User manual

PD-1161 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-NOV-19) 58
www.trinamic.com
Number
Axis Parameter
Description
Range [Unit]
Acc.
208
TMC262 driver
error flags
Bit 0
stallGuard2 status
(1: threshold reached)
Bit 1
Overtemperature
(1: driver is shut down due to
overtemperature)
Bit 2
Pre-warning overtemperature
(1: Threshold is exceeded)
Bit 3
Short to ground A
(1: Short condition detected,driver
currently shut down)
Bit 4
Short to ground B
(1: Short condition detected, driver currently
shut down)
Bit 5
Open load A
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 6
Open load B
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 7
Stand still
(1: No step impulse occurred on the step
input during the last 2^20 clock cycles)
Please refer to the TMC262 Datasheet for more
information.
0/1
R
209
Encoder position
The value of an encoder register can be read
out or written.
[encoder steps]
RW
210
Encoder
prescaler
Prescaler for the encoder.
See paragraph 6.2
RWE
212
Maximum
encoder
deviation
When the actual position (parameter 1) and
the encoder position (parameter 209) differ
more than set here the motor will be
stopped. This function is switched off when
the maximum deviation is set to zero.
0… 65535
[encoder steps]
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
254
Step/dir mode
1
Use of the ENABLE input on step/dir connector to
switch between hold current and run current (no
automatic switching)
2
Automatic switching between hold and run
current: after the first step pulse the module
automatically switches over to run current, and a
configurable time after the last step pulse the
module automatically switches back to hold
current. The ENABLE input on the step/dir
connector does not have any functionality.
3
Always use run current, never switch to hold
current. The ENABLE input on the step/dir
connector does not have any functionality.
4
Automatic current switching like (2), but the
ENABLE input is used to switch the driver stage
completely off or on.
5
Always use run current like (3), but the ENABLE
pin is used to switch the driver stage completely
off or on.
1… 5
RWE
* Unit of acceleration:







