Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Data Sheet
Product codes
11-0011
TMCL Reference Manual
56
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
Number Parameter
Description
Range
Access
206
Actual Load Value
Readout of the actual load value used for stall detection.
Only usable on modules equipped with TMC246 or TMC249
motor drivers. On other modules this value is undefined.
Only usable on modules equipped with TMC246 or TMC249
motor drivers. On other modules this value is undefined.
0..7
R
208
Driver Error Flags
TMC236 Error Flags
R
209
Encoder Position
(V3.21 or higher)
(V3.21 or higher)
The value of an encoder register of a TMCM-323 module
connected to a TMCM-30x module can be read or written.
Please see the TMCM-323 manual for details.
connected to a TMCM-30x module can be read or written.
Please see the TMCM-323 manual for details.
RW
210
Encoder Pre-scaler
(V3.21 or higher)
(V3.21 or higher)
Pre-scaler for an encoder connected to a TMCM-323 module.
Please see the TMCM-323 manual for details. This value can
not be read back!
This setting is also available on the TMCM-611, TMCM-101
and TMCM-102 modules. Please see the manuals of these
modules for the meaning of these parameter on a specific
module.
Please see the TMCM-323 manual for details. This value can
not be read back!
This setting is also available on the TMCM-611, TMCM-101
and TMCM-102 modules. Please see the manuals of these
modules for the meaning of these parameter on a specific
module.
W
211
Fullstep Threshold
(V3.26 or higher)
(V3.26 or higher)
When exceeding this speed the driver will switch to real full
step mode. To disable this feature set this parameter to zero
or to a value greater than 2047.
Setting a full step threshold allows higher motor torque of
the motor at higher velocity. When experimenting with this
in a given application, try to reduce the motor current in
order to be able to reach a higher motor velocity!
step mode. To disable this feature set this parameter to zero
or to a value greater than 2047.
Setting a full step threshold allows higher motor torque of
the motor at higher velocity. When experimenting with this
in a given application, try to reduce the motor current in
order to be able to reach a higher motor velocity!
0..2048
RWE
212
Maximum Encoder
Deviation
Deviation
When the actual position (parameter 1) and the encoder
position (parameter 209) differ more than set here the motor
will be stopped. This function is switched off when the
maximum deviation is set to zero.
Only on TMCM-101, TMCM-102 and TMCM-611 modules.
position (parameter 209) differ more than set here the motor
will be stopped. This function is switched off when the
maximum deviation is set to zero.
Only on TMCM-101, TMCM-102 and TMCM-611 modules.
0..65535
RWE
213
Group index
All motors on one module that have the same group index
will also get the same commands when a ROL, ROR, MST,
MVP or RFS is issued for one of these motors. Only on
TMCM-610, TMCM-611, TMCM-612 and TMCM-34x modules.
will also get the same commands when a ROL, ROR, MST,
MVP or RFS is issued for one of these motors. Only on
TMCM-610, TMCM-611, TMCM-612 and TMCM-34x modules.
0..255
RW
4.3 Axis parameters on the TMCM-100 and on the Monopack 2
The axis parameters on the TMCM-100 module and on the Monopack 2 with TMCL differ from those on the other
modules. There are no “advanced” axis parameters on the TMCM-100 module.
modules. There are no “advanced” axis parameters on the TMCM-100 module.
Number Parameter
Description
Range
Access
0
Target position
Read: The target position of a currently executed
ramp.
Write: Same function as a MVP ABS command.
ramp.
Write: Same function as a MVP ABS command.
-8388608..
+8388607
+8388607
RW
1
Actual position
Read: The actual position of the motor.
Write: Change the position and encoder counter
without moving the motor.
Write: Change the position and encoder counter
without moving the motor.
-8388608..
+8388607
+8388607
RW
2
Target velocity
Write: value >0: same function as ROR
value <0: same function as ROL
value =0: same function as MST
Read: not possible
value <0: same function as ROL
value =0: same function as MST
Read: not possible
-8191..
+8191
+8191
W
3
Actual velocity
The actual velocity of the motor.
Write access not possible.
Write access not possible.
-8191..
+8191
+8191
R
4
Max. positioning
velocity
velocity
The maximum velocity used when executing a ramp
to a position. Do not set to zero!
to a position. Do not set to zero!
1..8191
RWE
5
Max. acceleration
The maximum acceleration used to accelerate or 1..8191
RWE