TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09)
17
4 Motor driver current
The on-board stepper motor driver operates current controlled. The driver current may be programmed in
software in two ranges (low current range up-to 1.1A RMS and high current range up-to 2A RMS) with 32
effective scaling steps in hardware for each range.
Please note: the high current range is available with hardware revision V1.3, only and should not be
activated / used with hardware revision V1.2! The high current range should not be used with motor
currents above 2A RMS – this will violate specification of the module - please note limitations at the
end of this chapter!
Explanation of different columns in table below:
Motor current
setting in
software
(TMCL)
These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor
standby current). They are used to set the run / standby current using the following
TMCL commands:
SAP 6, 0, <value> // set run current
SAP 7, 0, <value> // set standby current
(read-out value with GAP instead of SAP. Please see separate TMCM-1141 firmware
manual for further information)
Range setting
in software
(TMCL)
This is the value for TMCL axis parameter 179 (Vsense). This value defines the current
range. This value can be set using the following TMCL command:
SAP 179, 0, <value> // = 0 high current range
// = 1 low current range
For <value>either 0 (high current range) or 1 (low current range) is supported (see
table) since hardware revision V1.3. For hardware revision V1.2 this parameter should
not be changed to any value other than “1” (low current range).
(read-out value with GAP instead of SAP. Please see separate TMCM-1141 firmware
manual for further information)
Motor current
IRMS [A]
Resulting motor current based on range and motor current setting
Motor current
setting in
software (TMCL)
0..7
Range setting
in software
Current
scaling step
Motor
current
ICOIL_PEAK [A]
0.052
Motor
current
ICOIL_RMS [A]
(TMCL)
(CS)
0
1
2
3
4
5
6
7
8
9
10
1
1
1
1
1
1
1
1
1
1
1
0.036
8..15
16..23
24..31
32..39
40..47
48..55
56..63
64..71
0.103
0.155
0.206
0.258
0.309
0.361
0.413
0.464
0.073
0.109
0.146
0.182
0.219
0.255
0.292
0.328
0.365
0.401
72..79
80..87
0.516
0.567
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