PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)
78
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Number Axis Parameter
Description
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
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
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
176
slope control low
side
Determines the slope of the motor driver
outputs.
Set identical to slope control high
side.
177
short protection
disable
0: Short to GND protection is on
1: Short to GND protection is disabled
Use default value!
178
short detection
timer
0: 3.2µs
1: 1.6µs
2: 1.2µs
3: 0.8µs
Use default value!
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.
182
smartEnergy
threshold speed
Above this speed coolStep™ becomes
enabled.
183
smartEnergy slow
run current
Sets the motor current which is used blow
the threshold speed.
