User Manual
PD42-1270 TMCL
™
Firmware Manual • Firmware Version V1.00 | Document Revision V1.0 • 2017-Mar-02
56 / 91
4 Axis Parameters
Most motor controller features of the PD42-1270 module are controlled by axis parameters. Axis parame-
ters can be modified or read using SAP, GAP, AAP, STAP and RSAP commands. This chapter describes all
axis parameters that can be used on the PD42-1270 module.
Axis 0 Parameters of the PD42-1270 Module
Number Axis Parameter Description Range [Units] Default Access
0 Target position
The desired target position in position
mode.
−2147483648
. . . 2147483647
[usteps]
0 RW
1 Actual position
The actual position of the motor.
Stop the motor before overwriting it.
Should normally only be overwritten
for reference position setting.
−2147483648
. . . 2147483647
[usteps]
0 RW
2 Target speed
The desired speed in velocity mode.
Not valid in position mode.
−4999999
. . . 4999999
[pps]
0 RW
3 Actual speed The actual speed of the motor. −4999999
. . . 4999999
[pps]
0 R
4 Maximum
speed
The maximum speed used for posi-
tioning ramps.
0 . . . 4999999
[pps]
51200 RWE
5 Maximum
acceleration
Maximum acceleration in positioning
ramps. Acceleration and deceleration
value in velocity mode.
0 . . . 2980186
[pps/s]
51200 RWE
6 Maximum
current
Motor current used when motor is
running. The maximum value is 31
which means 100% of the maximum
current of the module.
0 . . . 31 24 RWE
7 Standby
current
The current used when the motor is
not running. The maximum value is
31 which means 100% of the maxi-
mum current of the module. This
value should be as low as possible so
that the motor can cool down when it
is not moving. Please see also param-
eter 214.
0 . . . 31 3 RWE
8 Position
reached flag
This flag is always set when target po-
sition and actual position are equal.
0 - Target position not reached
1 - Target position reached
0 . . . 1 0 R
9 Home Switch State of the home switch.
0 - Inactive
1 - Active
0 . . . 1 0 R
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