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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) 34

Number

Axis Parameter

Description

137

acceleration divisor

A ramping parameter, can be adjusted in special

cases, automatically calculated by setting the

maximum acceleration (e.g. during normal

initialization). See the TMC428 data sheet for

details. Normally no need to change.

138

ramp mode

Automatically set when using ROR, ROL, MST and

MVP.

0: position mode. Steps are generated, when the

parameters actual position and target position

differ. Trapezoidal speed ramps are provided.

2: velocity mode. The motor will run continuously

and the speed will be changed with constant

(maximum) acceleration, if the parameter "target

speed" is changed.

For special purposes, the soft mode (value 1) with

exponential decrease of speed can be selected.

140

microstep resolution

0 – full step *)

1 – half step *)

2 – 4 microsteps

3 – 8 microsteps

4 – 16 microsteps

5 - 32 microsteps**)

6 – 64 microsteps**)

Modifying this parameter effects the rotation

speed in the same relation:

*) The full-step setting and the half-step setting

are not optimized for use without an adapted

microstepping table. These settings just step

through the microstep table in steps of 64

respectively 32. To get real full stepping use axis

parameter 211 or load an adapted microstepping

table.

**) If the module is specified for 16 microsteps

only, switching to 32 or 64 microsteps brings an

enhancement in resolution and smoothness. The

position counter will use the full resolution, but,

however, the motor will resolve a maximum of 24

different microsteps only for the 32 or 64

microstep units.

143

max. current at rest

In contrast to the standby current, this current

limit becomes immediately active when the motor

speed reaches zero. The value represents a fraction

of the absolute maximum current:

0 – no change of current at rest (default, 100%)

1…7 – 12.5% …87.5%

See the TMC428 datasheet for details. Normally

not used, use parameters 6 and 7 instead!

144

max. current at low

accel.

An optional current reduction factor, see

parameters 136 and 143 for details. Normally not

used, use parameters 6 and 7 instead!

145

max. current at high

accel.

An optional current reduction factor, see

parameters 136 and 143 for details. Normally not

used, use parameters 6 and 7 instead!