Stepper Motor Operation
To configure an axis for a bipolar stepper motor, set MT to -2 for that axis.
Setting Amplifier Gain and Current Loop Gain
The AG command will set the amplifier gain (Amps/Volt). The AU command will set the current loop gain.
AG Command:
The AMP-43547 has 4 amplifier gain (current) settings. The axis must be in a motor off (MO) state prior to
execution of the AG command. The gain is set with the AG command as shown in Table A5.6 for AGm=n:
AG setting Gain Value
n = 0 0.75 A/Phase
n = 1 1.5 A/Phase
n = 2 3 A/Phase
n = 3 6 A/Phase
Table A5.6: Amplifier Gain Settings
AU Command:
Proper configuration of the AU command is essential to optimize the operation of the AMP-43547. This command
sets the gain for the current loop on the amplifier. Table A5.5 indicates the recommended AUm=n settings.
Low Current Mode
By default, 100% of the current set by the AG command will be delivered to the motor while the axis is holding
position. An axis can be configured for Low Current mode so 25% of the current will be sent to the motor while
holding position. Low Current mode can also be configured to wait a specified number of samples after a move is
completed before lowering the current to 0%.
LC Setting Description
n = 0 100% holding current
n > 1 100% current n samples after move finishes before going to 0% holding current
n = 1 25% holding current immediately after move finishes current
n < 0 100% current n samples after move finishes before going to 25% holding current
Table A5.7: Low Current Mode Configurations
A5 – AMP-43547 (-D3547, -D3527) ▫ 214 DMC-41x3 User Manual
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