User manual

TMCM-6110 TMCL Firmware V1.19 Manual (Rev. 1.03 / 2012-JUL-31) 73
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Number
Axis Parameter
Description
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
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.
206
actual load value
Readout of the actual load value used for stall detection (stallGuard2™).
In this chapter only basic axis parameters are mentioned which concern stallGuard2™. The complete list of
axis parameters in chapter 6 contains further parameters which offer more configuration possibilities.
6.2 coolStep Related Parameters
The figure below gives an overview of the coolStep™ related parameters. Please have in mind that the
figure shows only one example for a drive. There are parameters which concern the configuration of the
current. Other parameters are for velocity regulation and for time adjustment.
It is necessary to identify and configure the thresholds for current (I6, I7 and I183) and velocity (V182).
Furthermore the stallGuard2™ feature has to be adjusted and enabled (SG170 and SG181).
The reduction or increasing of the current in the coolStep™ area (depending on the load) has to be
configured with parameters I169 and I171.
In this chapter only basic axis parameters are mentioned which concern coolStep™ and stallGuard2™. The
complete list of axis parameters in chapter 6 contains further parameters which offer more configuration
possibilities.