User manual

PD-1161 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-NOV-19) 57
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Number
Axis Parameter
Description
Range [Unit]
Acc.
193
Ref. search mode
1
search left stop switch only
2
search rightstop switch, then search
left stop switch
3
search right stop switch, then search
left stop switch from both sides
4
search left stop switch from both sides
5
search home switch in negative
direction, reverse the direction when
left stop switch reached
6
search home switch in positive
direction, reverse the direction when
right stop switch reached
7
search home switch in positive
direction, ignore end switches
8
search home switch in negative
direction, ignore end switches
Adding 128 to these values reverses the
polarity of the home switch input.
1… 8
RWE
194
Referencing
search speed
For the reference search this value directly
specifies the search speed.
0… 2047
RWE
195
Referencing
switch speed
Similar to parameter no. 194, the speed for
the switching point calibration can be
selected.
0… 2047
RWE
196
Distance end
switches
This parameter provides the distance between
the end switches after executing the RFS
command (mode 2 or 3).
0… 2.147.483.647
R
200
Boost current
Current used for acceleration and deceleration
phases.
If set to 0 the same current as set by axis
parameter 6 will be used.
0… 255


  




  


RWE
204
Freewheeling
Time after which the power to the motor will
be cut when its velocity has reached zero.
0… 65535
0 = never
[msec]
RWE
206
Actual load value
Readout of the actual load value with used
for stall detection (stallGuard2™).
0… 1023
R
207
Extended error
flags
1
Motor stopped because of
stallGuard2 detection.
2
Motor stopped because of encoder
deviation.
3
Motor stopped because of (1) and
(2).
Will be reset automatically by the next motion
command.
1… 3
R