User Manual

TMCM-1070 TMCL
™
Firmware Manual • Firmware Version V1.01 | Document Revision V1.1 • 2017-Mar-02
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Number Axis Parameter Description Range [Units] Default Access
170 smartEnergy
hysteresis
Sets the distance between the lower
and the upper threshold for stall-
Guard2 reading. Above the upper
threshold the motor current becomes
decreased. Hysteresis: ([AP172] +
1) * 32. Upper stallGuard threshold:
([AP172] + [AP170] + 1) * 32
0 . . . 15 0 RW
171 smartEnergy
current up step
Sets the current increment step. The
current becomes incremented for
each measured stallGuard2 value be-
low the lower threshold see smartEn-
ergy hysteresis start). Current incre-
ment step size: Scaling: 0. . . 3: 1, 2,
4, 8. 0: slow increment, 3: fast incre-
ment / fast reaction to rising load
0 . . . 3 0 RW
172 smartEnergy
hysteresis start
The lower threshold for the stall-
Guard2 value (see smart Energy cur-
rent up step).
0 . . . 15 0 RW
173 stallGuard2
filter enable
Enables the stallGuard2 filter for
more precision of the movement. If
set, reduces the measurement fre-
quency to one measurement per four
fullsteps. In most cases it is expedient
to set the filtered mode before using
coolStep. Use the standard mode for
step loss detection.
0 - standard mode
1 - filtered mode
0 . . . 1 0 RW
174 stallGuard2
threshold
This signed value controls stallGuard2
threshold level for stall output and
sets the optimum measurement
range for readout. A lower value gives
a higher sensitivity. Zero is the start-
ing value. A higher value makes stall-
Guard2 less sensitive and requires
more torque to indicate a stall.
−64 . . . 63 0 RW
179 VSense Sense resistor voltage:
0 - High sense resistor voltage
1 - Low sense resistor voltage
0 . . . 1 0 RWE
180 smartEnergy
actual current
This status value provides the actual
motor current setting as controlled by
coolStep. The value goes up to the CS
value and down to the portion of CS
as specified by SEIMIN. Actual motor
current scaling factor: 0. . . 31: 1/32,
2/32, . . . 32/32
0 . . . 31 0 R
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