User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 35
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number
Axis Parameter
Description
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.
149
soft stop flag
If cleared, the motor will stop immediately
(disregarding motor limits), when the reference or
limit switch is hit.
153
ramp divisor
The exponent of the scaling factor for the ramp
generator- should be de/incremented carefully (in
steps of one).
154
pulse divisor
The exponent of the scaling factor for the pulse
(step) generator – should be de/incremented
carefully (in steps of one).
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.
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.)
195
referencing switch
speed
Similar to parameter no. 194, the speed for the
switching point calibration can be selected.
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.
204
freewheeling
Time after which the power to the motor will be
cut when its velocity has reached zero
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.
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!