User manual

PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 60
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Number
Axis Parameter
Description
Range [Unit]
Acc.
8
Position reached
1 when target position = actual position
0 otherwise
0/1
R
9
Home switch
status
The logical state of the home 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
12
Right limit
switch disable
If set, deactivates the stop function of the right
switch (default: right limit switch disabled)
0/1
RWE
13
Left limit switch
disable
Deactivates the stop function of the left switch
resp. reference switch if set (default: left limit
switch disabled).
0/1
RWE
128
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.
1: velocity mode. The motor will run
continuously and the speed will be changed
with constant (maximum) acceleration, if the
parameter target speed is changed.
0/1
RW
130
Minimum speed
Ramp generation for acceleration and
deceleration begins and ends with this start
and stop value.
0… +268.435.454
[pps]
Default = 0
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 (default)
0… 8
RWE
161
Double step
enable
Every edge of the cycle releases a
step/microstep. It does not make sense to
activate this parameter for internal use.
Double step enable can be used with step/dir
interface.
0 – double step off
1 – double step on
0/1
RW
162
Chopper blank
time
Selects the comparator blank time. This time
needs to safely cover the switching event and
the duration of the ringing on the sense
resistor. For low current drivers, a setting of 1
or 2 is good.
0… 3
RW
163
Chopper mode
Selection of the chopper mode:
0 – spread cycle
1 – classic const. off time
0/1
RW
164
Chopper
hysteresis
decrement
Hysteresis decrement setting. This setting
determines the slope of the hysteresis during
on time and during fast decay time.
0 – fast decrement
3 – very slow decrement
0… 3
RW