Data Sheet

Offset Name Type Description Units
0x09
Planning
mode
unsigned
8-bit
The kind of step planning algorithm the controller is
currently using.
• 0: Off (no target; not sending steps)
• 1: Target position
• 2: Target velocity
0x0A
Target
position
signed
32-bit
Motor target position (−2,147,483,648 to
+2,147,483,647 = −0x8000 0000 to +0x7FFF FFFF).
This value is only meaningful if the “planning mode”
variable indicates “target position”.
microsteps
0x0E
Target
velocity
signed
32-bit
Motor target velocity (−500,000,000 to
+500,000,000). This value is only meaningful if the
“planning mode” variable indicates “target velocity”.
microsteps
per
10,000 s
0x12
Starting
speed
unsigned
32-bit
Maximum speed at which instant acceleration and
deceleration are allowed (0 to 500,000,000).
microsteps
per
10,000 s
0x16 Max speed
unsigned
32-bit
Maximum allowed motor speed (0 to 500,000,000).
microsteps
per
10,000 s
0x1A
Max
deceleration
unsigned
32-bit
Maximum allowed motor deceleration (100 to
2,147,483,647 = 0x64 to 0x7FFF FFFF).
microsteps
per 100 s²
0x1E
Max
acceleration
unsigned
32-bit
Maximum allowed motor acceleration (100 to
2,147,483,647 = 0x64 to 0x7FFF FFFF).
microsteps
per 100 s²
0x22
Current
position
signed
32-bit
Current position of the motor (−2,147,483,648 to
+2,147,483,647 = −0x8000 0000 to +0x7FFF FFFF).
Note that this just tracks steps that the Tic has
commanded the stepper driver to take; it could be
different from the actual position of the motor for
various reasons.
microsteps
0x26
Current
velocity
signed
32-bit
Current velocity of the motor (−500,000,000 to
+500,000,000). Note that this is just the step rate
and direction the Tic is sending to the driver, and
it might not correspond to the actual velocity of the
motor for various reasons.
microsteps
per
10,000 s
Tic Stepper Motor Controller User’s Guide © 2001–2018 Pololu Corporation
7. Variable reference Page 114 of 150