User Manual

TMCM-1276 TMCL
™
Firmware Manual • Firmware Version V1.13 | Document Revision V1.01 • 2019-MAR-20
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Number Axis Parameter Description Range [Units] Access
180 SmartEnergy
actual current
This status value provides the actual motor cur-
rent 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 R
181 Stop on stall Below this speed motor will not be stopped.
Above this speed motor will stop in case Stall-
Guard2 load value reaches zero.
0. . . 7999774
[pps]
RW
182 SmartEnergy
threshold
speed
Above this speed CoolStep becomes enabled. 0. . . 7999774
[pps]
RW
184 Random TOff
mode
0 - Chopper off time is fixed
1 - Chopper off time is random
0/1 RW
185 Chopper syn-
chronization
This parameter allows synchronization of the
chopper for both phases of a two phase motor
in order to avoid the occurrence of a beat, espe-
cially at low velocities.
0: chopper sync function chopSync off
1. . . 15: chopper synchronization
0. . . 15 RW
186 PWM threshold
speed
The StealthChop feature will be switched off
when the actual velocity is higher than this value.
It will be switched on when the actual velocity is
below this value (and parameter #187 is greater
than zero).
0. . . 7999774
[pps]
RW
187 PWM gradient Velocity dependent gradient for PWM amplitude
(StealthChop). Setting this value to 0 turns off
StealthChop.
0..15 RW
188 PWM
amplitude
Maximum PWM amplitude when switching to
StealthChop mode. Do not set too low. Values
above 64 recommended.
0..255 RW
189 PWM scale Actual PWM amplitude scaler (255=maximum
voltage). In voltage mode PWM, this value allows
to detect a motor stall.
0. . . 255 R
190 PWM mode Status of StealthChop voltage PWM mode (de-
pending on velocity thresholds).
0 - StealthChop disabled
1 - StealthChop enabled
0/1 R
191 PWM
frequency
PWM frequency selection for StealthChop.
0 - f
PWM
= 15.625kHz
1 - f
PWM
= 23.426kHz
2 - f
PWM
= 31.250kHz
3 - f
PWM
= 39.024kHz
0. . . 3 RW
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