User Manual

TMCM-3212 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08
76 / 103
Number Axis Parameter Description Range [Units] Access
168 smartEnergy
current
minimum
(SEIMIN)
Sets the lower motor current limit for coolStep
operation by scaling the maximum current (see
axis parameter 6) value.
Minimum motor current:
0 -
1
2
of CS
1 -
1
4
of CS
0/1 RW
169 smartEnergy
current down
step
Sets the number of stallGuard2 readings above
the upper threshold necessary for each current
decrement of the motor current. Number of
stallGuard2 measurements per decrement:
Scaling: 0. . . 3: 32, 8, 2, 1
0: slow decrement
3: fast decrement
0. . . 3 RW
170 smartEnergy
hysteresis
Sets the distance between the lower and the
upper threshold for stallGuard2 reading. Above
the upper threshold the motor current becomes
decreased. Hysteresis: ([AP 172] + 1) ∗ 32
Upper stallGuard threshold: ([ AP 172]+[ AP 170]+
1) ∗ 32
0. . . 15 RW
171 smart Energy
current up step
Sets the current increment step. The current
becomes incremented for each measured stall-
Guard2 value below the lower threshold see
smartEnergy hysteresis start). Current incre-
ment step size:
Scaling: 0. . . 3: 1, 2, 4, 8
0: slow increment
3: fast increment / fast reaction to rising load
0. . . 3 RW
172 smart Energy
hysteresis start
The lower threshold for the stallGuard2 value
(see smart Energy current up step).
0..15 RW
173 stallGuard2
filter enable
Enables the stallGuard2 filter for more precision
of the measurement. If set, reduces the mea-
surement frequency 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 RW
174 stallGuard2
threshold
This signed value controls stallGuard2 threshold
level for stall output and sets the optimum mea-
surement range for readout. A lower value gives
a higher sensitivity. Zero is the starting value.
A higher value makes stallGuard2 less sensitive
and requires more torque to indicate a stall.
-64. . . +63 RW
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