User Manual
PD42-1070 TMCL
™
Firmware Manual • Firmware Version V1.01 | Document Revision V1.1 • 2017-Mar-02
22 / 38
4 Axis Parameters
Most motor controller features of the PD42-1070 module are controlled by axis parameters. Axis parame-
ters can be modified or read using SAP, GAP, AAP, STAP and RSAP commands. This chapter describes all
axis parameters that can be used on the PD42-1070 module.
Axis 0 Parameters of the PD42-1070 Module
Number Axis Parameter Description Range [Units] Default Access
6 Maximum
current
Motor current used when motor is
running. The maximum value is 31
which means 100% of the maximum
current of the module.
0 . . . 31 24 RWE
7 Standby
current
The current used when the motor is
not running. The maximum value is
31 which means 100% of the maxi-
mum current of the module. This
value should be as low as possible so
that the motor can cool down when it
is not moving.
0 . . . 31 3 RWE
9 Standby
current delay
Controls the number of clock cycles
for motor power down after a motion
as soon as standstill is detected and
TZEROWAIT has expired. 0 means in-
stant power down and 1-15 is the de-
lay pero current reduction step in mul-
tiple of 2
18
clocks.
0 . . . 15 0 RWE
22 Speed
threshold for
coolStep /
fullstep
TSTEP corresponding to the speed
threshold for de-activating coolStep
or switching to fullstep mode.
0 . . . 1048575 0 RWE
135 TStep
Actual measured time between two
1/256 microsteps. This value during
a certain speed can be written to TP-
WMTHRS.
0 . . . 1048575 0 RWE
136 StealthChop
VLimit
Direct access to the TPWMTHRS reg-
ister (0x13 of the TMC5130) for the
StealthChop Velocity Limit Configura-
tion. Use STGP and RSGP to access
the stored value in the EEPROM.
0 . . . 1048575 0 RWE
137 PWMConf
Direct access to the PWMConf register
(0x70 of the TMC5130) for the Stealth-
Chop Configuration. Use STGP and
RSGP to access the stored value in
the EEPROM.
0 . . . 4294967295 328136 RWE
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