User Manual
TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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1.5.3 Current Level Control
Parallel to the load angle control the TMCM-3313 controls the motor current level (current vector ampli-
tude) depending on the load angle to save energy during no or light load. Figure 5 gives an overview of the
current control parameters.
Load Angle [µSteps]
(Deviation Current Vector and Encoder)
128(45°) 255(90°)-128(-45°)-255(-90°)
Current Value [0..255]
383(135°)-383(-135°)
255
128
2027h2027h
2029h
202Ah
Figure 5: Current Level Control
• Object 2027
h
: Closed-loop beta.
• Object 2029
h
: Minimum closed-loop current scaler.
• Object 202A
h
: Maximum closed-loop current scaler.
Objects 2030
h
and 2031
h
set up the delay which defines how fast the actual current will be increased or
decreased and will follow the red marked graph.
1.5.4 Field Weakening
With every stepper motor the TMCM-3313 will reach a velocity where it is not possible to maintain the
target motor current due to the motor back EMF. Above this velocity load angle (2027
h
, default 90
°
) and
current level control will reach their maximum. To drive the stepper motor faster the back EMF must be
compensated by commutating the stepper motor with a commutation angle between 90
°
and 180
°
. The
parameters for field weakening are described in figure 6.
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