User Manual

PD42-1270 TMCL
™
Firmware Manual • Firmware Version V1.00 | Document Revision V1.0 • 2017-Mar-02
58 / 91
Number Axis Parameter Description Range [Units] Default Access
22 Speed
threshold for
high speed
mode
Speed threshold for de-activating
coolStep or switching to fullstep
mode.
0 . . . 4999999
[pps]
0 RW
23 Minimum
speed for
switching to
dcStep
Minimum speed for switching to dc-
Step.
0 . . . 4999999
[pps]
0 RW
24 Right Switch
Polarity
Sets the active polarity of the right
reference switch input:
0 - non-inverted, high active: a high
level on REFR stops the motor
1 - inverted, low active: a low level on
REFR stops the motor
0 . . . 1 0 RW
25 Left Switch
Polarity
Sets the active polarity of the left ref-
erence switch input:
0 - non-inverted, high active: a high
level on REFL stops the motor
1 - inverted, low active: a low level on
REFL stops the motor
0 . . . 1 0 RW
26 Soft Stop The soft stop mode always uses the
deceleration ramp settings DMAX, V1,
D1, VSTOP and TZEROWAIT for stop-
ping the motor.
0 - Hard stop
1 - Soft stop
0 . . . 1 0 RW
27 High speed
chopper mode
Switch to other chopper mode when
measured speed is higher than axis
parameter 22 when set to 1.
0 - Inactive
1 - Active
0 . . . 1 0 RW
28 High speed
fullstep mode
Switch to fullstep mode when mea-
sured speed is higher than axis pa-
rameter 22 when set to 1.
0 - Inactive
1 - Active
0 . . . 1 0 RW
29 Measured
Speed
Current speed value measured from
the TMC5130 current position or from
encoder.
−2147483648
. . . 2147483647
0 R
31 Power down
ramp
Controls the number of clock cycles
for motor power down after a motion
as soon as the motor has stopped
and the setting time has expired.
The smooth transition avoids a mo-
tor jerk upon power down. 0=in-
stant power down, 15=longest pos-
sible power down ramp.
0 . . . 15
[0.16384s]
0 RWE
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