User Manual

TMCM-1210 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.00 • 2017-JUN-19
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Number Axis Parameter Description Range [Units] Access
193 Reference
search mode
1 Search left stop switch only.
4 Search left stop switch from both
sides.
7 Search home switch in positive di-
rection, ignore end switches.
8 Search home switch in negative di-
rection, ignore end switches.
Additional functions:
• Add 128 to a mode value for inverting
the home switch (can be used with mode
5. . . 8).
• Add 64 to a mode for searching the right
instead of the left reference switch (can be
used with mode 1. . . 4).
1..8 RW
194 Reference
search speed
This value specifies the speed for roughly search-
ing the reference switch.
0. . . 7999774
[pps]
RW
195 Reference
switch speed
This parameter specifies the speed for searching
the switching point. It should be slower than
parameter 194.
0. . . 7999774
[pps]
RW
196 End switch
distance
This parameter provides the distance between
the end switches after executing the RFS com-
mand (with reference search mode 2 or 3).
-2147483648
. . . 2147483647
[µsteps]
R
197 Last reference
position
This parameter contains the last position value
before the position counter is set to zero during
reference search.
-2147483648
. . . 2147483647
[µsteps]
R
204 Freewheeling
mode
Stand still option when the standby
current (parameter 7) is set to zero.
0 normal operation
1 freewheeling
2 coil shorted using low side drivers
3 coil shorted using high side drivers
0. . . 3 RW
206 Actual load
value
Readout of the actual load value used for stall
detection (stallGuard2).
0. . . 1023 R
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
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