User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 31
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number
Axis Parameter
Description
Range
141
ref. switch tolerance
For three-switch mode: a position range, where an
additional switch (connected to the REFL input) won't
cause motor stop.
0...4095
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
151
position latch flag
Indicates that a position snapshot has been completed
(see parameter 142).
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