards the reference
switch will be searched.
1/2/3
194
referencing
search speed
For the reference search this value directly
specifies the search speed.
0… 2047
195
referencing
switch speed
Similar to parameter no. 194, the speed for
the switching point calibration can be
selected.
0… 2047
204
freewheeling
Time after which the power to the motor will
be cut when its velocity has reached zero.
0… 65535
0 = never
[msec]
209
encoder position
The value of an encoder register can be read
out or written.
[encoder steps]
210
encoder prescaler
Prescaler for the encoder.
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… 65535
[encoder steps]
214
power down
delay
Standstill period before the current is changed
down to standby current. The standard value
is 200 (value equates 2000msec).
1… 65535
[10msec]
Example:
Set the absolute maximum current of motor to 200mA
Mnemonic: SAP 6, 0, 200
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$05
$06
$00
$00
$00
$00
$c8
$d5