User Manual

TMCM-3230 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10
76 / 103
Number Axis Parameter Description Range [Units] Access
172 smart Energy
hysteresis start
The lower threshold for the stallGuard2 value
(see smart Energy current up step).
0..15 RW
173 stallGuard2
filter enable
Enables the stallGuard2 filter for more precision
of the measurement. If set, reduces the mea-
surement frequency to one measurement per
four fullsteps. In most cases it is expedient to
set the filtered mode before using coolStep. Use
the standard mode for step loss detection.
0 - standard mode
1 - filtered mode
0/1 RW
174 stallGuard2
threshold
This signed value controls stallGuard2 threshold
level for stall output and sets the optimum mea-
surement range for readout. A lower value gives
a higher sensitivity. Zero is the starting value.
A higher value makes stallGuard2 less sensitive
and requires more torque to indicate a stall.
-64. . . +63 RW
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
threshold
speed
Above this speed coolStep becomes enabled. 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
186 PWM threshold
speed
The stealthChop feature will be switched off
when the actual velocity is higher than this value.
It will be switched on when the actual velocity is
below this value (and parameter #187 is greater
than zero).
0. . . 7999774
[pps]
RW
187 PWM gradient Velocity dependent gradient for PWM amplitude
(stealthChop). Setting this value to 0 turns off
stealthChop.
0. . . 15 RW
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