TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
9
A current control mode can be set with CFG3. In particular, the source for the reference voltage (on
chip or external) and the method of current scaling can be chosen.
CFG3 SETS MODE OF CURRENT SETTING
CFG3
GND
VCC_IO
Current Setting
Internal reference voltage. Current scale set by external sense resistors, only.
Internal sense resistors. Use analog input current on AIN as reference current for
internal sense resistor. This setting gives best results when combined with
stealthChop voltage PWM chopper.
open
External reference voltage on pin AIN. Current scale set by sense resistors and
scaled by AIN.
The desired microstep resolution for the STEP input can be chosen via CFG2 and CFG1 configurations.
The driver automatically uses microstep positions which result in a symmetrical wave especially when
switching to a lower microstep resolution.
Note that spreadCycle mode is possible with and without step interpolation to 256 microsteps.
TRINAMIC recommends using step interpolation for achieving a smoother drive. While the parameters
for spreadCycle can be configured for best microstep performance, stealthChop has a fixed setting.
CFG0 and CFG4 settings do not influence the stealthChop configuration. This way, it is possible to
switch between spreadCycle and stealthChop mode by simply switching CFG1 and CFG2.
CFG1 AND CFG2: SET MICROSTEP RESOLUTION FOR STEP INPUT
CFG2, CFG1
GND, GND
GND, VCC_IO
GND, open
VCC_IO, GND
VCC_IO, VCC_IO
VCC_IO, open
open, GND
open, VCC_IO
open, open
Microsteps
1 (Fullstep)
2 (Halfstep)
2 (Halfstep)
4 (Quarterstep)
16 µsteps
4 (Quarterstep)
16 µsteps
4 (Quarterstep)
16 µsteps
Interpolation
N
N
Y, to 256 µsteps
N
N
Y, to 256 µsteps
Y, to 256 µsteps
Y, to 256 µsteps stealthChop
Chopper Mode
spreadCycle
Y, to 256 µsteps
Hint
Be sure to allow the motor to rest for at least 100ms (assuming a minimum of 10MHz fCLK) before
starting a motion using stealthChop. This will allow the current regulation to ramp up to the initial
motor current.
CFG0, CFG4 and CFG5 are intended for chopper configuration. CFG0 is used to set the chopper off
time. This setting also limits the maximum chopper frequency. For operation with stealthChop, this
parameter is not used. In case of operation with stealthChop only, any CFG0 setting is OK.
CFG0: SETS CHOPPER OFF TIME (DURATION OF SLOW DECAY PHASE)
CFG0
GND
TOFF Setting
140 tCLK (recommended, most universal choice)
low setting
VCC_IO
open
236 tCLK
332 tCLK
medium setting
high setting
www.trinamic.com
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
