User Manual

PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22
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9 Motor driver current
The on-board stepper motor driver operates current controlled. The driver current may be programmed
in software with 32 effective scaling steps in hardware.
Explanation of different columns in table below:
Motor current set-
ting 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 PD57/60/86-x-
1260 firmware manual for further information)
Motor current I
RMS
[A]
Resulting motor current based on motor current setting
NOTICE
For the PD57-1-1260, PD57-2-1260, PD60-3-1260 amd PD60-4-1260 line of PAN-
Drives ™ the maximum motor current setting for the TMCM-1260 electronics has
been limited to 3A RMS in order to avoid any damage to the attached motors. The
TMCM-1260 separately available without motor supports motor current settings
up-to 6A RMS.
Motor current setting
in software (TMCL)
Current scaling step
(CS)
Motor current I
COIL
[A]
peak
Motor current I
COIL
[A]
RMS
0. . . 7 0 0.127 0.090
8. . . 15 1 0.254 0.180
16. . . 23 2 0.381 0.269
24. . . 31 3 0.508 0.359
32. . . 39 4 0.635 0.449
40. . . 47 5 0.762 0.539
48. . . 55 6 0.889 0.628
56. . . 63 7 1.016 0.718
64. . . 71 8 1.143 0.808
72. . . 79 9 1.270 0.898
80. . . 87 10 1.396 0.987
88. . . 95 11 1.523 1.077
96. . . 103 12 1.650 1.167
104. . . 111 13 1.777 1.257
112. . . 119 14 1.904 1.347
120. . . 127 15 2.031 1.436
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