User Manual

TMCM-3230 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10
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Number Axis Parameter Description Range [Units] Access
31 Power down
ramp
Controls the number of clock cycles for motor
power down after a motion as soon as the motor
has stopped and the setting time has expired.
The smooth transition avoids a motor jerk upon
power down. 0=instant power down, 15=longest
possible power down ramp.
0. . . 15
[0.16384s]
RW
32 dcStep time This setting controls the reference pulse width
for dcStep load measurement. It must be opti-
mized for robust operation with maximum mo-
tor torque. A higher value allows higher torque
and higher velocity, a lower value allows opera-
tion down to a lower velocity as set by VDCMIN.
0. . . 1023 RW
33 dcStep
stallGuard
This setting controls stall detection in dcStep
mode. Increase for higher sensitivity.
0. . . 255 RW
127 Relative
positioning
option
Start position for MVP REL command:
0 last target position
1 actual position
0/1 RW
140 Microstep
resolution
Microstep resolutions per full step:
0 fullstep
1 halfstep
2 4 microsteps
3 8 microsteps
4 16 microsteps
5 32 microsteps
6 64 microsteps
7 128 microsteps
8 256 microsteps
0..8 RW
162 Chopper blank
time
Selects the comparator blank time. This time
needs to safely cover the switching event and
the duration of the ringing on the sense resistor.
Normally leave at the default value.
0..3 RW
163 Constant TOff
mode
Selection of the chopper mode:
0 – spread cycle
1 – classic constant off time
0/1 RW
164 Disable fast
decay
comperator
See parameter 163. For ”classic const. off time”
setting this parameter to ”1” will disable current
comparator usage for termination of fast decay
cycle.
0/1 RW
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