User Manual

TMCM-6210 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.04 • 2017-JUN-08
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Number Axis Parameter Description Range [Units] Access
180 smartEnergy
actual current
This status value provides the actual motor cur-
rent setting as controlled by coolStep. The value
goes up to the CS value and down to the portion
of CS as specified by SEIMIN.
Actual motor current scaling factor:
0. . . 31: 1/32, 2/32, . . . 32/32
0. . . 31 R
181 Stop on stall Below this speed motor will not be stopped.
Above this speed motor will stop in case stall-
Guard2 load value reaches zero.
0. . . 7999774
[pps]
RW
182 smartEnergy /
stealthChop
threshold
speed
Above this speed coolStep becomes enabled
and stealthChop becomes disabled.
0. . . 7999774
[pps]
RW
184 Random TOff
mode
0 - Chopper off time is fixed
1 - Chopper off time is random
0/1 RW
185 Chopper syn-
chronization
This parameter allows synchronization of the
chopper for both phases of a two phase motor
in order to avoid the occurrence of a beat, espe-
cially at low velocities.
0: chopper sync function chopSync off
1. . . 15: chopper synchronization
0. . . 15 RW
187 PWM gradient Velocity dependent gradient for PWM amplitude
(stealthChop). Setting this value to 0 turns off
stealthChop.
0..15 RW
188 PWM
amplitude
Maximum PWM amplitude when switching to
stealthChop mode. Do not set too low. Values
above 64 recommended.
0..255 RW
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