T-Series/Commands/Set Hold Current
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[edit] Set Hold Current - Cmd 39
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| Instruction Name | Set Hold Current |
|---|---|
| Firmware Version | 5.00 and up |
| Command Number | 39 |
| Command Type | Setting |
| Command Data | Value |
| Reply Data | Value |
| Persistence | Non-Volatile |
| Summary | Sets the desired current to be used when the device is holding its position. |
The formula for the hold current works the same way as for running current:
- HoldCurrent = CurrentCapacity * 10 / CommandData
It is typical to run stepper motors at their rated current only during moves (for highest torque) and reduce the current when idle just to hold the position.
The range of accepted values is 10 - 127 (and 0). Typically the hold current can be set to around 25 - 50% of the running current. If the running current is set to a value of 24, the hold current may be set to a value of 48 to provide 50% hold. In some applications, the friction of the drive system alone is sufficient to hold the microstep position of the motor, and the hold current can be turned off completely. The hold current can be turned off by issuing the "Set Hold Current" instruction with data of 0.
When the device is moving, it applies running current to the motor. When the device stops moving, running current is applied for an additional 0.1 second before hold current is applied.
