User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the 6 “Supplemental Directives” (page 51).
Axis Parameter Overview (SAP, GAP, STAP, RSAP)
The following section describes all axis parameters that can be used with the SAP, GAP, STAP
and RSAP commands.
Access Type Description
Access
Type
Related
Command(s)
Description
R
GAP
Parameter readable.
W
SAP
Parameter writable.
E
STAP, RSAP
Parameter automatically restored from EEPROM after reset or power-on.
These parameters can be stored permanently in EEPROM using STAP
command and also explicitly restored (copied back from EEPROM into RAM)
using RSAP.
Table 56: Access Type Description
Axis Parameter Description (Numbers 1- …254)
Number
Axis
Parameter
Description
Range [Unit]
Access
0
Target position
The target position of a currently executed ramp.
-2147483648…
[phone]
RW
1
Actual position
Set/get the position counter without moving the
motor.
-2147483648…
[phone]
RW
2
Target velocity
Set/get the desired target velocity.
-200000…
+200000 [rpm]
RW
3
Actual velocity
The actual velocity of the motor.
-2147483648…
[phone]
[rpm]
R
4
Max. absolute
ramp velocity
The maximum velocity used for velocity ramp in
velocity mode and positioning mode. Set this
value to a realistic velocity which the motor can
reach!
0… +200000
[rpm]
RWE
6
Max current
Set/get the max allowed motor current.
*This value can be temporarily exceeded marginal
due to the operation of the current regulator.
0… +14000
[mA]
RWE
7
MVP Target
reached
velocity
Maximum velocity at which end position flag can
be set. Prevents issuing of end position when the
target is passed at high velocity.
0… +200000
[rpm]
RWE
9
Motor halted
velocity
If the actual speed is below this value the motor
halted flag is set.
0.. +200000
[rpm]
RWE
10
MVP target
reached
distance
Maximum distance at which the position end flag
is set.
0… +100000
RWE
11
Acceleration
Acceleration parameter for ROL, ROR, and the
velocity ramp of MVP.
0… +100000
[RPM/s]
RWE
13
Ramp
generator
speed
The actual speed of the velocity ramp used for
positioning and velocity mode.
-2147483648…
[phone]
[rpm]
R
25
Thermal
winding time
Thermal winding time constant for the used
motor. Used for I²t monitoring.
0..300000 [ms]
RWE
26
I
2
T limit
An actual I²t sum that exceeds this limit leads to
increasing the I²t exceed counter.
0..270000000
RWE
27
I
2
T sum
Actual sum of the I²t monitor.
0..2147483647
R