PD-013-42 / TMCM-110-42 Manual (V1.24/2011-NOV-25)
15
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7.2.1.10
Velocity mode (V and A)
The velocity mode allows rotation of the motor without external signals. In order to rotate the motor,
please set an acceleration value different from zero. The velocity is given by the following equation when
parameter
n
is used.
The velocity mode allows the rotation of the motor without external step/direction signals. To make use of
this, an acceleration different from zero has to be set first using the A (acceleration) command (setting the
acceleration to zero will switch back to step/direction mode). The desired speed can then be set using the V
command. The motor will accelerate adequate. The sign of the speed defines the direction of rotation. The
speed parameter is calculated as follows:
]
/
[
149157
.
0
]
/
[
]
/
[
149157
.
0
]
/
[
]
/
[
149157
.
0
]
/
[
s
rotations
motor
of
Fullsteps
resolution
Microstep
n
s
rotations
v
s
steps
resolution
Microstep
n
s
steps
v
s
microsteps
n
s
microsteps
v
For a 200 step motor at 64 microsteps this results in:
]
/
[
85815
]
/
[
s
rotations
n
s
rotations
v
A practical limit for most stepper motor types is ca. 20 rotations/sec in chopper mode 0.
In chopper mode 2 it is 5 rotations/sec.
As a second parameter value 0 or 1 is optional.
The
V
command also has a second parameter: leaving it out or setting it to 0 will send the carriage return
character of the echo back at once. Setting the second parameter to 1 will delay the sending of the carriage
return character until the desired speed has been reached.
Example:
AA 1000
ENTER
Set acceleration to 1000
AV -50000
ENTER
Accelerate to speed -50000
AV 0 1
ENTER
Decelerate to zero, delaying the CR until the motor is standing
7.2.1.11
Store parameters to EEPROM (W)
This command stores different parameters to the EEPROM to restart with the same settings after power
down.
The stored parameters are:
-
Current setting (set by command C)
-
Selected Mode (set by command M)
-
Alert adjustments (set by command N)
-
Output adjustments (set by command O)
-
RS485 parameters (set by command U)
-
Microstep resolution (set by command Z)
Example:
AW
ENTER stores all parameters in the EEPROM
