User manual
TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 95
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Number
Axis Parameter
Description
Range [Unit]
Acc.
180
smartEnergy
actual current
This status value provides the actual motor
current setting as controlled by coolStep™.
The value goes up to the CS value and down
to the portion of CS as specified by SEIMIN.
actual motor current scaling factor:
0 … 31: 1/32, 2/32, … 32/32
0… 31
RW
181
stop on stall
Below this speed motor will not be stopped.
Above this speed motor will stop in case
stallGuard2™ load value reaches zero.
0… 2047
RW
182
smartEnergy
threshold speed
Above this speed coolStep™ becomes
enabled.
0… 2047
RW
183
smartEnergy
slow run current
Sets the motor current which is used below
the threshold speed.
0… 255
RW
193
referencing
mode
1 – Only the left reference switch is searched.
2 – The right switch is searched and
afterwards the left switch is searched.
3 – Three-switch-mode: the right switch is
searched first and afterwards the reference
switch will be searched.
1/2/3
RWE
194
referencing
search speed
For the reference search this value directly
specifies the search speed.
0… 2047
RWE
195
referencing
switch speed
Similar to parameter no. 194, the speed for
the switching point calibration can be
selected.
0… 2047
RWE
196
distance end
switches
This parameter provides the distance between
the end switches after executing the RFS
command (mode 2 or 3).
0… 8388307
R
204
freewheeling
Time after which the power to the motor will
be cut when its velocity has reached zero.
0… 65535
0 = never
[msec]
RWE
206
actual load value
Readout of the actual load value with used
for stall detection (stallGuard2™).
0… 1023
R
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
R
209
encoder position
The value of an encoder register can be read
out or written.
[encoder steps]
RW