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
215 driver status
acknowledge
Acknowledge driver status. 0 . . . 0 0 W
216 driver init spi Disables the driver and initializes the
driver SPI access.
0 . . . 0 0 W
217 driver status
register 2
TMC6130 status register 2. 0 . . . 65535 0 RW
218 driver status
register 3
TMC6130 status register 3. 0 . . . 65535 0 RW
219 driver status
register 4
TMC6130 status register 4. 0 . . . 65535 0 RW
226 position PID
error
Actual error of position PID regulator.
−2147483648
. . . 2147483647
0 R
228 velocity PID
error
Actual error of velocity PID regulator.
−2147483648
. . . 2147483647
[rpm]
0 R
229 velocity PID
error sum
Sum of errors of velocity PID regula-
tor.
−2147483648
. . . 2147483647
0 R
230 position P
P parameter for position PID regula-
tor
0 . . . 65535 0 RWEX
234 velocity P
P parameter for velocity PID regulator
0 . . . 65535 0 RWEX
235 velocity I
I parameter for velocity PID regulator
0 . . . 65535 0 RWEX
236 velocity filter
Filter for actual measured velocity.
(Filter length = 2
(filter value)
)
0 . . . 8 0 RWEX
241 init velocity
Init velocity for encoder initialization
with mode 2.
−200000
. . . 200000 [rpm]
100 RWEX
244 init sine delay
Duration for sine initialization se-
quence. This parameter should be set
in a way, that the motor has stopped
mechanical oscillations after the spec-
ified time.
0 . . . 10000 [ms] 1000 RWEX
249 encoder init
mode
Select an encoder init mode that fits
best to your motor’s sensors.
0 - initialize in controlled sine commu-
tation (determine encoder offset)
2 - initialize in controlled sine commu-
tation (use encoder offset)
0 . . . 2 1 RWEX
250 encoder steps
Encoder steps per full motor rotation.
0 . . . 2147483647 4000 RWEX
251 encoder
direction
Set the encoder direction in a way,
that ROR increases position counter.
0 - positive encoder direction
1 - negative encoder direction
0 . . . 1 0 RWEX
253 motor poles Number of motor poles. 2 . . . 254 8 RWEX
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