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
212 Maximum
internal
encoder
deviation
When the actual position (parameter #1) and the
encoder position (parameter #209) differ more
than set here the motor will be stopped. Set-
ting this parameter to zero turns off this feature.
Please see also 6.2.
0
. . . 2147483647
[encoder
steps]
RW
214 Power down
delay
Standstill period before the current will be
ramped down to standby current. The standard
value is 0 which means that the current will be
immediately ramped down to standby current
using the power down ramp (see parameter #31)
after the motor has stopped. The delay time is
given in units of 10ms which means that for ex-
ample a value of 200 results in a delay time of
2000ms.
0. . . 417
[10ms]
RW
215 Absolute
resolver value
Absolute position of the internal SensOstep en-
coder. The absolute position is within one motor
rotation.
0. . . 1023 R
216 External
encoder
position
Encoder counter value of the externally con-
nected AB encoder. Please see also section 6.3.
-2147483648
. . . 2147483647
[µsteps]
RW
217 External
encoder
resolution
Resolution (counts per revolution) of the exter-
nally connected AB encoder. Please see also
section 6.3.
0
. . . 2147483647
[cpr]
RW
218 Maximum
external
encoder
deviation
When the actual position (parameter #1) and the
external encoder position (parameter #216) dif-
fer more than set here the motor will be stopped.
Setting this parameter to zero turns off this fea-
ture. Please see also section 6.3.
0
. . . 2147483647
[encoder
steps]
RW
251 Reverse shaft Reverse the rotation direction of the motor
shaft.
0/1 RW
254 Step/Direction
Mode
Select between normal (ramp generator) mode
and step/direction mode:
0 - Normal mode
1 - Step/Direction mode
Please see also section 6.4.
0/1 RW
255 Unit mode Units of velocity and acceleration/deceleration
settings:
0 - the internal units of the TMC5130 are used
directly
1 - the units are pps for velocity and pps
2
for
acceleration/deceleration
Default value is 1 (pps units).
0/1 RW
Table 15: All PD57/60-1260 Axis Parameters
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