TMCM-078 Manual (V1.03 / September 10th, 2008)
22
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
Examples:
1.
Set chopper mode to SPI Mode:
AM 0
ENTER
2.
Read out the actual mode:
Am
ENTER
3.
Change Microstep resolution ¼ of max. resolution:
AZ 2
ENTER
Example for test move:
Different accelerations and velocities
AA 500, AV 50000, AV –50000
try other AA 0…8000, AV 0…400000
Max. current – test of torque
AA 500, AV 50000, AC 200
test torque manually
AC 20
test torque
Read and set position
AV 0, AR, AA 500, AV 50000, AR, AP 0, AR
5.4.2
Commands ‘A’ and ‘a’: Set or read back acceleration
The ‘A’ command sets the acceleration that is used in conjunction with the ‘V’ command. Setting the
acceleration parameter to 0 enables the step/direction interface (this is also the factory default
setting). Setting the accelerations parameter to any value greater than zero disables the step/direction
interface and allows moving the motor via the RS485 interface using the ‘V’ command. The
acceleration parameter is given in microsteps/s². This setting can also be stored permanently using
the ‘W’ command.
The ‘a’ command outputs the actual acceleration setting.
5.4.3
Commands ‘C’ and ‘c’: Set or read back motor current
The ‘C’ command sets the maximum motor current. The parameter range is 0..31, according to table
3.6. This setting should not be changed while the motor is moving. The power-on setting for this
command is set by the DIP switches.
The ‘c’ command outputs the actual motor current setting.
5.4.4
Commands ‘D’ and ‘d’: Set or read back mixed decay setting
The ‘D’ command sets the mixed decay behavior. The parameter can be 0, 1 or 2. Setting the
parameter to 0 disables mixed decay. Setting it to 1 enables mixed decay. Setting the mixed decay
parameter to 2 enables mixed decay, but mixed decay will automatically be disabled whenever a
StallGuard reference search is started. This setting can also be stored permanently using the ‘W’
command.
The ‘d’ command outputs the actual mixed decay setting.
5.4.5
Commands ‘E’ and ‘e’: Read motor driver error status
In chopper mode 0, eight error flags are provided by the motor driver. The E or e command provides
a value that has to be interpreted as follows:
Bit
Name
Function
Remark
7
OT
Overtemperature
“1” = driver chip off due to overtemperature
6
OTPW
temperature prewarning
“1” = driver chip prewarning temperature exceeded
5
UV
driver undervoltage
“1” = undervoltage on VS
4
OCHS
overcurrent high side
3 PWM cycles with overcurrent within 63 PWM cycles
3
OLB
open load bridge B
Open load detection can occur at fast motion also.
2
OLA
open load bridge A
Open load detection can occur at fast motion also.
1
OCB
overcurrent bridge B low side Short circuit detected. Please check motor wiring.
0
OCA
overcurrent bridge A low side Short circuit detected. Please check motor wiring.
Table 5.4: Failure readout in SPI mode
In the other two modes there is only one error flag and thus the command only outputs ‘0’ or ‘1’:
1: short circuit or overtemperature
0: no failure