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PD57/60-1260 TMCL

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Firmware Manual • Firmware Version V1.44 | Document Revision V1.02 • 2018-SEP-05

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6.3 External Encoders

External encoders with ABN interface can also be attached to the PD57/60-1260 module. Please see the

Hardware Manual on how to connect an external encoder. Consider the following things when using an

external ABN encoder:

•

The encoder counter can be read by software and can be used to monitor the current position of the

motor.

•

To read out or to change the position value of the encoder use axis parameter #216. To read out the

position of the external encoder use GAP 216, 0. The encoder position register can also be changed

using command SAP 216, 0, <n>, with n = -2147483648 . . . 2147483647.

•

Set axis parameter #217 to the resolution (counts per revolution) of the encoder. This value is used to

automatically calculate an internal pre-scaler which is used to match motor resolution and encoder

resolution. So the unit of parameter #216 will always be the same as the unit of parameter #1.

•

The motor can be stopped automatically if motor position and encoder position diﬀer too much

(deviation error). This can be set using axis parameter #218 (maximum deviation). Setting this

parameter to 0 turns oﬀ this feature.

The encoder counter increments / decrements will be aligned to the position (microstep) counter when the

encoder resolution (axis parameter #216) is set to the appropriate value (counts per revolution). This is

essential when using the deviation error supervision (axis parameter #218) and simpliﬁes encoder counter

versus position/microstep counter comparisons (1:1).

Encoder resolutions are often (but not always) given in lines per rotation (lpr) by the manufaturer of the

encoder. Convert this value to counts per rotation (cpr) by multiplying it by four (because of the quadrature

interface).

6.4 Step/Direction Mode

The PD57/60-1260 is also equipped with a step/direction interface. In order to use this interface it is

necessary to select step/direction mode by setting axis parameter #254 to 1 (using the command SAP

254, 0, 1). This will activate step/direction mode. In this mode, motion commands like ROL, ROR, MST and

MVP will not work (as motion will only be controlled by the step/direction signals then), but most motor

parameters like standby current, run current, microstep resolution and chopper settings can still be used.

Automatic switching between run current and standby current also works in step/direction mode.

In order to permanently switch the module to step/direction mode, write a short initialization program

in TMCL that contains the necessary SAP commands, download this program to the PD57/60-1260 and

activate autostart mode in order to make the program start automatically on power-up. An initialization

program for step/direction mode can simply look like this (replace the motor current settings by the values

that you need):

SAP 6, 0, 200 //Set run current

SAP 7, 0, 8 //Set standby current

SAP 254 , 0, 1 // Activate step/ direction mode

STOP //End of this program

Note

Always leave input IN2 unconnected when using step/direction mode.

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