User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 42
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Number
Axis Parameter
Description
138
ramp mode
Automatically set when using ROR, ROL, MST
and MVP.
0: position mode. Steps are generated, when
the parameters actual position and target
position differ. Trapezoidal speed ramps are
provided.
2: velocity mode. The motor will run
continuously and the speed will be changed
with constant (maximum) acceleration, if the
parameter target speed is changed.
For special purposes, the soft mode (value 1)
with exponential decrease of speed can be
selected.
140
microstep
resolution
0
full step
1
half step
2
4 microsteps
3
8 microsteps
4
16 microsteps
5
32 microsteps
6
64 microsteps
7
128 microsteps
8
256 microsteps
149
soft stop flag
If cleared, the motor will stop immediately
(disregarding motor limits), when the
reference or limit switch is hit.
153
ramp divisor
The exponent of the scaling factor for the
ramp generator- should be de/incremented
carefully (in steps of one).
154
pulse divisor
The exponent of the scaling factor for the
pulse (step) generator – should be
de/incremented carefully (in steps of one).
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.
194
referencing
search speed
For the reference search this value directly
specifies the search speed.
195
referencing
switch speed
Similar to parameter no. 194, the speed for
the switching point calibration can be
selected.
204
freewheeling
Time after which the power to the motor will
be cut when its velocity has reached zero.
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.
214
power down
delay
Standstill period before the current is changed
down to standby current. The standard value
is 200 (value equates 2000msec).
Example:
Restore the maximum current of motor