User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 39
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5 Axis Parameter Overview (SAP, GAP, STAP, RSAP, AAP)
The following section describes all axis parameters that can be used with the SAP, GAP, STAP, RSAP and AAP
commands.
MEANING OF THE LETTERS IN COLUMN ACCESS:
Access
type
Related
command(s)
Description
R
GAP
Parameter readable
W
SAP, AAP
Parameter writable
E
STAP, RSAP
Parameter automatically restored from EEPROM after reset or power-on. These
parameters can be stored permanently in EEPROM using STAP command and
also explicitly restored (copied back from EEPROM into RAM) using RSAP.
Number
Axis Parameter
Description
Range [Unit]
Access
0
Target position
The target position of a currently executed ramp.
-2147483648…
[phone]
RW
1
Actual position
Set/get the position counter without moving the
motor.
-2147483648…
[phone]
RW
2
Target speed
Set/get the desired target velocity.
-2147483648…
[phone]
[rpm]
RW
3
Actual speed
The actual velocity of the motor.
-2147483648…
[phone]
[rpm]
R
4
Max. ramp
velocity
The maximum velocity used for velocity ramp in
velocity mode and positioning mode. Set this
value to a realistic velocity which the motor can
reach!
-2147483648…
[phone]
[rpm]
RWE
6
Max current
Set/get the max allowed motor current.
*This value can be temporarily exceeded marginal due to the
operation of the current regulator.
0… [phone]
[mA]
RWE
7
MVP Target
reached velocity
Maximum velocity at which end position flag can
be set. Prevents issuing of end position when
the target is passed at high velocity.
-2147483648…
[phone]
[rpm]
RWE
9
Motor halted
velocity
If the actual speed is below this value the motor
halted flag will be set.
-2147483648…
[phone]
[rpm]
RWE
10
MVP target
reached
distance
Maximum distance at which the position end
flag is set.
-2147483648…
[phone]
RWE
11
Acceleration
Acceleration parameter for ROL, ROR, and the
velocity ramp of MVP.
-2147483648…
[phone]
[RPM/s]
RWE
13
Ramp generator
speed
The actual speed of the velocity ramp used for
positioning and velocity mode.
-2147483648…
[phone]
[rpm]
R
25
Thermal
winding time
constant
Thermal winding time constant for the used
motor. Used for I²t monitoring.
0… [phone]
[ms]
RWE
26
I²t limit
An actual I²t sum that exceeds this limit leads to
increasing the I²t exceed counter.
0… [phone]
RWE
27
I²t sum
Actual sum of the I²t monitor.
0… [phone]
R
28
I²t exceed
counter
Counts how often an I²t sum was higher than
the I²t limit.
0… [phone]
RWE
29
Clear I²t
exceeded flag
Clear the flag that indicates that the I²t sum has
exceeded the I²t limit.
(ignored)
W