User manual

PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 59
www.trinamic.com
4 Axis Parameters
The following sections describe all axis parameters that can be used with the SAP, GAP, AAP, STAP and
RSAP 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
Basic parameters should be adjusted to motor / application for proper module operation.
Parameters for the more experienced user – please do not change unless you are absolutely
sure.
Number
Axis Parameter
Description
Range [Unit]
Acc.
0
Target (next)
position
The desired position in position mode (see
ramp mode, no. 128).
−2.147.483.648…
+2.147.483.647 [µsteps]
RW
1
Actual position
The current position of the motor. Should only
be overwritten for reference point setting.
−2.147.483.648…
+2.147.483.647 [µsteps]
RW
2
Target (next)
speed
The desired speed in velocity mode (see ramp
mode, no. 128). In position mode, this
parameter is set automatically: to the maximum
speed during acceleration, and to zero during
deceleration and rest.
-268.435.455…
+268.435.454
[pps]
RW
3
Actual speed
The current rotation speed.
-268.435.455…
+268.435.454 [pps]
RW
4
Maximum
positioning
speed
Maximum feasible positioning speed. Has to be
adapted to motor and application
0… +268.435.454
[pps]
RWE
5
Maximum
acceleration
Limit for acceleration and deceleration. Has to
be adapted to motor and application.
1… [phone]
[pps/s]
RWE
6
Absolute max.
current
(CS / Current
Scale)
The maximum value is 255. This value means
100% of the maximum current of the module.
The current adjustment is within the range 0…
255 and can be adjusted in 32 steps.
The most important motor setting, since too
high values might cause motor damage!
0… 7
79…87
160… 167
240… 247
8… 15
88… 95
168… 175
248… 255
16… 23
96… 103
176… 183
24… 31
104… 111
184… 191
32… 39
112… 119
192… 199
40… 47
120… 127
200… 207
48… 55
128… 135
208… 215
56… 63
136… 143
216… 223
64… 71
144… 151
224… 231
72… 79
152… 159
232… 239
0… 255
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RWE
7
Standby current
Current limit after the motor has stopped plus
power down delay time (see parameter 214).
Same range and meaning as for parameter 6
0… 255
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RWE