User manual

QSH6018 Manual (V1.03 / 06-February-2008) 12
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
5.5.1 Fullstepping
When operating the motor in fullstep, resonances may occur. The resonance frequencies depend on
the motor load. When the motor gets into a resonance area, it even might not turn any more! Thus
you should avoid resonance frequencies.
Hints:
Q: How to avoid motor resonance in fullstep operation?
A1: Do not operate the motor at resonance velocities for extended periods of time. Use a reasonably
high acceleration in order to accelerate to a resonance-free velocity. This avoids the build-up of
resonances. When resonances occur at very high velocities, try reducing the current setting.
A2: A resonance dampener might be required, if the resonance frequencies can not be skipped.
5.6 Optimum motor settings
Following table shows settings for highest reachable fullstep velocities.
QSH6018 Optimum Motor Settings Motor
voltage
Unit
-65-28-210 -86-28-310
Motor current (RMS) A 2.8 2.8
Maximum microstep velocity =
Fullstep threshold
RPS 1.907 1.144
Maximum fullstep velocity
24
RPS 3.815 2.575
Maximum microstep velocity =
Fullstep threshold
RPS 2.861 2.003
Maximum fullstep velocity
48
RPS 7.629 5.245
Table 5.4: Optimum motor settings
5.6.1 Settings for Trinamic TMCL modules
Following TMCL settings apply best for highest motor velocities and smooth motor behavior at low
velocities. They are intended for use with Trinamics controller modules.
Mixed decay should be switched on constantly. Microstep resolution is 4 (TMCL), this is 16 times
microstepping. The pulse devisor is set to 3. With a 64 microstep setting the same values are valid
with the pulse divisor set to 1.
QSH6018 Optimum Motor Settings Motor
voltage
Unit
-65-28-210 -86-28-310
Motor current (RMS) TMCL value 204 204
Maximum microstep velocity =
Fullstep threshold
TMCL value 200 120
Maximum fullstep velocity
24
TMCL value 400 270
Maximum microstep velocity =
Fullstep threshold
TMCL value 300 210
Maximum fullstep velocity
48
TMCL value 800 550
Table 5.5: Optimum motor settings for TMCL modules (tested with TMCM-109)