PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)
30
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Number Axis Parameter
Description
Range [Unit]
Upper stallGuard threshold:
(smartEnergy hysteresis start + smartEnergy
hyst 1) * 32
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
1… 3
172
smartEnergy
hysteresis start
The lower threshold for the stallGuard2™
value (see smart Energy current up step).
0… 15
173
stallGuard2™
filter enable
Enables the stallGuard2™ filter for more
precision of the measurement. If set, reduces
the
measurement
frequency
to
one
measurement per four fullsteps.
In most cases it is expedient to set the
filtered mode before using coolStep™.
Use the standard mode for step loss
detection.
0 – standard mode
1 – filtered mode
0/1
174
stallGuard2™
threshold
This signed value controls stallGuard2™
threshold
level for stall output and sets the
optimum measurement range for readout. A
lower value gives a higher sensitivity. Zero is
the starting value. A higher value makes
stallGuard2™ less sensitive and requires more
torque to indicate a stall.
0 Indifferent value
1… 63 less sensitivity
-1… -64 higher sensitivity
-64… 63
175
slope control
high side
Determines the slope of the motor driver
outputs.
Set to 2 or 3 for this module or
rather use the default value.
0: lowest slope
3: fastest slope
0… 3
176
slope control low
side
Determines the slope of the motor driver
outputs.
Set identical to slope control high
side.
0… 3
177
short protection
disable
0: Short to GND protection is on
1: Short to GND protection is disabled
Use default value!
0/1
178
short detection
timer
0: 3.2µs
1: 1.6µs
2: 1.2µs
3: 0.8µs
Use default value!
0… 3
181
stop on stall
Below this speed motor will not be stopped.
Above this speed motor will stop in case
stallGuard2™ load value reaches zero.
0… +268.435.454
[pps]
182
smartEnergy
threshold speed
Above this speed coolStep™ becomes
enabled.
0… +268.435.454
[pps]
