TMCM-6214 Hardware Manual • Hardware Version V1.30 | Document Revision V1.10 • 2019-MAR-25
17 / 27
7 Motor driver current
The on-board stepper motor driver operates current controlled. The driver current may be programmed
in software with 32 effective scaling steps in hardware.
Explanation of different columns in table below:
Motor current set-
ting in software
(TMCL)
These are the values for TMCL axis parameter 6 (motor run current) and
7 (motor standby current). They are used to set the run / standby current
using the following TMCL commands:
SAP 6, 0, <value> // set run current
SAP 7, 0, <value> // set standby current
(read-out value with GAP instead of SAP. Please see separate TMCM-6214
firmware manual for further information)
Motor current I
RMS
[A]
Resulting motor current based on motor current setting
Motor Current Setting
Motor current setting
in software (TMCL)
Current scaling step
(CS)
Motor current I
COIL
[A]
peak
Motor current I
COIL
[A]
RMS
0. . . 7
0
0.085
0.06
8. . . 15
1
0.169
0.12
16. . . 23
2
0.254
0.18
24. . . 31
3
0.339
0.239
32. . . 39
4
0.423
0.299
40. . . 47
5
0.508
0.359
48. . . 55
6
0.592
0.419
56. . . 63
7
0.677
0.479
64. . . 71
8
0.762
0.539
72. . . 79
9
0.846
0.598
80. . . 87
10
0.931
0.658
88. . . 95
11
1.016
0.718
96. . . 103
12
1.100
0.778
104. . . 111
13
1.185
0.838
112. . . 119
14
1.270
0.898
120. . . 127
15
1.354
0.958
128. . . 135
16
1.439
1.017
136. . . 143
17
1.523
1.077
144. . . 151
18
1.608
1.137
152. . . 159
19
1.693
1.197
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