Datasheet

PD57/60-1276 TMCL
™
Firmware Manual • Firmware Version V1.13 | Document Revision V1.00 • 2018-JUN-28
75 / 97
Number Axis Parameter Description Range [Units] Access
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. -2147483648
. . . 2147483647
[µsteps]
RW
214 Power down
delay
Standstill period before the current will be
ramped down to standby current. The standard
value is 200 (which means 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. . . 4095 R
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 14: All PD57/60-1276 Axis Parameters
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