Техническая Спецификация для Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011
Модели
11-0011
TMCL Reference Manual
53
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
Number Axis Parameter
Description
Range
Access
11
left limit switch status
The logical state of the left limit switch (in three switch
mode)
mode)
0/1
R
12
right limit switch disable if set, deactivates the stop function of the right switch
0/1
RWE
13
left limit switch disable
deactivates the stop function of the left switch resp.
reference switch if set.
reference switch if set.
0/1
RWE
14
steprate prescaler
Currently not used, see parameters no. 153 and 154
4.2 Advanced axis parameters (all TMCL stepper motor modules
except the TMCM-100)
These parameters are only needed if the desired needs can not be met by setting the basic parameters listed in
section 4.1. Some of these parameters influence the TMC428 directly so that advanced understanding of the
TMC428 chip is needed. There are even some parameters that should only be changed if recommended by
TRINAMIC. Please note that these paramters are not available on the TMCM-100 module.
section 4.1. Some of these parameters influence the TMC428 directly so that advanced understanding of the
TMC428 chip is needed. There are even some parameters that should only be changed if recommended by
TRINAMIC. Please note that these paramters are not available on the TMCM-100 module.
Number Parameter
Description
Range
Access
130
minimum speed
Should always be set 1 to ensure exact reaching of the
target position. Do not change!
target position. Do not change!
0... 2047
RWE
135
actual acceleration
The current acceleration (read only).
0... 2047 R
136
acceleration threshold specifies the threshold between low and high acceleration
values for the parameters 144&145. Normally not needed.
0... 2047 RWE
137
acceleration divisor
A ramping parameter, can be adjusted in special cases,
automatically calculated by setting the maximum
acceleration (e.g. during normal initialisation). See the
TMC428 data sheet for details. Normally no need to change.
automatically calculated by setting the maximum
acceleration (e.g. during normal initialisation). See the
TMC428 data sheet for details. Normally no need to change.
0…13
RWE
138
ramp mode
In version 2.16 and later: automatically set when using ROR,
ROL, MST and MVP.
0: position mode. Steps are generated, when the parameters
actual position and target position differ. Trapezoidal speed
ramps are provided.
2: velocity mode. The motor will run continuously and the
speed will be changed with constant (maximum)
acceleration, if the parameter "target speed" is changed.
For special purposes, the soft mode (value 1) with
exponential decrease of speed can be selected.
ROL, MST and MVP.
0: position mode. Steps are generated, when the parameters
actual position and target position differ. Trapezoidal speed
ramps are provided.
2: velocity mode. The motor will run continuously and the
speed will be changed with constant (maximum)
acceleration, if the parameter "target speed" is changed.
For special purposes, the soft mode (value 1) with
exponential decrease of speed can be selected.
0/1/2
RWE
139
interrupt flags
Must not be modified. See the TMC 428 datasheet for details. 16bits
RW