User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 45
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Number
Axis Parameter
Description
Range [Unit]
Access
229
Velocity PID
error sum
Sum of errors of PID velocity regulator
-2147483648…
[phone]
R
VELOCITY RAMP PARAMETER
Number
Axis Parameter
Description
Range [Unit]
Access
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
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
146
Activate ramp
1: Activate velocity ramp generator for position
PID control. (Allows usage of acceleration and
positioning velocity for MVP command.)
0/1
RWE
POSITION REGULATION MODE
Number
Axis Parameter
Description
Range [Unit]
Access
1
Actual position
Set/get the position counter without moving the
motor.
-2147483648…
[phone]
RW
0
Target position
The target position of a currently executed ramp.
-2147483648…
[phone]
RW
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
10
MVP target
reached
distance
Maximum distance at which the position end flag
is set.
-2147483648…
[phone]
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
RWEP
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