User Manual

PD-x-1670 TMCL
™
Firmware Manual • Firmware Version V2.0 | Document Revision V1.0 • 2018-Oct-29
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4 Axis Parameters
Most motor controller features of the PD-x-1670 module are controlled by axis parameters. Axis param-
eters can be modified or read using SAP, GAP and AAP commands. Some axis parameters can also be
stored to or restored from the EEPROM using STAP and RSAP commands. This chapter describes all axis
parameters that can be used on the PD-x-1670 module.
Axis 0 Parameters of the PD-x-1670 Module
Number Axis Parameter Description Range [Units] Default Access
0 target position The target position of a currently exe-
cuted ramp.
−2147483648
. . . 2147483647
0 RW
1 actual position The actual position counter. −2147483648
. . . 2147483647
0 RW
2 target velocity The desired target velocity. −200000
. . . 200000 [rpm]
0 RW
3 actual velocity The actual velocity of the motor. −2147483648
. . . 2147483647
[rpm]
0 R
4 max velocity Max. absolute velocity for velocity
and positioning mode.
0 . . . 200000
[rpm]
4000 RWEX
5 current limit Max. allowed value for max current.
(PANdrive limitation)
0 . . . 7400 [mA]
(peak)
7400 R
6 max current Max. allowed absolute motor cur-
rent. *This value can be temporarily
exceeded marginal due to the opera-
tion of the current regulator.
0 . . . 7400 [mA]
(peak)
7400 RWEX
7 target reached
velocity
Max. velocity at which end position
flag can be set. Prevents issuing of
end position flag when the target is
passed at high velocity.
0 . . . 200000
[rpm]
500 RWEX
9 motor halted
velocity
If the actual velocity is below this
value the motor halted flag will be set.
0 . . . 200000
[rpm]
5 RWEX
10 target reached
distance
Maximum distance at which the posi-
tion end flag is set.
0 . . . 100000 5 RWEX
11 acceleration Acceleration parameter for ROL, ROR,
and the velocity ramp of MVP.
0 . . . 100000
[rpm/s]
2000 RWEX
13 ramp velocity The actual velocity of the velocity
ramp used for positioning and veloc-
ity mode.
−2147483648
. . . 2147483647
[rpm]
0 R
14 ramp position The actual position of the position
ramp used for positioning mode.
−2147483648
. . . 2147483647
0 R
31 reinit bldc
regulation
Reinit bldc regulation. 0 . . . 0 0 W
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