User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 79
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
7 Axis parameters
The following section describes all axis parameters that can be used with the SAP, GAP, AAP, STAP and RSAP
commands.
Meaning of the letters in column Access:
R = readable (GAP)
W = writable (SAP)
E = automatically restored from EEPROM after reset or power-on
Number
Axis Parameter
Description
Range [Unit]
Access
0
target (next) position
The desired position in position mode (see ramp
mode, no. 138).
 2
23
[µsteps]
RW
1
actual position
The current position of the motor. Should only be
overwritten for reference point setting.
 2
23
[µsteps]
RW
2
target (next) speed
The desired speed in velocity mode (see ramp
mode, no. 138). In position mode, this parameter is
set by hardware: to the maximum speed during
acceleration, and to zero during deceleration and
rest.
2047

16MHz
65536
2
PD
steps
sec

RW
3
actual speed
The current rotation speed.
2047

16MHz
65536
2
PD
steps
sec

RW
4
maximum positioning
speed
Should not exceed the physically highest possible
value. Adjust the pulse divisor (no. 154), if the
speed value is very low (<50) or above the upper
limit. See TMC 428 datasheet (p.24) for calculation
of physical units.
0...2047

16MHz
65536
2
PD
steps
sec

RWE
5
maximum
acceleration
The limit for acceleration (and deceleration).
Changing this parameter requires re-calculation of
the acceleration factor (no. 146) and the
acceleration divisor (no.137), which is done
automatically. See TMC 428 datasheet (p.24) for
calculation of physical units.
0... 2047

16MHz
65536
2
PD
steps
sec

RWE
6
absolute max. current
The most important motor setting, since too high
values might cause motor damage! The maximum
value is 255 (which mean 100% of the maximum
current of the module).
0..255

max. module current
255

RWE
7
standby current
The current limit two seconds after the motor has
stopped.
0..255

max. module current
255

RWE
8
target pos. reached
Indicates that the actual position equals the target
position.
0/1
R
9
ref. switch status
The logical state of the reference (left) switch.
See the TMC 428 data sheet for the different switch
modes. Default is two switch modes: the left
switch as the reference switch, the right switch as
a limit (stop) switch.
0/1
R
10
right limit switch
status
The logical state of the (right) limit switch.
0/1
R
11
left limit switch
status
The logical state of the left limit switch (in three
switch mode)
0/1
R
12
right limit switch
disable
if set, deactivates the stop function of the right
switch
0/1
RWE
13
left limit switch
disable
Deactivates the stop function of the left switch
resp. reference switch if set.
0/1
RWE