User Manual

TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11
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8 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-3351
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 0.149 0.106
8..15 1 0.299 0,211
16..23 2 0.448 0.317
24..31 3 0.597 0.422
32..39 4 0.747 0.528
40..47 5 0.896 0.634
48..55 6 1.045 0.739
56..63 7 1.195 0.845
64..71 8 1.344 0.950
72..79 9 1.494 1.056
80..87 10 1.643 1.162
88..95 11 1.792 1.267
96..103 12 1.942 1.373
104..111 13 2.091 1.479
112..119 14 2.240 1.584
120..127 15 2.390 1.690
128..135 16 2.539 1.795
136..143 17 2.688 1.901
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