User manual

PD-1140 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 69
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)
0/1
R
209
Encoder position
sensOstep
The value of an encoder register can be read
out or written.
[encoder steps]
RW
210
Encoder
prescaler
sensOstep
Prescaler for the sensOstep encoder.
See paragraph 6.2
RWE
212
Maximum
encoder
deviation
sensOstep
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
216
Encoder position
external encoder
The value of the external encoder register can
be read out or written.
This parameter is only used if an external
encoder is connected.
[encoder steps]
RW
217
Encoder
prescaler
external encoder
Prescaler for external encoder.
See paragraph 6.2
218
Maximum
encoder
deviation
external encoder
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.
This parameter is only used if an external
encoder is connected.
0… 65535
[encoder steps]
* Unit of acceleration:
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