UPGRADE is a 16-bit status register, defining new options and extended features that are activated when their corresponding bits are set.
TML Address: 0x0857
Contents. UPGRADE information is structured as follows:
Bit 15 STPTBL. Setup table
0 =
|
Valid setup table is not required
|
1 =
|
Valid setup table is required
|
Bit 14 Reserved
Bit 13 TXBUFF. CAN-bus transmit buffer length
0 =
|
The length of CAN-bus transmit buffer is 1 messages
|
1 =
|
The length of CAN-bus transmit buffer is 5 messages
|
Bit 12 TINTQSTP. TML time interrupt/quickstop
0 =
|
Disable
|
1 =
|
Enable TML time interrupt and quickstop mode when a limit switch is reached
|
Bit 11 MCM. Motion complete mode
0 =
|
Motion complete set when the position reference arrives at the commanded position
|
1 =
|
Motion complete set when the position feedback arrives at the commanded position and remains in a settle band for a preset stabilize time interval
|
Bit 10 I2TPRT. I2T protection
0 =
|
One I2T protection common for drive and motor
|
1 =
|
Two I2T protections, one for drive and the other for the motor
|
Bit 9 IPOS. Initial positioning mode
0 =
|
Standard – wait time per phase up to 1s
|
1 =
|
Extended – wait time per phase up to 635s
|
Bit 8 IORW. I/O lines read/write
0 =
|
Simultaneous read /write of 4 general purpose inputs/outputs
|
1 =
|
Simultaneous read 4 general-purpose inputs and 3 dedicated inputs: Enable, LSP and LSN. Simultaneous set 4 general-purpose outputs and 2 dedicated outputs: Ready and Error.
|
Bit 7 ATIME. Absolute time start
0 =
|
After instruction ENDINIT
|
1 =
|
After power on
|
Bit 6 FSTSLW. Position/speed control mode
0 =
|
Position/speed control in slow loop
|
1 =
|
Position/speed control in fast loop
|
Bit 5 STBCRT. Standby current for step motors
Bit 4 SPDCTR. Speed control error protection
0 =
|
Common with position control error protection
|
1 =
|
Separate control error protection for position and speed
|
Bit 3 REG. Registration mode
Bit 2 LMTSPDACC. Maximal speed/acceleration in motion modes: external, electronic gearing and electronic camming
0 =
|
Unlimited
|
1 =
|
Limited
|
Bit 1 STPMD. Stop mode for steppers
Bit 0 AREFLMT. Analogue reference
0 =
|
Symmetrical, only positive or only negative
|
1 =
|
Separately programmable upper and lower limits
|
|