User manual
TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 91
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6 Axis parameters
The following sections describe all axis parameters that can be used with the SAP, GAP, AAP, STAP and RSAP
commands.
Meaning of the letters in column Access:
R = readable (GAP)
W = writable (SAP)
E = automatically restored from EEPROM after reset or power-on
Number
Axis Parameter
Description
Range [Unit]
Acc.
0
target (next)
position
The desired position in position mode (see
ramp mode, no. 138).
2
23
[µsteps]
RW
1
actual position
The current position of the motor. Should
only be overwritten for reference point
setting.
2
23
[µsteps]
RW
2
target (next)
speed
The desired speed in velocity mode (see ramp
mode, no. 138). In position mode, this
parameter is set by hardware: to the
maximum speed during acceleration, and to
zero during deceleration and rest.
2047
RW
3
actual speed
The current rotation speed.
2047
RW
4
maximum
positioning
speed
Should not exceed the physically highest
possible value. Adjust the pulse divisor (no.
154), if the speed value is very low (<50) or
above the upper limit. See TMC 428 datasheet
for calculation of physical units.
0… 2047
RWE
5
maximum
acceleration
The limit for acceleration (and deceleration).
Changing this parameter requires re-
calculation of the acceleration factor (no. 146)
and the acceleration divisor (no. 137), which is
done automatically. See TMC 428 datasheet for
calculation of physical units.
0… 2047
RWE
6
absolute max.
current
(CS / Current
Scale)
The most important motor setting, since too
high values might cause motor damage!
The maximum value is 255. This value means
100% of the maximum current of the module.
The current adjustment is within the range 0…
255 and can be adjusted in 32 steps (0… 255
divided by eight; e.g. step 0 = 0… 7, step 1 =
8… 15 and so on).
0… 255
RWE
7
standby current
The current limit two seconds after the motor
has stopped.
0… 255
RWE
8
target pos.
reached
Indicates that the actual position equals the
target position.
0/1
R
9
ref. switch status
The logical state of the reference (left) switch.
See the TMC 428 data sheet for the different
switch modes. The default has two switch
modes: the left switch as the reference
switch, the right switch as a limit (stop)
switch.
0/1
R
10
right limit switch
status
The logical state of the (right) limit switch.
0/1
R
11
left limit switch
status
The logical state of the left limit switch (in
three switch mode)
0/1
R