User Manual

TMCM-1276 TMCL
™
Firmware Manual • Firmware Version V1.13 | Document Revision V1.01 • 2019-MAR-20
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Number Axis Parameter Description Range [Units] Access
22 Speed
threshold for
CoolStep /
fullstep
Speed threshold for de-activating CoolStep or
switching to fullstep mode.
0. . . 7999774
[pps]
RW
23 Minimum
speed for
DcStep
Minimum speed for switching to DcStep 0. . . 7999774
[pps]
RW
24 Right limit
switch polarity
Setting this parameter to 1 inverts the logic state
of the right limit switch input.
0/1 RW
25 Left limit
switch polarity
Setting this parameter to 1 inverts the logic state
of the left limit switch input.
0/1 RW
26 Soft stop
enable
Use soft stop when motor is stopped by a limit
switch.
0/1 RW
27 High speed
chopper mode
Switch to other chopper mode when measured
speed is higher than axis parameter 22 when set
to 1.
0/1 RW
28 High speed
fullstep mode
Switch to fullstep mode when measured speed
is higher than axis parameter 22 when set ot 1.
0/1 RW
29 Measured
speed
Speed measured by the motor driver. 0. . . 7999774
[pps]
R
31 Power down
ramp
Controls the number of clock cycles for motor
power down after a motion as soon as the motor
has stopped and the setting time has expired.
The smooth transition avoids a motor jerk upon
power down. 0=instant power down, 15=longest
possible power down ramp.
0. . . 15
[0.16384s]
RW
32 DcStep time This setting controls the reference pulse width
for DcStep load measurement. It must be opti-
mized for robust operation with maximum mo-
tor torque. A higher value allows higher torque
and higher velocity, a lower value allows oper-
ation down to a lower velocity as set by axis
parameter #23.
0. . . 1023 RW
33 DcStep
StallGuard
This setting controls stall detection in DcStep
mode. Increase for higher sensitivity.
0. . . 255 RW
127 Relative
positioning
option
Start position for MVP REL command:
0 last target position
1 actual position
0/1 RW
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