PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)
109
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Velocity
Time
T
214
coolStep™ area
I
7
I
7
area without coolStep™
coolStep™ adjustment points and thresholds
SG
170
SG
181
V
182
I6
I
183
I
183
Current
V
123
Velocity and parameter
I
123
Current and parameter
T
123
Time parameter
I
7
I
6
I
183
I
6
/2*
* The lower threshold of the coolStep™ current can be adjusted up to
I6
/4. Refer to parameter 168.
The current depends on
the load of the motor.
SG
123
stallGuard2™ parameter
Figure 8.2: coolStep™ adjustment points and thresholds
Number
Axis parameter
Description
I
6
absolute max. current (CS /
Current Scale)
The maximum value is 255. This value means 100% of the
maximum current of the module. The current adjustment is
within the range 0… 255 and can be adjusted in 32 steps (0…
255 divided by eight; e.g. step 0 = 0… 7, step 1 = 8… 15 and so
on).
The most important motor setting, since too high values might
cause motor damage!
I
7
standby current
The current limit two seconds after the motor has stopped.
I
168
smartEnergy current minimum
(SEIMIN)
Sets the lower motor current limit for coolStep™ operation by
scaling the CS (Current Scale, see axis parameter 6) value.
Minimum motor current:
0 – 1/2 of CS
1 – 1/4 of CS
I
169
smartEnergy current down
step
Sets the number of stallGuard2™ readings above the upper
threshold necessary for each current decrement of the motor
current. Number of stallGuard2™ measurements per decrement:
Scaling: 0… 3: 32, 8, 2, 1
0: slow decrement
3: fast decrement
I
171
smartEnergy current up step
Sets the current increment step. The current becomes
incremented for each measured stallGuard2™ value below the
lower threshold (see smartEnergy hysteresis start).
current increment step size:
Scaling: 0… 3: 1, 2, 4, 8
0: slow increment
3: fast increment / fast reaction to rising load
