TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16)
30
6.3.2 COOLCONF – Smart Energy Control coolStep and stallGuard2
0X6D, 0X7D: COOLCONF – SMART ENERGY CONTROL COOLSTEP AND STALLGUARD2
Bit Name
Function
Comment
…
-
reserved
set to 0
24 sfilt
stallGuard2 filter
enable
0
Standard mode, high time resolution for
stallGuard2
1
Filtered mode, stallGuard2 signal updated for each
four fullsteps only to compensate for motor pole
tolerances
23
-
reserved
set to 0
22 sgt6
21 sgt5
20 sgt4
19 sgt3
18 sgt2
17 sgt1
16 sgt0
15 seimin
stallGuard2 threshold
value
This signed value controls stallGuard2 level for stall
output and sets the optimum measurement range for
readout. A lower value gives a higher sensitivity. Zero is
the starting value working with most motors.
-64 to +63: A higher value makes stallGuard2 less
sensitive and requires more torque to
indicate a stall.
minimum current for
smart current control
current down step
speed
0: 1/2 of current setting (IRUN)
1: 1/4 of current setting (IRUN)
14 sedn1
13 sedn0
%00: For each 32 stallGuard2 values decrease by one
%01: For each 8 stallGuard2 values decrease by one
%10: For each 2 stallGuard2 values decrease by one
%11: For each stallGuard2 value decrease by one
set to 0
12
-
reserved
11 semax3
10 semax2
stallGuard2 hysteresis
value for smart current (SEMIN+SEMAX+1)*32, the motor current becomes
control
If the stallGuard2 result is equal to or above
decreased to save energy.
%0000 … %1111: 0 … 15
set to 0
Current increment steps per measured stallGuard2 value
%00 … %11: 1, 2, 4, 8
set to 0
9
8
7
6
5
4
3
2
1
0
semax1
semax0
-
seup1
seup0
-
semin3
semin2
semin1
semin0
reserved
current up step width
reserved
minimum stallGuard2
value for smart current current becomes increased to reduce motor load angle.
control and
If the stallGuard2 result falls below SEMIN*32, the motor
%0000: smart current control coolStep off
%0001 … %1111: 1 … 15
smart current enable
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
