User manual

TMCM-1141 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 10
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2.2.1 Important Motor Settings
There are some axis parameters which have to be adjusted right in the beginning after installing your
module. Please set the upper limiting values for the speed (axis parameter 4), the acceleration (axis
parameter 5), and the current (axis parameter 6). Further set the standby current (axis parameter 7) and
choose your microstep resolution with axis parameter 140. Please use the SAP (Set Axis Parameter)
command for adjusting these values. The SAP command is described in paragraph 3.6.5. You can use the
TMCL-IDE direct mode for easily configuring your module.
IMPORTANT AXIS PARAMETERS FOR MOTOR SETTING
Number
Axis Parameter
Description
Range [Unit]
4
Maximum
positioning
speed
Should not exceed the physically highest possible
value. Adjust the pulse divisor (axis parameter 154), if
the speed value is very low (<50) or above the upper
limit.
0… 2047
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5
Maximum
acceleration
The limit for acceleration (and deceleration). Changing
this parameter requires re-calculation of the
acceleration factor (no. 146) and the acceleration
divisor (no. 137), which is done automatically. See
TMC 429 datasheet for calculation of physical units.
0… 2047*
1
6
Absolute max.
current
(CS / Current
Scale)
The maximum value is 255. This value means 100% of
the maximum current of the module. The current
adjustment is within the range 0… 255 and can be
adjusted in 32 steps.
The most important motor setting, since too high
values might cause motor damage!
0… 7
79…87
160… 167
240… 247
8… 15
88… 95
168… 175
248… 255
16… 23
96… 103
176… 183
24… 31
104… 111
184… 191
32… 39
112… 119
192… 199
40… 47
120… 127
200… 207
48… 55
128… 135
208… 215
56… 63
136… 143
216… 223
64… 71
144… 151
224… 231
72… 79
152… 159
232… 239
0… 255
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7
Standby current
The current limit two seconds after the motor has
stopped.
0… 255
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140
Microstep
resolution
0
full step
1
half step
2
4 microsteps
3
8 microsteps
4
16 microsteps
5
32 microsteps
6
64 microsteps
7
128 microsteps
8
256 microsteps
0… 8
*
1
Unit of acceleration:
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Attention:
The most important motor setting is the absolute maximum motor current setting, since too high values
might cause motor damage!