User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 27
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number
Axis Parameter
Description
Range
142
snapshot position
For referencing purposes, the exact position at
hitting of the reference switch can be captured in
this parameter. A dummy value has to be written
first to prepare caption.
 2
23
143
max. current at rest
In contrast to the standby current, this current limit
becomes immediately active when the motor speed
reaches zero. The value represents a fraction of the
absolute maximum current:
0 – no change of current at rest (default, 100%)
1…7 – 12.5% …87.5%
See the TMC428 datasheet for details. Normally not
used, use parameters 6 and 7 instead!
0…7
144
max. current at low accel.
An optional current reduction factor, see parameters
136 and 143 for details. Normally not used, use
parameters 6 and 7 instead!
0…7
145
max. current at high
accel.
An optional current reduction factor, see parameters
136 and 143 for details. Normally not used, use
parameters 6 and 7 instead!
0…7
146
acceleration factor
A ramping parameter, can be adjusted in special
cases, automatically calculated by setting the
maximum acceleration (e.g. during normal
initialization). See the TMC428 data sheet for details.
Normally no need to change.
0…128
149
soft stop flag
If cleared, the motor will stop immediately
(disregarding motor limits), when the reference or
limit switch is hit.
0/1
153
ramp divisor
The exponent of the scaling factor for the ramp
generator- should be de/incremented carefully (in
steps of one).
0…13
154
pulse divisor
The exponent of the scaling factor for the pulse
(step) generator – should be de/incremented
carefully (in steps of one).
0…13
193
referencing mode
1 – Only the left reference switch is searched.
2 – The right switch is searched, and then the left
switch is searched.
3 – Three-switch-mode: the right switch is searched
first, and then the reference switch will be
searched.
1/2/3
194
referencing search speed
For the reference search this value specifies the
search speed as a fraction of the maximum velocity:
0 – full speed
1 – half of the maximum speed
2 – a quarter of the maximum speed
3 – 1/8 of the maximum speed (etc.)
0…8
195
referencing switch speed
Similar to parameter no. 194, the speed for the
switching point calibration can be selected.
0..8