TMC2160 DATASHEET (Rev. 1.02 / 2018-NOV-19)
33
5.2.1 dcStep Miniumum Velocity Register
DCSTEP MINIMUM VELOCITY REGISTER (0X33)
R/W
Addr
n
Register
Description / bit names
Automatic commutation dcStep minimum velocity. Enable
dcStep by DCEN pin.
In this mode, the actual position is determined by the sensor-
less motor commutation and becomes fed back to the external
motion controller. In case the motor becomes heavily loaded,
VDCMIN is used as the minimum step velocity.
W
0x33
23 VDCMIN
Hint: Also set DCCTRL parameters in order to operate dcStep.
(Only bits 22… 8 are used for value and for comparison)
Time reference t for VDCMIN: t = 2^24 / fCLK
www.trinamic.com
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
