November 4, 2009 27
Parameters
Table A-1 provides a summary of all configuration parameters. See “Parameter Descriptions” on
page 27 for more information.
Parameter Descriptions
This section describes parameter configuration in detail. The parameters are grouped into two
areas: Motor Running Configuration parameters and Motor Drive Configuration parameters.
Table A-1. Parameter Configuration Summary
Parameter Name ID Units Range Default See
Motor Running Configuration Parameters
Target Position PARAM_TARGET_POS whole
steps
-8388608–8388607 0 page 28
Maximum Current PARAM_MAX_CURRENT mA 1000–10000 4000 page 28
Target Speed PARAM_TARGET_SPEED steps/sec 10–10000 200 page 28
Acceleration PARAM_ACCEL steps/sec
2
100–60000 30000 page 28
Deceleration PARAM_DECEL steps/sec
2
100–60000 60000 page 29
Motor Drive Configuration Parameters
Winding Resistance PARAM_RESISTANCE mΩ 100–5000 750 page 29
PWM Frequency PARAM_PWM_FREQUENCY Hz 16000–32000 20000 page 29
Fixed Rise Time PARAM_FIXED_ON_TIME μS 1–10000 800 page 29
Drive Current PARAM_DRIVE_CURRENT mA 100–3000 1500 page 30
Holding Current PARAM_HOLDING_CURRENT mA 0–3000 0 page 30
Control Mode PARAM_CONTROL_MODE choice Chopper,
Open-loop or
Closed-loop PWM
Chopper page 30
Decay Mode PARAM_DECAY_MODE choice Fast or Slow Slow page 31
Step Mode PARAM_STEP_MODE choice Full, Half, Micro, or
Wave
Half page 31
Off Blanking Time PARAM_BLANK_OFF μS 20–10000 100 page 31
APPENDIX A
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