User Manual

PD-x-1670 TMCL
™
Firmware Manual • Firmware Version V2.0 | Document Revision V1.0 • 2018-Oct-29
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Number Axis Parameter Description Range [Units] Default Access
100 Bode
Control_Mode 0 - direct sine wave
1 - direct square wave
2 - sweeep sine wave
0 . . . 2 0 R
101 Bode
Target_Mode 0 - no target
1 - torque target
2 - velocity target
3 - position target
4 - stopped
0 . . . 4 0 R
102 Bode Ac-
tual_Magnitude
Actual magnitude (ratio of actual to
target value).
−2147483648
. . . 2147483647
[0.1%]
0 R
103 Bode
Actual_Phi
Actual phase angle error between tar-
get and actual value.
−2147483648
. . . 2147483647
[1.0°]
0 R
104 Bode Ac-
tual_Frequency
Actual used bode frequency. 0 . . . 10000
[0.1Hz]
0 R
106 Bode Target
Value
Actual generator target value. −2147483648
. . . 2147483647
0 R
107 Bode Actual
Value
Actual response value. −2147483648
. . . 2147483647
0 R
133 velocity
regulation loop
delay
Delay of the position and velocity reg-
ulator.
0 . . . 20 [50us] 10 RWEX
134 current
regulation loop
delay
Delay of the current regulator. 0 . . . 10 [50us] 1 RWEX
146 enable velocity
ramp
An activated ramp allows a defined
acceleration for velocity and position
mode.
0 - Deactivate velocity ramp genera-
tor.
1 - Activate velocity ramp generator.
0 . . . 1 1 RWEX
150 actual torque The actual motor current. −2147483648
. . . 2147483647
[mA] (peak)
0 R
151 supply voltage The actual supply voltage. 0 . . . 1000
[100mV]
300 R
152 driver
temperature
The actual temperature of the motor
driver.
−20 . . . 150 [°C] 0 R
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