User Manual

TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01
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5 Motor driver current
The on-board stepper motor driver operates current controlled. The driver current may be programmed
in software with 32 effective current scaling steps (CS) in hardware.
Explanation of different columns in table below:
Motor current
setting in
software (TMCL)
These are the values for TMCL axis parameter 6 (motor run current) and
7 (motor standby current). They are used to set the run / standby current
using the following TMCL commands:
SAP 6, 0, <value> // set run current
SAP 7, 0, <value> // set standby current
(read-out value with GAP instead of SAP. Please see separate TMCM-3230
firmware manual for further information)
Current scaling This is the effective current scaling in hardware. 32 different scaling steps
are available in hardware.
Motor current Resulting motor current based on motor current setting. Motor current
is listed as peak (sine peak) value (I
PEAK
) and RMS-value (I
RMS
). For stepper
motors rated current is usually listed as I
RMS
value.
Motor current
setting in soft-
ware (TMCL)
Current scaling
step in hardware
(CS)
Motor current
I
PEAK
[A]
Motor current
I
RMS
[A]
0..7 0 0.047 0.033
8..15 1 0.094 0,066
16..23 2 0.141 0.099
24..31 3 0.188 0.133
32..39 4 0.234 0.166
40..47 5 0.281 0.199
48..55 6 0.328 0.232
56..63 7 0.375 0.265
64..71 8 0.422 0.298
72..79 9 0.469 0.331
80..87 10 0.516 0.365
88..95 11 0.563 0.398
96..103 12 0.609 0.431
104..111 13 0.656 0.464
112..119 14 0.703 0.497
120..127 15 0.750 0.530
128..135 16 0.797 0.563
136..143 17 0.844 0.597
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