User Manual

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 16
www.trinamic.com
4 Motor driver current
The on-board stepper motor driver operates current controlled. The driver current may be programmed in
software for motor coil currents up-to 2A RMS with 32 effective scaling steps in hardware (CS in table
below).
Explanation of different columns in table below:
Motor current
setting in
software
(TMCL)
These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor
standby current). They are used to set the run / standby current using the following
TMCL commands:
SAP 6, 0, <value> // set run current
SAP 7, 0, <value> // set standby current
(read-out value with GAP instead of SAP. Please see separate TMCM-1140 firmware
manual for further information)
Motor current
I
RMS
[A]
Resulting motor current based on motor current setting
Motor current
setting in
software (TMCL)
Current
scaling step
(CS)
Motor
current
I
COIL_PEAK
[A]
Motor
current
I
COIL_RMS
[A]
0..7
0
0.092
0.065
8..15
1
0.184
0.130
16..23
2
0.276
0.195
24..31
3
0.368
0.260
32..39
4
0.460
0.326
40..47
5
0.552
0.391
48..55
6
0.645
0.456
56..63
7
0.737
0.521
64..71
8
0.829
0.586
72..79
9
0.921
0.651
80..87
10
1.013
0.716
88..95
11
1.105
0.781
96..103
12
1.197
0.846
104..111
13
1.289
0.912
112..119
14
1.381
0.977
120..127
15
1.473
1.042
128..135
16
1.565
1.107
136..143
17
1.657
1.172
144..151
18
1.749
1.237
152..159
19
1.842
1.302
160..167
20
1.934
1.367
168..175
21
2.026
1.432
176..183
22
2.118
1.497
184..191
23
2.210
1.563
192..199
24
2.302
1.628
200..207
25
2.394
1.693
208..215
26
2.486
1.758
216..223
27
2.578
1.823
224..231
28
2.670
1.888
232..239
29
2.762
1.953
240..247
30
2.854
2.018
248..255
31
2.946
2.083