User Manual

PD57/60-1260 TMCL
™
Firmware Manual • Firmware Version V1.44 | Document Revision V1.02 • 2018-SEP-05
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Number Axis Parameter Description Range [Units] Access
31 Power down
ramp
Controls the number of clock cycles for motor
power down after a motion as soon as the motor
has stopped and the setting time has expired.
The smooth transition avoids a motor jerk upon
power down. 0=instant power down, 15=longest
possible power down ramp.
0. . . 15
[0.16384s]
RW
32 DcStep time This setting controls the reference pulse width
for DcStep load measurement. It must be opti-
mized for robust operation with maximum mo-
tor torque. A higher value allows higher torque
and higher velocity, a lower value allows oper-
ation down to a lower velocity as set by axis
parameter #23.
0. . . 1023 RW
33 DcStep
StallGuard
This setting controls stall detection in DcStep
mode. Increase for higher sensitivity.
0. . . 255 RW
127 Relative
positioning
option
Start position for MVP REL command:
0 last target position
1 actual position
0/1 RW
140 Microstep
resolution
Microstep resolutions per full step:
0 fullstep
1 halfstep
2 4 microsteps
3 8 microsteps
4 16 microsteps
5 32 microsteps
6 64 microsteps
7 128 microsteps
8 256 microsteps
0..8 RW
160 Step
interpolation
enable
Step interpolation is supported with 16 mi-
crostep setting only. With this option activated,
each microstepstep will internally be executed
as 16 1/256 microsteps. This causes the motor
to run as smooth as with 256 microsteps resolu-
tion.
0 - step interpolation off
1 - step interpolation on
0/1 RW
161 Double step
enable
With this option turned on, each microstep will
be executed twice. Normally, use this option
only together with the step/direction input. Ev-
ery edge of the step signal then causes a mi-
crostep to be executed.
0 - double step off
1 - double step on
0/1 RW
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