User manual

PD-1161 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-NOV-19) 56
www.trinamic.com
Number
Axis Parameter
Description
Range [Unit]
Acc.
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
179
Vsense
sense resistor voltage based current scaling
0: Full scale sense resistor voltage is 1/18 VDD
1: Full scale sense resistor voltage is 1/36 VDD
(refers to a current setting of 31 and DAC
value 255)
Use default value. Do not change!
0/1
RW
180
smartEnergy
actual current
This status value provides the actual motor
current setting as controlled by coolStep™.
The value goes up to the CS value and down
to the portion of CS as specified by SEIMIN.
actual motor current scaling factor:
0 … 31: 1/32, 2/32, … 32/32
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… 2047
RW
182
smartEnergy
threshold speed
Above this speed coolStep™ becomes
enabled.
0… 2047
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RW
183
smartEnergy
slow run current
Sets the motor current which is used below
the threshold speed.
0… 255
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RW