User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 39
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number
Axis Parameter
Description
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!
214
power down delay
Standstill period before the current is changed down to
standby current. The standard value is 200msec.
Example:
Restore the maximum current of motor 0
Mnemonic: RSAP 6, 0
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
$08
$06
$00
$00
$00
$00
$00
$10