User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 32
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Example:
Get the actual position of motor
Mnemonic: GAP 0, 1
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$06
$01
$00
$00
$00
$00
$00
$0a
Reply:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Host-
address
Target-
address
Status
Instruction
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$02
$01
$64
$06
$00
$00
$02
$c7
$36
 status=no error, position=711
Number
Axis Parameter
Description
Range
203
mixed decay threshold
If the actual velocity is above this threshold, mixed decay
will be used. This can also be set to –1 which turns on
mixed decay permanently also in the rising part of the
microstep wave. This can be used to fix microstep errors.
0..2048
or -1
204
freewheeling
Time after which the power to the motor will be cut
when its velocity has reached zero
0..65535
0 = never
205
Stall Detection Threshold
Stall detection threshold. Only usable on modules
equipped with TMC246 or TMC249 motor drivers. Set it to
0 for no stall detection or to a value between 1 (low
threshold) and 7 (high threshold). The motor will be
stopped if the load value exceeds the stall detection
threshold. Switch off mixed decay to get usable results.
0..7
206
Actual Load Value
Readout of the actual load value used for stall detection.
0..7
208
driver error flags
TMC249 error flags.
209
Encoder Position
Position of motor axis within one rotation
0..255
210
encoder prescaler
Prescaler for the encoder (since firmware version 3.38).
For more information refer to 9.2 please.
211
Fullstep Threshold
When exceeding this speed the driver will switch to real
full step mode. To disable this feature set this parameter
to zero or to a value greater than 2047.
Setting a full step threshold allows higher motor torque
of the motor at higher velocity. When experimenting
with this in a given application, try to reduce the motor
current in order to be able to reach a higher motor
velocity!
0..2048
214
power down delay
Standstill period before the current is changed down to
standby current. The standard value is 200msec.
from
10msec
on
215
absolute encoder value
Absolute value of the encoder. Read only!
0…4095