Datasheet
TMCM-3314 TMCL
™
Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2017-DEC-01
74 / 109
Number Axis Parameter Description Range [Units] Access
27 Virtual stop
right
Virtual stop position when motor is moving in
positive direction.
-2147483648
. . . 2147483647
[µsteps]
RW
28 Virtual stop
enable
0 - both virtual stop disabled
1 - Virtual stop left enable
2 - Virtual stop right enable
3 - both virtual stop enabled
0. . . 3 RW
29 Virtual stop
mode
0 - use normal ramp deceleration settings
1 - use hard stop
2 - use stop deceleration (parameter #21)
0/1/2 R
33 Swap stop
switches
Use right stops switch for negative direction and
left stop switch for positive direction if set to 1.
0/1 RW
34 Enable soft
stop
0 - use hard stop at stop switches
1 - use deceleration ramp (parameter #21) at
stop switches
0/1 RW
50 Torque mode
Writing to this parameter will run the motor in
torque mode. This only works in closed loop
mode. Any other motion command (MST, ROL,
ROR, MVP) stops the torque mode.
-255. . . 255 RW
108 CL gamma
Vmin
For higher velocities the influence of the back
EMF may be compensated. At this velocity the
compensation will start.
0. . . 16777215
[pps]
RW
109 CL gamma
Vmax
For higher velocities the influence of the back
EMF may be compensated. At the start veloc-
ity (axis parameter #108) plus this velocity the
compensation will reach its maximum.
0. . . 16777215
[pps]
RW
110 CL maximum
gamma
For higher velocities the influence of the back
EMF may be compensated. This is the compen-
sation factor that will be added scaled using the
current velocity (see axis parameter #108 and
#109).
0. . . 255 RW
111 CL beta
Maximum commutation angle that can be used
to compensate for an evaluated position devia-
tion.
0. . . 511 RW
112 CL offset
Offset for closed loop operation. Measured dur-
ing closed loop initialization.
-2147483648
. . . 2147483647
RW
113 CL current
minimum
Minimum current setting in closed loop opera-
tion.
0. . . 255 RW
114 CL current
maximum
Maximum current setting in closed loop opera-
tion.
0. . . 255 RW
115 CL correction
velocity P
Parameter P of the PI regulator which controls
the maximum velocity during closed loop regu-
lation.
0. . . 1677215 RW
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