TMC2160 DATASHEET (Rev. 1.02 / 2018-NOV-19)
88
ENABLING COOLSTEP (ONLY IN COMBINATION WITH SPREADCYCLE)
Enable coolStep
C2
Move the motor by
slowly accelerating
from 0 to VMAX
Monitor CS_ACTUAL and
motor torque during rapid
mechanical load increment
within application limits
operation velocity
Is coil current sine-
shaped at VMAX?
Does CS_ACTUAL reach
IRUN with load before
motor stall?
N
Decrease VMAX
N
Increase SEUP
Y
Set THIGH
To match TSTEP at
VMAX for upper
Finished
coolStep velocity limit
Monitor SG_RESULT value
during medium velocity and
check response with
mechanical load
Does SG_RESULT go down
Y
Increase SGT
to 0 with load?
N
Set TCOOLTHRS
slightly above TSTEP at
the selected velocity for
lower velocity limit
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 18.3 Enabling coolStep (only in combination with spreadCycle)
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
