User manual

PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 61
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Number
Axis Parameter
Description
Range [Unit]
Acc.
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.
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.
0 / 2… 15
RW
168
smartEnergy
current minimum
Sets the lower motor current limit for
coolStep™ operation by scaling the max. motor
run current value (parameter 6).
minimum motor current:
0 – 1/2 of parameter 6
1 – 1/4 of parameter 6
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
170
smartEnergy
hysteresis
Sets the distance between the lower and the
upper threshold for stallGuard2™ reading.
Above the upper threshold the motor current
becomes decreased.
0… 15
RW
Hysteresis:
(smartEnergy hysteresis value + 1) * 32
Upper stallGuard threshold:
(smartEnergy hysteresis start + smartEnergy
hysteresis + 1) * 32
171
smartEnergy
current up step
Sets the current increment step. The current
becomes incremented for each measured
stallGuard2 value below the lower threshold
(see smartEnergy hysteresis start).
current increment step size:
Scaling: 0… 3: 1, 2, 4, 8
0: slow increment
3: fast increment / fast reaction to rising load
1… 3
RW
172
smartEnergy
hysteresis start
The lower threshold for the stallGuard2 value
(see smart Energy current up step).
0… 15
RW