User Manual

TMCM-6212 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.07 • 2019-JAN-25
114 / 140
Number Axis Parameter Description Range [Units] Access
198 Latched actual
position
This parameter contains the actual position that
has been latched by an encoder null channel
event.
-2147483648
. . . 2147483647
[µsteps]
R
199 Latched
encoder
position
This parameter contains the encoder position
that has been latched by an encoder null chan-
nel event.
-2147483648
. . . 2147483647
[µsteps]
R
201 Encoder mode A combination of the following values:
Bit 0 Required channel A polarity for
null channel event.
(0: low, 1: high)
Bit 1 Required channel B polarity for
null channel event.
(0: low, 1: high)
Bit 2 Null channel polarity.
(0:low, 1: high)
Bit 3 Ignore channel A and B polarity for
null channel event.
Bit 4 Clear/latch encoder at every null
channel event.
Bit 5 Clear/latch encoder only at next
null channel event.
Bit 8 0: Latch encoder and actual posi-
tion on N event.
1: Also clear encoder counter on
N event.
0. . . 511 RW
202 Motor full step
resolution
Full step resolution of the motor (Default: 200). 0. . . 65535
[
fullsteps
round
]
RW
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
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com