User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 41
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Number
Axis Parameter
Description
Range [Unit]
Access
164
Activate stop
switch
Bit 0
Left stop switch
enable
When this bit is set
the motor will be
stopped if it is
moving in negative
direction and the
left stop switch
input becomes
active
Bit 1
Right stop switch
enable
When this bit is set
the motor will be
stopped if it is
moving in positive
direction and the
right stop switch
input becomes
active
Please see parameter 166 for selecting the stop
switch input polarity.
0… 3
RWE
165
Actual encoder
commutation
offset
This value represents the internal commutation
offset.
(0 … max. encoder steps per rotation)
-2147483648…
[phone]
RWE
166
Stop switch
polarity
Bit 0
Left stop switch
polarity
Bit set: Left stop
switch input is high
active
Bit clear: Left stop
switch input is low
active
Bit 1
Right stop switch
polarity
Bit set: Right stop
switch input is high
active
Bit clear: Right stop
switch input is low
active
0… 3
RWE
172
P parameter for
current PID
P parameter of current PID regulator.
-2147483648…
[phone]
RWE
173
I parameter for
current PID
I parameter of current PID regulator.
-2147483648…
[phone]
RWE
177
Start current
Motor current for controlled commutation. This
parameter is used in commutation mode.
0… [phone]
[mA]
RWE
200
Current PID
error
Actual error of current PID regulator
-2147483648…
[phone]
R
201
Current PID
error sum
Sum of errors of current PID regulator
-2147483648…
[phone]
R
209
Actual encoder
position
Actual encoder position / counter value
-2147483648…
[phone]
R
210
Actual hall
angle
Actual hall angle value
-32767… +32767
R
211
Actual encoder
angle
Actual encoder angle value
-32767… +32767
R
226
Position PID
error
Actual error of position PID regulator
-2147483648…
[phone]
R
228
Velocity PID
error
Actual error of velocity PID regulator
-2147483648…
[phone]
R
229
Velocity PID
error sum
Sum of errors of velocity PID regulator
-2147483648…
[phone]
R
230
P parameter for
position PID
P parameter of position PID regulator.
-2147483648…
[phone]
RWE
234
P parameter for
velocity PID
P parameter of velocity PID regulator.
-2147483648…
[phone]
RWE