User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 46
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Number
Axis Parameter
Description
Range [Unit]
Access
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
230
P parameter for
position PID
P parameter of position PID regulator. (
-2147483648…
[phone]
RWE
226
Position PID
error
Actual error of PID position regulator
-2147483648…
[phone]
R
STATUS INFORMATION
Number
Axis Parameter
Description
Range [Unit]
Access
151
Actual voltage
Actual supply voltage.
0… [phone]
R
152
Actual driver
temperature
Actual temperature of the motor driver.
0… [phone]
R
156
Error/Status
flags
Bit 0: Overcurrent flag. This flag is set if 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 for TMCM-1640
Bit 17: I²t exceeded flag. This flag is set if the I²t
sum exceeded the I²t limit of the motor.
(reset by SAP 29 or 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