User manual

PD-1140 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 63
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4 Axis Parameters
The following sections describe all axis parameters that can be used with the SAP, GAP, AAP, STAP and
RSAP commands.
MEANING OF THE LETTERS IN COLUMN ACCESS:
Access
type
Related
command(s)
Description
R
GAP
Parameter readable
W
SAP, AAP
Parameter writable
E
STAP, RSAP
Parameter automatically restored from EEPROM after reset or power-on. These
parameters can be stored permanently in EEPROM using STAP command and
also explicitly restored (copied back from EEPROM into RAM) using RSAP.
Basic parameters should be adjusted to motor / application for proper module operation.
Parameters for the more experienced user – please do not change unless you are absolutely
sure.
Number
Axis Parameter
Description
Range [Unit]
Acc.
0
Target (next)
position
The desired position in position mode (see
ramp mode, no. 138).
 2
31
-1
[µsteps]
RW
1
Actual position
The current position of the motor. Should
only be overwritten for reference point
setting.
 2
31
-1
[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



 




RW
3
Actual speed
The current rotation speed.
2047



 




RW
4
Maximum
positioning
speed
Should not exceed the physically highest
possible value. Adjust the pulse divisor (axis
parameter 154), if the speed value is very low
(<50) or above the upper limit.
0… 2047



 




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 429 datasheet for
calculation of physical units.
0… 2047*
RWE