Datasheet

QSH2818 Manual (V1.02 / 13-November-2007) 11

5.5.1 Fullstepping

When operating the motor in fullstep, resonances may occur. The resonance frequencies depend on

the motor load. When the motor gets into a resonance area, it even might not turn any more! Thus

you should avoid resonance frequencies.

Hints:

Q: How to avoid motor resonance in fullstep operation?

A1: Do not operate the motor at resonance velocities for extended periods of time. Use a reasonably

high acceleration in order to accelerate to a resonance-free velocity. This avoids the build-up of

resonances. When resonances occur at very high velocities, try reducing the current setting.

A2: A resonance dampener might be required, if the resonance frequencies can not be skipped.

5.6 Optimum motor settings

Following table shows settings for highest reachable fullstep velocities.

QSH2818 Optimum Motor Settings

Unit

-32-07-006 -51-07-012

Motor current (RMS) A 0.67 0.67

Motor voltage V 24 24

Maximum microstep velocity =

Fullstep threshold

RPS 5.817 4.578

Maximum fullstep velocity RPS 12.875 9.155

Table 5.4: Optimum motor settings

5.6.1 Settings for Trinamic TMCL modules

Following TMCL settings apply best for highest motor velocities and smooth motor behavior at low

velocities. They are intended for use with Trinamics controller modules.

Mixed decay should be switched on constantly. Microstep resolution is 4 (TMCL), this is 16 times

microstepping. The pulse devisor is set to 3. With a 64 microstep setting the same values are valid

with the pulse divisor set to 1.

QSH2818 Optimum Motor Settings

Unit

-32-07-006 -51-07-012

Motor current (RMS) TMCL value 947 947

Motor voltage V 24 24

Maximum microstep velocity =

Fullstep threshold

TMCL value 610 480

Maximum fullstep velocity TMCL value 1350 960

Table 5.5: Optimum motor settings for TMCL modules (tested with TMCM-110)