User Manual
Table Of Contents
- 1 Features
- 2 First Steps with TMCL
- 3 TMCL and the TMCL-IDE — An Introduction
- 3.1 Binary Command Format
- 3.2 Reply Format
- 3.3 Standalone Applications
- 3.4 TMCL Command Overview
- 3.5 TMCL Commands by Subject
- 3.6 Detailed TMCL Command Descriptions
- 3.6.1 ROR (Rotate Right)
- 3.6.2 ROL (Rotate Left)
- 3.6.3 MST (Motor Stop)
- 3.6.4 MVP (Move to Position)
- 3.6.5 SAP (Set Axis Parameter)
- 3.6.6 GAP (Get Axis Parameter)
- 3.6.7 SGP (Set Global Parameter)
- 3.6.8 GGP (Get Global Parameter)
- 3.6.9 STGP (Store Global Parameter)
- 3.6.10 RSGP (Restore Global Parameter)
- 3.6.11 RFS (Reference Search)
- 3.6.12 SIO (Set Output)
- 3.6.13 GIO (Get Input)
- 3.6.14 CALC (Calculate)
- 3.6.15 COMP (Compare)
- 3.6.16 JC (Jump conditional)
- 3.6.17 JA (Jump always)
- 3.6.18 CSUB (Call Subroutine)
- 3.6.19 RSUB (Return from Subroutine)
- 3.6.20 WAIT (Wait for an Event to occur)
- 3.6.21 STOP (Stop TMCL Program Execution – End of TMCL Program)
- 3.6.22 SCO (Set Coordinate)
- 3.6.23 GCO (Get Coordinate)
- 3.6.24 CCO (Capture Coordinate)
- 3.6.25 ACO (Accu to Coordinate)
- 3.6.26 CALCX (Calculate using the X Register)
- 3.6.27 AAP (Accu to Axis Parameter)
- 3.6.28 AGP (Accu to Global Parameter)
- 3.6.29 CLE (Clear Error Flags)
- 3.6.30 EI (Enable Interrupt)
- 3.6.31 DI (Disable Interrupt)
- 3.6.32 VECT (Define Interrupt Vector)
- 3.6.33 RETI (Return from Interrupt)
- 3.6.34 Customer specific Command Extensions (UF0…UF7 – User Functions)
- 3.6.35 Request Target Position reached Event
- 3.6.36 TMCL Control Commands
- 4 Axis Parameters
- 5 Global Parameters
- 6 Hints and Tips
- 7 TMCL Programming Techniques and Structure
- 8 Figures Index
- 9 Tables Index
- 10 Supplemental Directives
- 11 Revision History
TMCM-3212 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08
93 / 103
coolStep Adjustment Points and Thresholds
Number Axis Parameter Description
I6 Absolute maximum current
The maximum value is 255. This value
means 100% of the maximum current of the
module. The current adjustment is within
the range 0. . . 255 and can be adjusted in 32
steps (0. . . 255 divided by eight; e.g. step 0 =
0. . . 7, step 1 = 8. . . 15 and so on).
Too high values may cause motor damage!
I7 Standby current
The current limit two seconds after the mo-
tor has stopped.
I168 smartEnergy current minimum
Sets the lower motor current limit for cool-
Step operation by scaling the CS (Current
Scale, see axis parameter 6) value.
Minimum motor current:
0 - 1/2 of CS
1 - 1/4 of CS
I169 smartEnergy current down step
Sets the number of stallGuard2 readings
above the upper threshold necessary for
each current decrement of the motor cur-
rent. Number of stallGuard2 measurements
per decrement:
Scaling: 0. . . 3: 32, 8, 2, 1
0: slow decrement
3: fast decrement
I171 smartEnergy current up step
Sets the current increment step. The
current becomes incremented for each
measured stallGuard2 value below the
lower threshold (see smartEnergy hystere-
sis start).
current increment step size:
Scaling: 0. . . 3: 1, 2, 4, 8
0: slow increment
3: fast increment
SG170 smartEnergy hysteresis
Sets the distance between the lower and
the upper threshold for stallGuard2 read-
ing. Above the upper threshold the motor
current becomes decreased.
SG181 Stop on stall
Below this speed motor will not be stopped.
Above this speed motor will stop in case
stallGuard2 load value reaches zero.
V182 smartEnergy threshold speed
Above this speed coolStep becomes en-
abled.
T214 Power down delay
Standstill period before the current is
changed down to standby current. The stan-
dard value is 200 (which means 2000msec).
Table 20: coolStep Adjustment Points and Thresholds
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