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ManualsBrandsTRINAMIC ManualsDrive EngineeringPD4-113-60-SE-232 Stepper Motor With Integrated Controller

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 80

Number

Axis Parameter

Description

Range [Unit]

Access

130

minimum speed

Should always be set 1 to ensure exact reaching of

the target position. Do not change!

0... 2047



max. module current

255



RWE

135

actual acceleration

The current acceleration (read only).

0... 2047*

136

acceleration

threshold

Specifies the threshold between low and high

acceleration values for the parameters 144 and 145.

Normally not needed.

0... 2047

RWE

137

acceleration divisor

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…13

RWE

138

ramp mode

Automatically set when using ROR, ROL, MST and

MVP.

0: position mode. Steps are generated, when the

parameters actual position and target position

differ. Trapezoidal speed ramps are provided.

2: velocity mode. The motor will run continuously

and the speed will be changed with constant

(maximum) acceleration, if the parameter target

speed is changed.

For special purposes, the soft mode (value 1) with

exponential decrease of speed can be selected.

0/1/2

RWE

140

microstep resolution

0 – full step *)

1 – half step *)

2 – 4 microsteps

3 – 8 microsteps

4 – 16 microsteps

5 - 32 microsteps**)

6 – 64 microsteps**)

Modifying this parameter effects the rotation speed

in the same relation:

*) The full-step setting and the half-step setting are

not optimized for use without an adapted

microstepping table. These settings just step

through the microstep table in steps of 64

respectively 32. To get real full stepping use axis

parameter 211 or load an adapted microstepping

table.

**) If the module is specified for 16 microsteps

only, switching to 32 or 64 microsteps brings an

enhancement in resolution and smoothness. The

position counter will use the full resolution, but,

however, the motor will resolve a maximum of 24

different microsteps only for the 32 or 64 microstep

units.

0…6

RWE

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

[µsteps]

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

[µsteps]