TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16)
52
ENABLING COOLSTEP (ONLY IN COMBINATION WITH SPREADCYCLE)
Enable coolStep
C2
Monitor CS_ACTUAL and
motor torque during rapid
mechanical load increment
within application limits
Move the motor by slowly
accelerating from 0 to
operation velocity V
Is coil current sine-
shaped at V?
Does CS_ACTUAL reach
IRUN with load before
motor stall?
N
Decrease V
N
Increase SEUP
Y
Monitor SG_RESULT value
during medium velocity and
check response with
Finished
mechanical load
Does SG_RESULT go down
Y
Increase SGT
to 0 with load?
N
Set VCOOLTHRS
to the lower velocity
limit for coolStep
COOLCONF
Enable coolStep basic config.:
SEMIN=1, all other 0
Monitor CS_ACTUAL during
motion in velocity range
and check response with
mechanical load
Does CS_ACTUAL reach
IRUN with load before
motor stall?
Increase SEMIN or
choose narrower
velocity limits
N
C2
Figure 13.2 Enabling coolStep (only in combination with spreadCycle)
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
