User manual

PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 62
www.trinamic.com
Number
Axis Parameter
Description
Range [Unit]
Acc.
173
stallGuard2™
filter enable
Enables the stallGuard2 filter for more precision
of the measurement. If set, reduces the
measurement frequency to one measurement
per four fullsteps.
In most cases it is expedient to set the filtered
mode before using coolStep™.
Use the standard mode for step loss detection.
0 – standard mode
1 – filtered mode
0/1
RW
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
-64… 63
RW
175
Slope control
high side
Determines the slope of the motor driver
outputs. Set to 2 or 3 for this module or rather
use the default value.
0: lowest slope
3: fastest slope
0… 3
RW
176
Slope control
low side
Determines the slope of the motor driver
outputs. Set identical to slope control high side.
0… 3
RW
177
short protection
disable
0: Short to GND protection is on
1: Short to GND protection is disabled
Use default value!
0/1
RW
178
Short detection
timer
0: 3.2µs
1: 1.6µs
2: 1.2µs
3: 0.8µs
Use default value!
0..3
RW
180
smartEnergy
actual current
This status value provides the actual motor
current setting as controlled by coolStep. The
value goes up to the max. internal motor run
current scaling value (0..31) specified via
parameter 6 and down to the smartEnergy
current minimum (fraction of max. motor run
current set via parameter 168).
motor current scaling factor:
0 … 31: 1/32, 2/32, … 32/32
(32/32: maximum current supported by module)
0… 31
RW
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.
0… +268.435.454
[pps]
RW
182
smartEnergy
threshold speed
Above this speed coolStep will be enabled.
0… +268.435.454
[pps]
RW
183
smartEnergy
slow run current
Sets the motor current which is used blow the
threshold speed.
0… 255
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