User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 76
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Number
Axis Parameter
Description
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.
209
encoder position
The value of an encoder register can be read
out or written.
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:
Positioning motor by a potentiometer connected to the analogue input #0:
Start: GIO 0,1 // get value of analogue input line 0
CALC MUL, 4 // multiply by 4
AAP 0,0 // transfer result to target position of motor 0
JA Start // jump back to start
Binary format of the AAP 0,0 command:
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
$22
$00
$00
$00
$00
$00
$00
$23