User Manual

PD42-1241 TMCL
™
Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23
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4 Axis Parameters
Most motor controller features of the PD42-1241 module are controlled by axis parameters. Axis pa-
rameters can be modified or read using SAP, GAP and AAP commands. This chapter describes all axis
parameters that can be used on the PD42-1241 module.
Meaning of the Letters in the Access Column
Access type Command Description
R GAP Parameter readable
W SAP, AAP Parameter writable
Table 14: Meaning of the Letters in the Access Column
All Axis Parameters of the PD42-1241 Module
Number Axis Parameter Description Range [Units] Access
0 Target position The desired target position in position mode -2147483648
. . . 2147483647
[µsteps]
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
[µsteps]
RW
2 Target speed The desired speed in velocity mode. Not valid in
position mode.
-7999774
. . . 7999774
[pps]
RW
3 Actual speed The actual speed of the motor. -7999774
. . . 7999774
[pps]
R
4 Maximum
positioning
speed
The maximum speed used for positioning
ramps.
0. . . 7999774
[pps]
RW
5 Maximum
acceleration
Maximum acceleration in positioning ramps. Ac-
celeration and deceleration value in velocity
mode.
0. . . 7629278
[pps
2
]
RW
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