User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 97
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6.1 coolStep™ related parameters
The figure below gives an overview of the coolStep™ related parameters. Please have in mind that the figure
shows only one example for a drive. There are parameters which concern the configuration of the current.
Other parameters are for velocity regulation and for time adjustment.
It is necessary to identify and configure the thresholds for current (I6, I7 and I183) and velocity (V182).
Furthermore the stallGuard2™ feature has to be adjusted and enabled (SG170 and SG181).
The reduction or increasing of the current in the coolStep™ area (depending on the load) has to be
configured with parameters I169 and I171.
In this chapter only basic axis parameters are mentioned which concern coolStep™ and stallGuard2™. The
complete list of axis parameters in chapter 6 contains further parameters which offer more configuration
possibilities.
Velocity
Time
T214
coolStep™ area
I7
I7
area without coolStep™
coolStep™ adjustment points and thresholds
SG170
SG181
V182
I6
I183 I183
Current
V123 Velocity and parameter
I123 Current and parameter
T123 Time parameter
I7
I6
I183
I6/2*
* The lower threshold of the coolStep™ current can be adjusted up to I6/4. Refer to parameter 168.
The current depends on
the load of the motor.
SG123 stallGuard2™ parameter