User Manual

PD42-1270 TMCL
™
Firmware Manual • Firmware Version V1.00 | Document Revision V1.0 • 2017-Mar-02
60 / 91
Number Axis Parameter Description Range [Units] Default Access
163 Constant TOff
Mode
Selection of the chopper mode.
0 - spread cycle
1 - classic constant off time
0 . . . 1 0 RW
164 Disable fast
decay
comparator
See parameter 163. For "classic const.
off time", setting this parameter to "1"
will disable current comparator usage
for termination of fast decay cycle.
0 - enable comparator
1 - disable comparator
0 . . . 1 0 RW
165 Chopper
hysteresis end /
fast decay time
See parameter 163. For "spread cy-
cle" chopper mode this parameter
will set / return the hysteresis end set-
ting (hysteresis end value after a num-
ber of decrements). For "classic const.
off time" chopper mode this param-
eter will set / return the fast decay
time.
0 . . . 15 0 RW
166 Chopper
hysteresis start
/ sine wave
offset
See parameter 163. For "spread cy-
cle" chopper mode this parameter
will set / return the Hysteresis start
setting (please note that this value is
an offset to the hysteresis end value).
For "classic const. off time" chopper
mode this parameter will set / return
the sine wave offset.
0 . . . 8 0 RW
167 Chopper off
time
The off time setting controls the mini-
mum chopper frequency. An off time
within the range of 5us to 20us will
fit. Off time setting for constant t Off
chopper: NCLK = 12 + 32 tOFF (Mini-
mum is 64 clocks) Setting this param-
eter to zero completely disables all
driver transistors and the motor can
freewheel.
0 . . . 15 0 RW
168 smartEnergy
current
minimum
(SEIMIN)
Sets the lower motor current limit
for coolStep operation by scaling the
maximum current (see axis parame-
ter 6) value.
0 - 1/2 of CS
1 - 1/4 of CS
0 . . . 1 0 RW
169 smartEnergy
current down
step
Sets the number of stallGuard2 read-
ings above the upper threshold nec-
essary for each current decrement
of the motor current. Number of
stallGuard2 measurements per decre-
ment: Scaling: 0. . . 3: 32, 8, 2, 1. 0:
slow decrement, 3: fast decrement
0 . . . 3 0 RW
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