User Manual

TMCM-3230 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10
73 / 103
Number Axis Parameter Description Range [Units] Access
16 Velocity V1 First acceleration / decelaration phase target ve-
locizy (in position mode only). Setting this value
to 0 turns off the first acceleration / deceleration
phase, maximum acceleration (axis parameter
5) and maximum decleration (axis parameter 17)
are used only.
0. . . 1000000
[pps]
RW
17 Maximum
deceleration
Maximum deceleration in positioning ramps.
Used to decelerate from maximum positiong
speed (axis parameter 4) to velocity V1.
0. . . 7629278
[pps
2
]
RW
18 Deceleration
D1
Deceletation bewteen V1 and VSTOP (in position-
ing mode only).
0. . . 7629278
[pps
2
]
RW
19 Velocity
VSTART
Motor start velocity (in position mode only). Do
not set VSTART higher than VSTOP.
0. . . 249999
[pps]
RW
20 Velocity VSTOP Motor stop velocity (in position mode only). 0. . . 249999
[pps]
RW
21 Ramp wait time Defines the waiting time after ramping down to
zero velocity before next movement or direction
inversion can start. Time range is 0 to 2 seconds.
This setting avoids excess acceleration e.g. from
VSTOP to -VSTART.
0. . . 65535
[0.000032s]
RW
22 Speed
threshold for
coolStep /
fullstep
Speed threshold for de-activating coolStep or
switching to fullstep mode.
0. . . 7999774
[pps]
RW
23 Minimum
speed for
dcStep
Minimum speed for switching to dcStep. 0. . . 7999774
[pps]
RW
24 Right limit
switch polarity
Setting this parameter to 1 inverts the logic state
of the right limit switch input.
0/1 RW
25 Left limit
switch polarity
Setting this parameter to 1 inverts the logic state
of the left limit switch input.
0/1 RW
26 Soft stop
enable
Use soft stop when motor is stopped by a limit
switch.
0/1 RW
27 High speed
chopper mode
Switch to other chopper mode when measured
speed is higher than axis parameter 22 when set
to 1.
0/1 RW
28 High speed
fullstep mode
Switch to fullstep mode when measured speed
is higher than axis parameter 22 when set ot 1.
0/1 RW
29 Measured
speed
Speed measured by the motor driver. 0. . . 7999774
[pps]
R
©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com