User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 43
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5.1 Axis Parameter Sorted by Functionality
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.
MOTOR / MODULE SETTINGS
Number
Axis Parameter
Description
Range [Unit]
Access
253
Number of
motor poles
Number of motor poles.
+2… +254
RWE
239
BEMF constant
BEMF constant of the motor. Used for current,
position, and velocity regulation.
-2147483648…
[phone]
[rpm/(10V)]
RWE
240
Motor coil
resistance
Resistance of motor coil. Used for current,
position, and velocity regulation.
-2147483648…
[phone]
[mΩ]
RWE
238
Mass inertia
constant
Mass inertia constant. Compensates the rotor
inertia of the motor.
-2147483648…
[phone]
RWE
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
30
Minute counter
Counts the module operational time in minutes.
0… [phone]
[min]
RWE
245
Overvoltage
protection
1: Enable overvoltage protection.
0/1
RWE
ENCODER / INITIALIZATION SETTINGS
Number
Axis Parameter
Description
Range [Unit]
Access
254
Hall sensor
invert
1: Hall sensor invert. Invert the hall scheme, e.g.
used by some Maxon motors.
0/1
RWE
250
Encoder steps
Encoder steps per rotation.
0… [phone]
RWE
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
251
Encoder
direction
Set the encoder direction in a way, that ROR
increases position counter.
0/1
RWE
165
Actual encoder
commutation
offset
This value represents the internal commutation
offset.
(0 … max. encoder steps per rotation)
-2147483648…
[phone]
RWE