PD-109-57 STEP/DIR

[Emma]

Hi,

I would like to command a PD-109-57 using step/dir.
Do I need to init the max current, standby current and microstep using RS485 each time I connect the power.
Does the PD-109-57 keep this parameters in memory although the power is off?
Thank you for your help

Emma

[Olav Kahlbaum (TRINAMIC)]

Yes, most of these parameters can be stored permanently, usign the STAP command: first, set the parameter using the appropriate SAP command, then do a STAP command with the same parameter number afterwards, e.g. SAP 6, 0, 200 for setting the maximum current to 200, then STAP 6, 0 to store this value as the default value (in direct mode),
Another alternative is to write an initialization program in TMCL, download this into the module and turn on the TMCL autostart flag so that this initialization gets executed each time the module is switched on.

[Emma]

Thank you for your answer.
I saw on the manual this sentance : "Parameters like SAP 6 – max. current, 7 – standby current and 140 – microstep resolution can still be
set via the TMCL-IDE. Although most motion commands of TMCL like ROR or MVP are operational it is
not recommended to use them with the step / direction firmware."
Why isn't it recommended to use ROR or MVP with the step / direction firmware?

Thank you for your help

[Olav Kahlbaum (TRINAMIC)]

You can do it, but mixing step/direction operation and movements commanded by TMCL commands is in most cases not a good idea.

[Emma]

Hi,
I drive 3 PD-109-57 using step/dir but I have a problem.
I installed the firmware TMCM109_StepDir.hex.
It works pretty well but there is noise when the frequency of the steps is low.
It seems that we are in full step although I set the microsteps parameter at 4 (16 µsteps).
We tried to drive it with our electronics and with a frequency generator. We have the same results in this 2 cases.
Is there an other parameter to set?
Our step signal meets the specifications (low level : 0.7µs min, high level : 2µs min). are there any other specifications?
THank you for your help.

[Olav Kahlbaum (TRINAMIC)]

Hi,
please try to change the mixed decay threshold (parameter #203) either to 2048 or to -1. Maybe this helps (I do not have a PD-109-57 at hand so I can't try it myself now).

[Emma]

I tried to change the mixed decay but there is still vibrations.
I doesn't notice any change.
What is the purpose of "mixed decay"?
Is there any things else that I can change?
Thank you for your help