User manual

TMCM-1141 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 68
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Number
Axis Parameter
Description
Range [Unit]
Acc.
196
Distance end
switches
This parameter provides the distance between
the end switches after executing the RFS
command (mode 2 or 3).
0… 2.147.483.647
R
200
Boost current
Current used for acceleration and deceleration
phases.
If set to 0 the same current as set by axis
parameter 6 will be used.
0… 255


  




  


RWE
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
207
Extended error
flags
Motor stopped because of stallGuard2
detection.
Will be reset automatically by the next motion
command.
1
R
208
TMC262 driver
error flags
Bit 0
stallGuard2 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)
0/1
R
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]
RWE
254
Step/Dir mode
1
Use of the ENABLE input on step/dir connector to
switch between hold current and run current (no
automatic switching)
2
Automatic switching between hold and run
current: after the first step pulse the module
automatically switches over to run current, and a
configurable time after the last step pulse the
module automatically switches back to hold
current. The ENABLE input on the step/dir
connector does not have any functionality.
3
Always use run current, never switch to hold
current. The ENABLE input on the step/dir
connector does not have any functionality.
4
Automatic current switching like (2), but the
ENABLE input is used to switch the driver stage
completely off or on.
5
Always use run current like (3), but the ENABLE
pin is used to switch the driver stage completely
off or on.
1… 5
254
* Unit of acceleration:
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


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
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