User Manual
TMCM-1070 TMCL
™
Firmware Manual • Firmware Version V1.01 | Document Revision V1.1 • 2017-Mar-02
22 / 38
4 Axis Parameters
Most motor controller features of the TMCM-1070 module are controlled by axis parameters. Axis
parameters can be modified or read using SAP, GAP, AAP, STAP and RSAP commands. This chapter
describes all axis parameters that can be used on the TMCM-1070 module.
Axis 0 Parameters of the TMCM-1070 Module
Number Axis Parameter Description Range [Units] Default Access
6 Maximum
current
Motor current used when motor is
running. The maximum value is 31
which means 100% of the maximum
current of the module.
0 . . . 31 24 RWE
7 Standby
current
The current used when the motor is
not running. The maximum value is
31 which means 100% of the maxi-
mum current of the module. This
value should be as low as possible so
that the motor can cool down when it
is not moving.
0 . . . 31 3 RWE
9 Standby
current delay
Controls the number of clock cycles
for motor power down after a motion
as soon as standstill is detected and
TZEROWAIT has expired. 0 means in-
stant power down and 1-15 is the de-
lay pero current reduction step in mul-
tiple of 2
18
clocks.
0 . . . 15 0 RWE
22 Speed
threshold for
coolStep /
fullstep
TSTEP corresponding to the speed
threshold for de-activating coolStep
or switching to fullstep mode.
0 . . . 1048575 0 RWE
135 TStep
Actual measured time between two
1/256 microsteps. This value during
a certain speed can be written to TP-
WMTHRS.
0 . . . 1048575 0 RWE
136 StealthChop
VLimit
Direct access to the TPWMTHRS reg-
ister (0x13 of the TMC5130) for the
StealthChop Velocity Limit Configura-
tion. Use STGP and RSGP to access
the stored value in the EEPROM.
0 . . . 1048575 0 RWE
137 PWMConf
Direct access to the PWMConf register
(0x70 of the TMC5130) for the Stealth-
Chop Configuration. Use STGP and
RSGP to access the stored value in
the EEPROM.
0 . . . 4294967295 328136 RWE
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