User manual

PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 63
www.trinamic.com
Number
Axis Parameter
Description
Range [Unit]
Acc.
193
Ref. search mode
1
search left stop switch only
2
search right stop switch, then search
left stop switch
3
search right stop switch, then search
left stop switch from both sides
4
search left stop switch from both sides
5
search home switch in negative
direction, reverse the direction when
left stop switch reached
6
search home switch in positive
direction, reverse the direction when
right stop switch reached
7
search home switch in positive
direction, ignore end switches
8
search home switch in negative
direction, ignore end switches
Adding 128 to these values reverses the polarity
of the home switch input.
1… 8
RWE
194
Referencing
search speed
For the reference search this value directly
specifies the search speed.
-268.435.455…
+268.435.454 [pps]
RWE
195
Referencing
switch speed
Similar to parameter no. 194, the speed for the
switching point calibration can be selected.
-268.435.455…
+268.435.454 [pps]
RWE
196
End switch
distance
This parameter provides the distance between
the end switches after executing the RFS
command (mode 2 or 3).
0… +268.435.454
R
200
Boost current
Current used for acceleration and deceleration
phases.
If set to 0 the same current as set by axis
parameter 6 will be used.
0… 255


  




  


RWE
204
Freewheeling
delay
Time after which the power to the motor will
be cut when its velocity has reached zero.
0… 65535
0 = never
[msec]
RWE
206
Actual load value
Readout of the actual load value used for stall
detection.
0… 1023
R
208
TMC262 driver
error flags
Bit 0
stallGuard™ status
(1: threshold reached)
Bit 1
Overtemperature
(1: driver is shut down due to
overtemperature)
Bit 2
Pre-warning overtemperature
(1: threshold is exceeded)
Bit 3
Short to ground A
(1: short condition detected, driver currently
shut dn)
Bi 4
Short to ground B
(1: short condition detected, driver currently
shut down)
Bit 5
Open load A
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 6
Open load B
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 7
Always set
(1: no step impulse occurred on the step
input during the last 2^20 clock cycles)
Please refer to the TMC262 Datasheet for more
information.
0/1
R