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
155 target torque Get desired target current or set tar-
get current to activate current regu-
lation mode. (+= turn motor in right
direction; -= turn motor in left direc-
tion)
−7400 . . . 7400
[mA] (peak)
0 RW
156 status flags Actual status flags:
0x0001 - OVERCURRENT
0x0002 - UNDERVOLTAGE
0x0004 - OVERVOLTAGE
0x0008 - OVERTEMPERATURE
0x0010 - MOTORHALTED
0x0020 - HALLERROR
0x0040 - DRIVER_ERROR
0x0080 - INIT_ERROR
0x0100 - STOP_MODE
0x0200 - VELOCITY_MODE
0x0400 - POSITION_MODE
0x0800 - TORQUE_MODE
0x1000 - EMERGENCYSTOP
0x2000 - FREERUNNING
0x4000 - POSITION_END
0x8000 - MODULE_INITIALIZED
0 . . . 65535 0 R
159 commutation
mode
Select a commutation mode that fits
best to your motor’s sensors.
7 - FOC (encoder)
8 - FOC (controlled)
7 . . . 8 7 RWEX
161 clear on null Clear the position counter on encoder
N channel.
0 - do not clear position counter at
next N channel event
1 - set position counter to zero at next
N channel event
0 . . . 1 0 RWEX
163 clear once Clear the position counter on encoder
N channel.
0 - clear position counter always at an
N channel event
1 - set position counter to zero only
once
0 . . . 1 0 RWEX
165 encoder offset This value represents the internal
commutation offset. (0...max. en-
coder steps per rotation).
0 . . . 65535 0 RWE
172 torque P P parameter for current PID regulator 0 . . . 65535 0 RWEX
173 torque I I parameter for current PID regulator 0 . . . 65535 0 RWEX
177 start current Motor current for controlled commu-
tation. This parameter is used in com-
mutation mode 8.
0 . . . 7400 [mA]
(peak)
1000 RWEX
180 Main loops Main loops per second. 0 . . . 4294967295 0 R
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