T-Series/Commands/Set Running Current/Motorized non-NMC Devices

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Instruction Name Set Running Current
Applies to T-series motorized devices (excluding T-LSQ, T-LST, T-MCA)
Firmware Version 5.xx
Command Number 38
Command Type Setting
Command Data Value
Reply Data Value
Safe to retry? Yes
Returns Current Position? No
Persistence Non-Volatile
Summary Sets the desired current to be used when the device is moving.

If your application does not require high torque, it is best to decrease the driving current to reduce power consumption, vibration, and motor heating. Trial and error should suggest an appropriate setting. If higher torque is required, it is generally safe to overdrive motors as long as they are not operated continuously. Motor temperature is typically the best indication of the degree to which overdriving can be employed. If the motor gets too hot to touch (>75°C), you should reduce the running current.

The current is related to the data by the formula:

Current = CurrentCapacity * 10 / CommandData

The range of accepted values is 0 (no current), 10 (max) - 127 (min). CurrentCapacity is the hardware's maximum capability of output current.

To prevent damage, some devices limit the maximum output current to a lower value. In that case the valid range is 0, Limit - 127. Current limits are listed under the device specifications.

Some devices limit the voltage rather than the current. In this case the same formula can be used by replacing Current and CurrentCapacity with Voltage and PowerSupplyVoltage.


For example, Suppose you connect a stepper motor rated for 420mA per phase to a T-CD2500. Reversing the equation above and using 420mA as Current gives:

CommandData

= 10 * CurrentCapacity / Current
= 10 * 2500mA / 420mA
= 59.5 (round to 60)

Therefore CommandData = 60.