User manual
PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 64
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Number
Axis Parameter
Description
Range [Unit]
Acc.
209
Encoder position
The value of an encoder register can be read
out or written.
[encoder steps]
32bit counter value
RW
210
Encoder
prescaler
Prescaler for the encoder.
See paragraph 6.1
RWE
212
Maximum
encoder
deviation
When the actual position (parameter 1) and the
encoder position (parameter 209) differ more
than set here the motor will be stopped. This
function is switched off when the maximum
deviation is set to zero.
0… 65535
[encoder steps]
RWE
214
Power down
delay
Standstill period before the current is changed
down to standby current. The standard value is
200 (value equates 2000msec).
1… 65535
[10msec]
RWE
215
Absolute
encoder value
Absolute value of the encoder.
0… 1023
[encoder steps]
R
254
Step/Dir mode
0
Turn OFF step/dir mode
1
Use of the ENABLE input on step/dir connector to
switch between hold current and run current (no
automatic switching)
2
Automatic switching between hold and run current:
after the first step pulse the module automatically
switches over to run current, and a configurable
time after the last step pulse the module
automatically switches back to hold current. The
ENABLE input on the step/dir connector does not
have any functionality.
3
Always use run current, never switch to hold
current. The ENABLE input on the step/dir connector
does not have any functionality.
4
Automatic current switching like (2), but the ENABLE
input is used to switch the driver stage completely
off or on.
5
Always use run current like (3), but the ENABLE pin
is used to switch the driver stage completely off or
on.
0… 5
RWE
4.1 Velocity Calculation
The axis parameters listed below are related to the speed of the motor. The table is an excerpt of the
complete table of axis parameters in this chapter.
The unit of the velocity <value> is pulse per second (pps). For calculating the speed it is necessary to set
the microstep resolution of the driver (axis parameter 140) first. Further, the fullsteps of the motor must
be given. Now, calculate as follows: