User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 40
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Number
Axis Parameter
Description
Range [Unit]
Access
30
Minute counter
Counts the module operational time in minutes.
0… [phone]
[min]
RWE
133
PID regulation
loop delay
Delay of the position and velocity
0… [phone]
[ms]
RWE
134
Current
regulation loop
delay
Delay of the PID current regulator.
0… [phone]
[50µs]
RWE
146
Activate ramp
1: Activate velocity ramp generator for position
and velocity mode. (Allows usage of acceleration
and positioning velocity for MVP command.)
0/1
RWE
150
Actual motor
current
Get actual motor current.
-2147483648…
[phone] [mA]
R
151
Actual voltage
Actual supply voltage.
0… [phone]
R
152
Actual driver
temperature
Actual temperature of the motor driver.
0… [phone]
R
155
Target current
Get desired target current or set target current to
activate current regulation mode. (+= turn motor
in right direction; -= turn motor in left direction)
-2147483648…
[phone]
[mA]
RW
156
Error/Status
flags
Bit 0: Overcurrent flag. This flag is set if the max.
current limit is exceeded.
Bit 1: Undervoltage flag. This flag is set if supply
voltage is too low for motor operation.
Bit 2: Overvoltage flag. This flag is set if the
motor becomes switched off due to overvoltage.
Bit 3: Overtemperature flag. This flag is set if
overtemperature limit is exceeded.
Bit 4: Motor halted flag. This flag is set if motor
has been switched off.
Bit 5: Hall error flag. This flag is set upon a hall
error.
Bit 6: TMC603 error flag
Bit 7: unused
Bit 8: unused
Bit 9: Velocity mode active flag
Bit 10: Position mode active flag.
Bit 11: Torque mode active flag.
Bit 12: unused
Bit 13: unused
Bit 14: Position end flag. This flag is set if the
motor has been stopped at the target position.
Bit 15: unused
Bit 16: unused
Bit 17: I²t exceeded flag. This flag is set if the I²t
sum exceeded the I²t limit of the motor.
(reset by SAP 29 after the time specified by the
I²t thermal winding time constant)
Flag 0 to 15 are automatically reset. Only flag 17
must be cleared manually.
0…[phone]
R
159
Commutation
mode
6: FOC based on hall sensor
7: FOC based on encoder
6, 7
RWE
161
Encoder set
NULL
1: set position counter to zero at next N channel
event.
0/1
RWE
162
Switch set NULL
1: set position counter to zero at next switch
event.
0/1
RWE
163
Encoder clear
set NULL
1: set position counter to zero only once
0: always at an N channel event
0/1
RWE