User manual

TMCM-6110 TMCL Firmware V1.19 Manual (Rev. 1.03 / 2012-JUL-31) 10
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Examples:
- ROR rotate right, motor 0, value 500 -> Click Execute. The first motor is rotating now.
- MST motor stop, motor 0 -> Click Execute. The first motor stops now.
You will find a description of all TMCL
TM
commands in the following chapters.
4.1.4 Important Motor Settings
There are some axis parameters which have to be adjusted right in the beginning after installing your
module. Please set the upper limiting values for the speed (axis parameter 4), the acceleration (axis
parameter 5), and the current (axis parameter 6). Further set the standby current (axis parameter 7) and
choose your microstep resolution with axis parameter 140. Please use the SAP (Set Axis Parameter)
command for adjusting these values. The SAP command is described in paragraph 5.6.5. You can use the
TMCM-IDE direct mode for easily configuring your module.
IMPORTANT AXIS PARAMETERS FOR MOTOR SETTING
Number
Axis Parameter
Description
Range [Unit]
4
maximum
positioning
speed
Should not exceed the physically highest possible
value. Adjust the pulse divisor (no. 154), if the speed
value is very low (<50) or above the upper limit. See
TMC 429 datasheet for calculation of physical units.
0… 2047



 




5
maximum
acceleration
The limit for acceleration (and deceleration). Changing
this parameter requires re-calculation of the
acceleration factor (no. 146) and the acceleration divisor
(no. 137), which is done automatically. See TMC 429
datasheet for calculation of physical units.
0… 2047*
1
Top right of the TMCL Direct Mode window is the button Copy to editor. Click here to copy the chosen
command and create your own TMCL program. The command will be shown immediately on the editor.
ATTENTION
The most important motor setting is the absolute maximum motor current setting, since too high values
might cause motor damage!