TMC2160 DATASHEET (Rev. 1.02 / 2018-NOV-19)
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19 Getting Started
Please refer to the TMC2160 evaluation board to allow a quick start with the device, and in order to
allow interactive tuning of the device setup in your application. Chapter 18 will guide you through the
process of correctly setting up all registers.
19.1 Initialization Examples
SPI datagram example sequence to enable the driver for step and direction operation and initialize
the chopper for spreadCycle operation and for stealthChop at <30 RPM @ 12MHz clock:
SPI send: 0xEC000100C3; // CHOPCONF: TOFF=3, HSTRT=4, HEND=1, TBL=2, CHM=0 (spreadCycle)
SPI send: 0x9000061F0A; // IHOLD_IRUN: IHOLD=10, IRUN=31 (max. current), IHOLDDELAY=6
SPI send: 0x910000000A; // TPOWERDOWN=10: Delay before power down in stand still
SPI send: 0x8000000004; // EN_PWM_MODE=1 enables stealthChop (with default PWM_CONF)
SPI send: 0x93000001F4; // TPWM_THRS=500 yields a switching velocity about 35000 = ca. 30RPM
Hint
Tune the configuration parameters for your motor and application for optimum performance.
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