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ManualsBrandsTRINAMIC ManualsDrive EngineeringTMCM-1180-TMCL Stepper Motor Controller
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TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 37
www.trinamic.com
Number
Axis Parameter
Description
Range [Unit]
208
TMC262 driver
error flags
Bit 0
stallGuard™ 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
209
encoder position
The value of an encoder register can be read
out or written.
[encoder steps]
210
encoder prescaler
Prescaler for the encoder.
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]
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]
215
absolute encoder
value
Absolute value of the encoder.
0… 255
[encoder steps]
Example:
Get the actual position of motor
Mnemonic: GAP 0, 1
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$06
$01
$00
$00
$00
$00
$00
$0a
Reply:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Host-
address
Target-
address
Status
Instruction
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$02
$01
$64
$06
$00
$00
$02
$c7
$36
status=no error, position=711