User Manual

TMCM-1276 TMCL
™
Firmware Manual • Firmware Version V1.13 | Document Revision V1.01 • 2019-MAR-20
76 / 100
Number Axis Parameter Description Range [Units] Access
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
208 Motor driver
error flags
A combination of the following values:
Bit 0 StallGuard2 status
(1: stall detected)
Bit 1 Overtemperature
(1: driver is shut down due to overtemper-
ature)
Bit 2 Overtemperature pre-warning
(1: temperature threshold is exceeded)
Bit 3 Short to ground A
(1: short condition detected, driver cur-
rently shut down)
Bit 4 Short to ground B
(1: short condition detected, driver cur-
rently shut down)
Bit 5 Open load A
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 6 Open load B
(1: no chopper event has happened during
the last period with constant coil polarity)
Bit 7 Stand still
(1: no step pulse occurred during the last
2
20
clock cycles)
0. . . 255 R
209 Encoder
position
Encoder counter value. -2147483648
. . . 2147483647
[µsteps]
RW
210 Encoder
resolution
Encoder counts per round. 0. . . 65535 RW
212 Maximum
encoder
deviation
When the actual position (parameter 1) and the
encoder position (parameter 209) differ more
than set here the motor will be stopped. This
function is switched off when the maximum de-
viation is set to zero.
0. . . 65535
[encoder
steps]
RW
214 Power down
delay
Standstill period before the current will be
ramped down to standby current. The standard
value is 200 (which means 2000ms).
0. . . 417
[10ms]
RW
215 Absolute
resolver value
Absolute position of the internal SensOstep en-
coder. The absolute position is within one motor
rotation.
0. . . 4095 R
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