TMCL™ Firmware Manual - Trinamic

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PD-109-57 V2 TMCL Firmware Manual (V1.00/2010-FEB-18) 82 Special reply format of command 136: Type set to 0 - reply as a string: Byte index Contents 1 Host Address 2..9 Version string (8 characters, e.g. 140V2.50 There is no checksum in this reply format! Type set to 1 - version number in binary format: Please use the normal reply format. The version number is output in the value field of the reply in the following way: Byte index in value field Contents 1 Version number, low byte 2 Version number, high byte 3 Type number, low byte (currently not used) 4 Type number, high byte (currently not used) Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PD-109-57 V2 TMCL Firmware Manual (V1.00/2010-FEB-18) 83 7 Axis parameters The following sections describe all axis parameters that can be used with the SAP, GAP, AAP, STAP and RSAP commands. Meaning of the letters in column Access: R = readable (GAP) W = writable (SAP) E = automatically restored from EEPROM after reset or power-on 7.1 Axis parameters Number Axis Parameter Description Range [Unit] Acc. 0 target (next) The desired position in position mode (see 2 position ramp mode, no. 138). 23 RW [µsteps] 1 actual position The current position of the motor. Should 2 only be overwritten for reference point setting. 23 RW [µsteps] 2 target (next) The desired speed in velocity mode (see ramp 2047 RW speed mode, no. 138). In position mode, this parameter is set by hardware: to the maximum speed during acceleration, and to zero during deceleration and rest. 3 actual speed The current rotation speed. 2047 RW 4 maximum positioning speed 5 maximum acceleration 6 absolute max. current Should not exceed the physically highest possible value. Adjust the pulse divisor (no. 154), if the speed value is very low (
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TMCL™ Firmware Manual - Trinamic

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