User Manual

PD57/60-1260 TMCL
™
Firmware Manual • Firmware Version V1.44 | Document Revision V1.02 • 2018-SEP-05
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Number Axis Parameter Description Range [Units] Access
204 Freewheeling
mode
Stand still option when the standby current (pa-
rameter 7) is set to zero and StealthChop is ac-
tive.
0 normal operation
1 freewheeling
2 coil shorted using low side drivers
3 coil shorted using high side drivers
0. . . 3 RW
206 Actual load
value
Readout of the actual load value used for stall
detection (StallGuard2).
0. . . 1023 R
207 Extended error
flags
A combination of the following values:
1 StallGuard error
2 deviation error
These error flags are cleared automatically
when this parameter has been read out or when
a motion command has been executed.
0. . . 3 R
208 Motor driver
error flags
A combination of the following values:
Bit 0 StallGuard2 status
(1: stall detected)
Bit 1 Overtemperature
(1: driver is shut down due to overtemper-
ature)
Bit 2 Overtemperature pre-warning
(1: temperature threshold is exceeded)
Bit 3 Short to ground A
(1: short condition detected, driver cur-
rently shut down)
Bit 4 Short to ground B
(1: short condition detected, driver cur-
rently shut down)
Bit 5 Open load A
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 6 Open load B
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 7 Stand still
(1: no step pulse occurred during the last
2
20
clock cycles)
0. . . 255 R
209 Encoder
position
Encoder counter value of the built-in SensOstep
encoder. Please see also section 6.2.
-2147483648
. . . 2147483647
[µsteps]
RW
210 Encoder clear
on null
If this parameter is set to 1 the encoder counter
of the SensOstep encoder will be cleared when
the encoder reaches its zero position. After clear-
ing this parameter will also set be back to 0 au-
tomatically. Please see also section 6.2.
0/1 RW
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