Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Hoja De Datos
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11-0011
TMCL Reference Manual
52
Trinamic Motion Control GmbH & Co KG
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4 Axis Parameters
The following sections describe all axis parameters that can be used with the SAP, GAP, AAP, STAP and RSAP
commands. Please note that some parameters are different with different module types. The letters under “access”
mean: R = readable (GAP), W = writable (SAP), E = automatically restored from EEPROM after reset or power-on.
commands. Please note that some parameters are different with different module types. The letters under “access”
mean: R = readable (GAP), W = writable (SAP), E = automatically restored from EEPROM after reset or power-on.
4.1 Basic axis parameters (all TMCL stepper motor modules except
the TMCM-100 module and the Monopack 2)
The parameters described in the following table are those which are needed very often. Please note that the
TMCM-100 module uses a different parameter set (see chapter 4.3), but all other TMCL stepper motor modules use
these parameters.
TMCM-100 module uses a different parameter set (see chapter 4.3), but all other TMCL stepper motor modules use
these parameters.
Number Axis Parameter
Description
Range
Access
0
target (next) position
The desired position in position mode (see ramp mode,
no. 138).
no. 138).
2
23
RW
1
actual position
The current position of the motor. Should only be
overwritten for reference point setting.
overwritten for reference point setting.
2
23
RW
2
target (next) speed
The desired speed in velocity mode (see ramp 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.
138). In position mode, this parameter is set by
hardware: to the maximum speed during acceleration,
and to zero during deceleration and rest.
2047
RW
3
actual speed
The current rotation speed. Should never be overwritten.
2047
R
4
maximum positioning
speed
speed
Should not exceed the physically highest possible value.
Adjust the pulse divisor (no. 154), if the speed value is
very low (<50) or above the upper limit. See TMC 428
datasheet (p.24) for calculation of physical units.
Adjust the pulse divisor (no. 154), if the speed value is
very low (<50) or above the upper limit. See TMC 428
datasheet (p.24) for calculation of physical units.
0...2047
RWE
5
maximum acceleration
The limit for acceleration (and deceleration). Changing
this parameter requires re-calculation of the acceleration
factor (no. 146) and the acceleration divisor (no.137),
which is done automatically. See TMC 428 datasheet
(p.24) for calculation of physical units.
this parameter requires re-calculation of the acceleration
factor (no. 146) and the acceleration divisor (no.137),
which is done automatically. See TMC 428 datasheet
(p.24) for calculation of physical units.
0... 2047 RWE
6
absolute max. current
The most important motor setting, since too high values
might cause motor damage! Note that on the TMCM-300
the phase current can not be reduced down to zero due
to the Allegro A3972 driver hardware.
On the TMCM-300, 303, 310, 110, 610, 611 and 612 the
maximum value is 1500 (which means 1.5A).
On all other modules the maximum value is 255 (which
means 100% of the maximum current of the module).
might cause motor damage! Note that on the TMCM-300
the phase current can not be reduced down to zero due
to the Allegro A3972 driver hardware.
On the TMCM-300, 303, 310, 110, 610, 611 and 612 the
maximum value is 1500 (which means 1.5A).
On all other modules the maximum value is 255 (which
means 100% of the maximum current of the module).
0…1500
resp.
0..255
resp.
0..255
RWE
7
standby current
The current limit two seconds after the motor has
stopped.
The value range of this parameter is the same as with
parameter 6.
stopped.
The value range of this parameter is the same as with
parameter 6.
0..1500
resp.
0..255
resp.
0..255
RWE
8
target pos. reached
Indicates that the actual position equals the target
position.
position.
0/1
R
9
ref. switch status
The logical state of the reference (left) switch.
See the TMC 428 data sheet for the different switch
modes. Default is two switch mode: the left switch as
the reference switch, the right switch as a limit (stop)
switch.
See the TMC 428 data sheet for the different switch
modes. Default is two switch mode: the left switch as
the reference switch, the right switch as a limit (stop)
switch.
0/1
R
10
right limit switch status
The logical state of the (right) limit switch.
0/1
R