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) 83<br />
7 Axis parameters<br />
The following sections describe all axis parameters that can be used with the SAP, GAP, AAP, STAP and RSAP<br />
commands.<br />
Meaning of the letters in column Access:<br />
R = readable (GAP)<br />
W = writable (SAP)<br />
E = automatically restored from EEPROM after reset or power-on<br />
7.1 Axis parameters<br />
Number Axis Parameter Description Range [Unit] Acc.<br />
0 target (next) The desired position in position mode (see 2<br />
position ramp mode, no. 138).<br />
23<br />
RW<br />
[µsteps]<br />
1 actual position The current position of the motor. Should 2<br />
only be overwritten for reference point<br />
setting.<br />
23<br />
RW<br />
[µsteps]<br />
2 target (next) The desired speed in velocity mode (see ramp 2047<br />
RW<br />
speed<br />
mode, no. 138). In position mode, this<br />
parameter is set by hardware: to the<br />
maximum speed during acceleration, and to<br />
zero during deceleration and rest.<br />
3 actual speed The current rotation speed. 2047<br />
RW<br />
4 maximum<br />
positioning<br />
speed<br />
5 maximum<br />
acceleration<br />
6 absolute max.<br />
current<br />
Should not exceed the physically highest<br />
possible value. Adjust the pulse divisor (no.<br />
154), if the speed value is very low (
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