User Manual

TMCM-3351 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.06 • 2019-APR-26
109 / 144
Number Axis Parameter Description Range [Units] Access
129 Closed Loop
Mode
0 - closed loop off
1 - closed loop on
2 - PID mode based on v
actual
3 - PID mode based on v=0
After switching on closed loop, please wait until
parameter #133 is 1 before executing any mo-
tion commands.
0/1 RW
131 measured
speed
Speed measured using the encoder. -2147483648
. . . 2147483647
[pps]
R
132 current
measured
speed
Speed measured using the encoder, without av-
eraging.
-2147483648
. . . 2147483647
[pps]
R
133 Closed Loop
Init Flag
0 - initialization not finished yet
1 - closed loop initialization finished
0/1 R
134 Positioning
window
Maximum deviation for target reached flag to be
set.
0. . .
2147483647
[µsteps]
RW
136 EncMeanWait Enocder filter related RW
137 EncMeanFilter Encoder filter related RW
138 EncMeanInt Encoder filter related RW
140 Microstep
resolution
Microstep resolutions per full step:
0 fullstep
1 halfstep
2 4 microsteps
3 8 microsteps
4 16 microsteps
5 32 microsteps
6 64 microsteps
7 128 microsteps
8 256 microsteps
Always leave at 8 (256 microstpes) when
using closed loop operation!
0. . . 8 RW
162 Chopper blank
time
Selects the comparator blank time. This time
needs to safely cover the switching event and
the duration of the ringing on the sense resistor.
Normally leave at the default value.
0. . . 3 RW
163 Constant TOff
mode
Selection of the chopper mode:
0 – spread cycle
1 – classic constant off time
0/1 RW
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