Operation
The AG command sets the current on each axis and the LC command configures each axis’s behavior when holding
position. These commands are detailed below:
Current Level Setup (AG Command)
AG configures how much current the SDM-44140 delivers to each motor. Four options are available: 0.5A, 1.0A,
2.0A, and 3.0Amps (Note: when using the 3.0A setting, mounting the unit to a metal or heat dissipating surface is
recommended).
Drive Current Selection per Axis: AG n,n,n,n,n,n,n,n
n = 0 0.5 A
n = 1 1 A (default)
n = 2 2 A
n = 3 3.0 A
Low Current Setting (LC Command)
LC configures each motor’s behavior when holding position (when RP is constant) and multiple configurations:
LC command set to 0 “Full Current Mode” - causes motor to use 100% of peak current (AG) while at a
“resting” state (profiler is not commanding motion). This is the default setting.
LC command set to 1 “Low Current Mode” - causes motor to use 25% of peak current while at a “resting”
state. This is the recommended configuration to minimize heat generation and power consumption.
LC command set to an integer between 2 and 32767 specifying the number of samples to wait between the
end of the move and when the amp enable line toggles
Percentage of full (AG) current used while holding position with LC n,n,n,n,n,n,n,n
n = 0 100%
n = 1 25%
The LC command must be entered after the motor type has been selected for stepper motor operation (i.e. MT-2,-2,-
2,-2). LC is axis-specific, thus LC1 will cause only the X-axis to operate in “Low Current” mode.
ELO Input
If the ELO input on the controller is triggered, then the amplifier will be shut down at a hardware level, the motors
will be essentially in a Motor Off (MO) state. TA3 will return a 3 and the #AMPERR routine will run when the
ELO input is triggered. To recover from an ELO, an MO then SH must be issued, or the controller must be reset.
It is recommended that OE1 be used for all axes when the ELO is used in an application.
A4 – SDM-44140 (-D4140) • 251 DMC-40x0 User Manual
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