TMCM-1211 TMCL
™
Firmware Manual • Firmware Version V1.10 | Document Revision V1.00 • 2018-OCT-02
102 / 133
Number
Axis Parameter
Description
Range [Units]
Access
31
Power down
ramp
Controls the number of clock cycles for motor
power down after a motion as soon as the motor
has stopped and the setting time has expired.
The smooth transition avoids a motor jerk upon
power down. 0=instant power down, 15=longest
possible power down ramp.
0. . . 15
[0.16384s]
RW
32
dcStep time
This setting controls the reference pulse width
for dcStep load measurement. It must be opti-
mized for robust operation with maximum mo-
tor torque. A higher value allows higher torque
and higher velocity, a lower value allows opera-
tion down to a lower velocity as set by VDCMIN.
0. . . 1023
RW
33
dcStep
stallGuard
This setting controls stall detection in dcStep
mode. Increase for higher sensitivity.
0. . . 255
RW
127
Relative
positioning
option
Start
position
for
MVP
REL
command:
0
last target position
1
actual position
2
encoder position
0/1
RW
140
Microstep
resolution
Microstep
resolutions
per
full
step:
0
fullstep
1
halfstep
2
4 microsteps
3
8 microsteps
4
16 microsteps
5
32 microsteps
6
64 microsteps
7
128 microsteps
8
256 microsteps
0..8
RW
162
Chopper blank
time
Selects the comparator blank time. This time
needs to safely cover the switching event and
the duration of the ringing on the sense resistor.
Normally leave at the default value.
0..3
RW
163
Constant TOff
mode
Selection of the chopper mode:
0 – spread cycle
1 – classic constant off time
0/1
RW
164
Disable fast
decay
comperator
See parameter 163. For ”classic const. off time”
setting this parameter to ”1” will disable current
comparator usage for termination of fast decay
cycle.
0/1
RW
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