TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
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PD-109-57 V2 TMCL <strong>Firmware</strong> <strong>Manual</strong> (V1.00/2010-FEB-18) 33<br />
Number Axis Parameter Description Range [Unit]<br />
8 target pos. Indicates that the actual position equals the 0/1<br />
reached target position.<br />
9 ref. switch status The logical state of the reference (left) switch.<br />
See the TMC 428 data sheet for the different<br />
switch modes. The default has two switch<br />
modes: the left switch as the reference<br />
switch, the right switch as a limit (stop)<br />
switch.<br />
0/1<br />
10 right limit switch The logical state of the (right) limit switch.<br />
status<br />
0/1<br />
11 left limit switch The logical state of the left limit switch (in 0/1<br />
status<br />
three switch mode)<br />
12 right limit switch If set, deactivates the stop function of the 0/1<br />
disable<br />
right switch<br />
13 left limit switch Deactivates the stop function of the left 0/1<br />
disable<br />
switch resp. reference switch if set.<br />
130 minimum speed Should always be set 1 to ensure exact 0…2047<br />
reaching of the target position. Normally no<br />
need to change!<br />
135 actual<br />
acceleration<br />
The current acceleration (read only). 0… 2047*<br />
138 ramp mode Automatically set when using ROR, ROL, MST 0/1/2<br />
and MVP.<br />
0: position mode. Steps are generated, when<br />
the parameters actual position and target<br />
position differ. Trapezoidal speed ramps are<br />
provided.<br />
2: velocity mode. The motor will run<br />
continuously and the speed will be changed<br />
with constant (maximum) acceleration, if the<br />
parameter target speed is changed.<br />
For special purposes, the soft mode (value 1)<br />
with exponential decrease of speed can be<br />
selected.<br />
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG