User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 82
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Number
Axis Parameter
Description
Range [Unit]
Access
205
Stall Detection
Threshold
Stall detection threshold. 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
RWE
206
Actual Load Value
Readout of the actual load value used for stall
detection.
0..7
R
208
driver error flags
TMC249 error flags. Read only!
R
209
Encoder Position
Position of motor axis within one rotation
0..255
[encoder steps]
RW
210
encoder prescaler
Prescaler for the encoder (since firmware version
3.38). For more information refer to 9.2 please.
RWE
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

16MHz
65536
2
PD
steps
sec

RWE
214
power down delay
Standstill period before the current is changed
down to standby current. The standard value is 200
(value equates 2000msec).
1… 65535
[10msec]
RWE
215
absolute encoder
value
Absolute value of the encoder.
0…255
[encoder steps]
R
* Unit of acceleration:
16
2
536870912 2
 _ + _
microsteps
sec
2
Please use the TMCL-IDE axis parameter calculation tool for getting best values.