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ManualsBrandsTRINAMIC ManualsDrive EngineeringPD4-113-60-SE-232 Stepper Motor With Integrated Controller

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 28

Please use the TMCL-IDE axis parameter calculation tool for getting best values.

Example:

Set the absolute maximum current of motor to 200mA

Mnemonic: SAP 6, 0, 200

Binary:

Byte Index

Function

Target-

address

Instruction

Number

Type

Motor/

Bank

Operand

Byte3

Operand

Byte2

Operand

Byte1

Operand

Byte0

Checksum

Value (hex)

$01

$05

$06

$00

$c8

$d5

Number

Axis Parameter

Description

Range

203

mixed decay threshold

If the actual velocity is above this threshold, mixed

decay will be used. This can also be set to –1 which

turns on mixed decay permanently also in the rising

part of the microstep wave. This can be used to fix

microstep errors.

0..2048

or -1

204

freewheeling

Time after which the power to the motor will be

cut when its velocity has reached zero

0..65535

0 = never

205

Stall Detection Threshold

Stall detection threshold. Only usable on modules

equipped with TMC246 or TMC249 motor drivers. Set

it to 0 for no stall detection or to a value between

1 (low threshold) and 7 (high threshold). The motor

will be stopped if the load value exceeds the stall

detection threshold. Switch off mixed decay to get

usable results.

0..7

209

Encoder Position

Position of motor axis within one rotation

0..255

210

encoder prescaler

Prescaler for the encoder (since firmware version

3.38). For more information refer to 9.2 please.

211

Fullstep Threshold

When exceeding this speed the driver will switch to

real full step mode. To disable this feature set this

parameter to zero or to a value greater than 2047.

Setting a full step threshold allows higher motor

torque of the motor at higher velocity. When

experimenting with this in a given application, try

to reduce the motor current in order to be able to

reach a higher motor velocity!

0..2048

214

power down delay

Standstill period before the current is changed

down to standby current. The standard value is

200msec.

from

10msec