Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Scheda Tecnica
Codici prodotto
11-0011
TMCL Reference Manual
57
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
Number Parameter
Description
Range
Access
decelerate the motor. Do not set to zero!
6
Current at constant
rotation
rotation
Maximum current when moving with constant velocity
(255 => 100%).
(255 => 100%).
0 .. 255
RWE
7
Current at standby
Current when the motor is standing
(255 =
(255 =
>
100%).
0..255
RWE
8
Position reached flag
Reads 1 when the actual position equals the target
position. Write access not possible.
position. Write access not possible.
0/1
R
9
Reference switch status The logical state of the reference switch (connected to
the SYNC_IN pin).
0/1
R
10
Right stop switch status The logical state of the right stop switch.
Write access not possible.
0/1
R
11
Left stop switch status The logical state of the left stop switch.
Write access not possible.
0/1
R
12
Stop switch disable
Deactivates the function of both stop switches when
set to 1.
set to 1.
0/1
RWE
13
Stop switch disable
Same function as parameter #12.
0/1
RWE
14
Step rate prescaler
Prescaler for the step rate, determines the maximum
step frequency.
step frequency.
0..15
RWE
15
Bow
The bow parameter of the ramp function. Do not set
to zero!
to zero!
1..8191
RWE
16
Microstep resolution
The number of microsteps to be used.
1..64: 1..64 microsteps
65: 100 microsteps
66: 202 microsteps
67: 406 microsteps
1..64: 1..64 microsteps
65: 100 microsteps
66: 202 microsteps
67: 406 microsteps
1..67
RWE
17
Microstep waveform
The microstep waveform to be used.
-127..+127
RWE
18
Step/direction mode
Activates the step/direction input when set to 1 (the
module then works as a step / direction sequencer).
module then works as a step / direction sequencer).
0/1
RWE
19
Step pulse length
The length of the step pulses at the step / direction
output.
output.
0..3
RWE
20
Phases
Set to 2 for two phase motors (default) or to 3 for 3
phase motors (currently not usable).
phase motors (currently not usable).
2/3
RWE
21
Current at acceleration
Current when the motor is accelerating or
decelerating (255 => 100%).
decelerating (255 => 100%).
0..255
RWE
22
Reference search mode
(s. section 6.2)
(s. section 6.2)
0: Separate stop and reference switches.
1: Same switch for stop and reference point.
2: Circular mode: Only one reference switch, search
the switch from both sides.
1: Same switch for stop and reference point.
2: Circular mode: Only one reference switch, search
the switch from both sides.
0/1/2
RWE
23
Reference search
velocity
velocity
Velocity used for reference searching. If the velocity is
negative the right switch will be searched instead of
the left switch.
negative the right switch will be searched instead of
the left switch.
-8191..
+8191
+8191
RWE
24
Stop Switch
Deceleration
Deceleration
Deceleration when touching a stop switch. A value of
0 means a hard stop.
0 means a hard stop.
0..8191
RWE
25
Encoder Position
Actual position of the encoder (read only).
R
26
Encoder Configuration
Bit 0: polarity of the encoder N signal.
Bit 1: the next N signal clears the encoder position
counter.
Bit 4: set this bit to copy the actual encoder value to
the position register (bit resets automatically).
Bit 6: direction of the encoder signals
(1: A->B, 0: B->A).
Bit 1: the next N signal clears the encoder position
counter.
Bit 4: set this bit to copy the actual encoder value to
the position register (bit resets automatically).
Bit 6: direction of the encoder signals
(1: A->B, 0: B->A).
RWE
27
Encoder Predivider
Predivider for the incremental encoder.
0..255
RWE