User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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Read entire documentation; especially the 6 “Supplemental Directives” (page 51).
Axis Parameter Status Information
Axis Parameter Status Information
Number
Axis
Parameter
Description
Range [Unit]
Access
151
Actual voltage
Actual supply voltage.
0… [phone]
R
152
Actual driver
temperature
Actual temperature of the motor driver.
0… [phone]
R
156
Error/Status
flags
Bit 0: Overcurrent flag. This flag is set if the
max. current limit is exceeded.
Bit 1: Undervoltage flag. This flag is set if
supply voltage is too low for motor operation.
Bit 2: Overvoltage flag. This flag is set if the
motor becomes switched off due to
overvoltage.
Bit 3: Overtemperature flag. This flag is set if
overtemperature limit is exceeded.
Bit 4: Motor halted flag. This flag is set if the
velocity does not reach the value set with
GAP/SAP 9.
Bit 5: Hall error flag. This flag is set upon a
hall error.
Bit 6: Driver error flag
Bit 7: Init error flag
Bit 8: Stop mode active flag
Bit 9: Velocity mode active flag
Bit 10: Position mode active flag.
Bit 11: Torque mode active flag.
Bit 12: unused
Bit 13: unused
Bit 14: Position end flag. This flag is set if the
motor has been stopped at the target
position.
Bit 15: Module initialized flag
Flag 0 to 15 are automatically reset.
0…[phone]
R
Table 65: Axis Parameter Status Information