Datasheet

PD57/60-1076 TMCL
™
Firmware Manual • Firmware Version V1.02 | Document Revision V1.00 • 2018-MAR-26
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6 Module Specific Configuration
This section explains how to use the two digital inputs of the PD57/60-1076. It also describes the default
configuration for microstep resolution and interpolation as well as for current setting.
6.1 Digital Inputs
The PD57/60-1076 includes two digital inputs: ENABLE and CHOP. The ENABLE input is a low active input
which powers the motor when the ENABLE is not set.
The CHOP input allows the user to choose between different chopper modes. When CHOP is cleared, the
chopper mode is SpreadCycle. When CHOP is set, the active chopper is StealthChop. The change from
SpreadCycle to StealthChop is only allowed when the motor is powered and in still stand. The chopper
mode will remain SpreadCycle until both conditions are fulfilled.
NOTICE
Note that the voltage at the digital inputs can be reversed depending on the
reference voltage of the optocoupler. See the Hardware Manual of PD57/60-1076
for more details.
NOTICE
In the TMC5160 Manual, available at www.trinamic.com, you can find more infor-
mation about how to configure StealthChop and SpreadCycle.
6.2 Default Configuration
By default, the PD57/60-1076 uses the configuration shown in Section 4 for each of the parameters. In
the following table we show several of the variables which can be also stored in the EEPROM permanent
storage.
Default Configuration of PD57/60-1076 Parameters
Name Command Default Value Meaning
Microstep Resolution SAP/GAP 140, 0 4 Resolution: 16 microsteps per full step.
Microstep Interpolation SAP/GAP 141, 0 1 Interpolation to 256 microsteps.
Maximum Current SAP/GAP 6, 0 24 Current when motor is running is 24/31.
Standby Current SAP/GAP 7, 0 3 Current when motor is not running is
3/31.
Table 11: Default Configuration of PD57/60-1076 Parameters
In summary, with the default configuration:
• The PD57/60-1076 works with 16 microsteps per full step interpolated to 256 microsteps.
• The current when motor is running is 2.3A RMS and 0.290A RMS when not running.
6.3 Reset to Factory Defaults
The PD57/60-1076 provides a functionality to restore all parameters to their factory default values. When
the module is still off, connect the SWIO and SWCLK programming pins, located on the bottom of the mod-
ule, with each other. Then, turn the power on. The module will write now the default values to the EEPROM.
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