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).
Table 53: TMCL Command 136 Request in Direct Mode ........................................................................... 23
Table 54: TMCL Command 136 Reply in Direct Mode, Type Set to 0 ......................................................... 23
Table 55: TMCL Command 136, Reply in Direct Mode, Type Set to 1 ........................................................ 24
Table 56: Access Type Description ......................................................................................................... 25
Table 57: Axis Parameter Description (Numbers 1 …254) ........................................................................ 29
Table 58: Functional Access Type Descriptions ........................................................................................ 30
Table 59: Axis Parameter Motor Settings ................................................................................................ 30
Table 60: Axis Parameter Encoder / Initialization Settings ........................................................................ 31
Table 61: Torque Regulation Mode ......................................................................................................... 31
Table 62: Velocity Regulation Mode ........................................................................................................ 32
Table 63: Velocity Ramp Mode .............................................................................................................. 33
Table 64: Position Regulation Mode ........................................................................................................ 33
Table 65: Axis Parameter Status Information .......................................................................................... 34
Table 66: Driver Information .................................................................................................................. 35
Table 67: Brake Chopper ....................................................................................................................... 35
Table 68: I
2
T Monitoring ........................................................................................................................ 35
Table 69: Single-Shunt Current Measurement ......................................................................................... 36
Table 70: Bank 0 Access Types .............................................................................................................. 37
Table 71: Bank 0 Global Parameters ....................................................................................................... 39
Table 72: Bank 2 Access Type Description .............................................................................................. 40
Table 73: Bank 2 Global Parameters ....................................................................................................... 40
Table 74: Current Regulation Set Parameters .......................................................................................... 43
Table 75: Parameter Description of Velocity Regulator Set ....................................................................... 45
Table 76: Position Regulation Parameters ............................................................................................... 47
Table 77: List of Safety Alerts in this Documentation ............................................................................... 53
Table 78: Firmware Revision History ...................................................................................................... 53
Table 79: Document Revision History ..................................................................................................... 53
Table 80: Hardware Revision History ...................................................................................................... 53