User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 92
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Number
Axis Parameter
Description
Range [Unit]
Acc.
12
right limit switch
disable
If set, deactivates the stop function of the
right switch
0/1
RWE
13
left limit switch
disable
Deactivates the stop function of the left
switch resp. reference switch if set.
0/1
RWE
130
minimum speed
Should always be set 1 to ensure exact
reaching of the target position. Do not
change!
0… 2047



 




RWE
135
actual
acceleration
The current acceleration (read only).
0… 2047*
R
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.
0/1/2
RWE
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
0… 8
RWE
141
ref. switch
tolerance
For three-switch mode: a position range,
where an additional switch (connected to the
REFL input) won't cause motor stop.
0… 4095
[µsteps]
RW
149
soft stop flag
If cleared, the motor will stop immediately
(disregarding motor limits), when the
reference or limit switch is hit.
0/1
RWE
153
ramp divisor
The exponent of the scaling factor for the
ramp generator- should be de/incremented
carefully (in steps of one).
0… 13
RWE
154
pulse divisor
The exponent of the scaling factor for the
pulse (step) generator – should be
de/incremented carefully (in steps of one).
0… 13
RWE
160
step
interpolation
enable
Step interpolation is supported with a 16
microstep setting only. In this setting, each
step impulse at the input causes the
execution of 16 times 1/256 microsteps. This
way, a smooth motor movement like in 256
microstep resolution is achieved.
0 – step interpolation off
1 – step interpolation on
0/1
RW