User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 93
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Number
Axis Parameter
Description
Range [Unit]
Acc.
161
double step
enable
Every edge of the cycle releases a
step/microstep. It does not make sense to
activate this parameter for internal use.
Double step enable can be used with Step/Dir
interface.
0 – double step off
1 – double step on
0/1
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. For low current drivers, a setting of 1
or 2 is good. For higher current applications
like the TMCM-1180 a setting of 2 or 3 will be
required.
0… 3
RW
163
chopper mode
Selection of the chopper mode:
0 – spread cycle
1 – classic const. off time
0/1
RW
164
chopper
hysteresis
decrement
Hysteresis decrement setting. This setting
determines the slope of the hysteresis during
on time and during fast decay time.
0 – fast decrement
3 – very slow decrement
0… 3
RW
165
chopper
hysteresis end
Hysteresis end setting. Sets the hysteresis end
value after a number of decrements.
Decrement interval time is controlled by axis
parameter 164.
-3… -1
negative hysteresis end setting
0
zero hysteresis end setting
1… 12
positive hysteresis end setting
-3… 12
RW
166
chopper
hysteresis start
Hysteresis start setting. Please remark, that
this value is an offset to the hysteresis end
value.
0… 8
RW
167
chopper off time
The off time setting controls the minimum
chopper frequency. An off time within the
range of 5µs to 20µs will fit.
0 / 2… 15
RW
Off time setting for constant t
OFF
chopper:
N
CLK
= 12 + 32*t
OFF
(Minimum is 64 clocks)
Setting this parameter to zero completely
disables all driver transistors and the motor
can free-wheel.
168
smartEnergy
current minimum
(SEIMIN)
Sets the lower motor current limit for
coolStep™ operation by scaling the CS
(Current Scale, see axis parameter 6) value.
minimum motor current:
0 – 1/2 of CS
1 – 1/4 of CS
0/1
RW
169
smartEnergy
current down
step
Sets the number of stallGuard2™ readings
above the upper threshold necessary for each
current decrement of the motor current.
Number of stallGuard2™ measurements per
decrement:
Scaling: 0… 3: 32, 8, 2, 1
0: slow decrement
3: fast decrement
0… 3
RW