User Manual

TMCM-3230 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10
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4 Axis Parameters
Most motor controller features of the TMCM-3230 module are controlled by axis parameters. Axis
parameters can be modified or read using SAP, GAP, AAP, STAP and RSAP commands. This chapter
describes all axis parameters that can be used on the TMCM-3230 module.
Meaning of the Letters in the Access Column
Access type Command Description
R GAP Parameter readable
W SAP, AAP Parameter writable
E STAP, RSAP Parameter can be stored in the EEPROM
Table 13: Meaning of the Letters in the Access Column
All Axis Parameters of the TMCM-3230 Module
Number Axis Parameter Description Range [Units] Access
0 Target position The desired target position in position mode -2147483648
. . . 2147483647
[µsteps]
RW
1 Actual position The actual position of the motor. Stop the motor
before overwriting it. Should normally only be
overwritten for reference position setting.
-2147483648
. . . 2147483647
[µsteps]
RW
2 Target speed The desired speed in velocity mode. Not valid in
position mode.
-7999774
. . . 7999774
[pps]
RW
3 Actual speed The actual speed of the motor. -7999774
. . . 7999774
[pps]
R
4 Maximum
positioning
speed
The maximum speed used for positioning
ramps.
0. . . 7999774
[pps]
RW
5 Maximum
acceleration
Maximum acceleration in positioning ramps. Ac-
celeration and deceleration value in velocity
mode.
0. . . 7629278
[pps
2
]
RW
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