User Manual

TMCM-1276 TMCL

™

Firmware Manual • Firmware Version V1.13 | Document Revision V1.01 • 2019-MAR-20

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6.4 CoolStep

This section gives an overview of the CoolStep related parameters. Please bear in mind that the ﬁgure

only shows one example for a drive. There are parameters which concern the conﬁguration of the current.

Other parameters are there for velocity regulation and for time adjustment.

Figure 12 shows all the adjustment points for CoolStep. It is necessary to identify and conﬁgure the

thresholds for current (I6, I7 and I183) and velocity (V182). Furthermore the StallGuard2 feature has to be

adjusted (SG170). It can also be enabled if needed (SG181).

The reduction or increasing of the current in the CoolStep area (depending on the load) has to be conﬁg-

ured using parameters I169 and I171.

In this chapter only basic axis parameters are mentioned which concern CoolStep and StallGuard2. The

complete list of axis parameters in chapter 4 contains further parameters which oﬀer more conﬁguration

options.

Velocity

Time

T214

coolStep™ area

I 7

area w ithout coolStep™

SG170

SG181

V182

I 6

183 I 183

Current

V123 Velocity and parameter

I 123 Current and parameter

T123 Time parameter

I 7

I 6

I 183

I 6/2*

* The lower threshold of the coolStep™ current can be adjusted up to I6/4. Refer to parameter 168.

The current depends on

the load of the motor.

SG123 stallGuard2™ parameter

Figure 12: CoolStep Adjustment Points and Thresholds

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