TMC2160 DATASHEET (Rev. 1.02 / 2018-NOV-19)
36
DRIVER REGISTER SET (0X6C…0X7F)
R/W
Addr
n
Register
Description / bit names
bit 23… 16 PWM_GRAD_AUTO:
Automatically
Range [Unit]
0…255
determined
gradient value
Number of input steps skipped due to higher
load in dcStep operation, if step input does
not stop when DC_OUT is low. This counter
wraps around after 2^20 steps. Counts up or
down depending on direction. Only with
SDMODE=1.
R
0x73
20 LOST_STEPS
MICROSTEP TABLE CALCULATION FOR A SINE WAVE EQUIVALENT TO THE POWER ON DEFAULT
푖
푃퐼
푟표푢푛푑 (248 ∗ 푠푖푛 ꢀ2 ∗ 푃퐼 ∗
+
)ꢁ − 1
1024 1024
-
-
i:[0… 255] is the table index
The amplitude of the wave is 248. The resulting maximum positive value is 247 and the
maximum negative value is -248.
-
The round function rounds values from 0.5 to 1.4999 to 1
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