User manual

TMCM-1161 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-NOV-19) 57
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Number
Axis Parameter
Description
Range [Unit]
Acc.
196
Distance end
switches
This parameter provides the distance between
the end switches after executing the RFS
command (mode 2 or 3).
0… 2.147.483.647
R
200
Boost current
Current used for acceleration and deceleration
phases.
If set to 0 the same current as set by axis
parameter 6 will be used.
0… 255


  




  


RWE
204
Freewheeling
Time after which the power to the motor will
be cut when its velocity has reached zero.
0… 65535
0 = never
[msec]
RWE
206
Actual load value
Readout of the actual load value with used
for stall detection (stallGuard2™).
0… 1023
R
207
Extended error
flags
1
Motor stopped because of
stallGuard2 detection.
2
Motor stopped because of encoder
deviation.
3
Motor stopped because of (1) and
(2).
Will be reset automatically by the next motion
command.
1… 3
R
208
TMC262 driver
error flags
Bit 0
stallGuard2 status
(1: threshold reached)
Bit 1
Overtemperature
(1: driver is shut down due to
overtemperature)
Bit 2
Pre-warning overtemperature
(1: Threshold is exceeded)
Bit 3
Short to ground A
(1: Short condition detected,driver
currently shut down)
Bit 4
Short to ground B
(1: Short condition detected, driver currently
shut down)
Bit 5
Open load A
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 6
Open load B
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 7
Stand still
(1: No step impulse occurred on the step
input during the last 2^20 clock cycles)
Please refer to the TMC262 Datasheet for more
information.
0/1
R
209
Encoder position
The value of an encoder register can be read
out or written.
[encoder steps]
RW
210
Encoder
prescaler
Prescaler for the encoder.
See paragraph 6.2
RWE
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]
RWE
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]
RWE