TMC2160 DATASHEET (Rev. 1.02 / 2018-NOV-19)
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spreadCycle is an advanced cycle-by-cycle chopper mode. It offers smooth operation and good
resonance dampening over a wide range of speed and load. The spreadCycle chopper scheme
automatically integrates and tunes fast decay cycles to guarantee smooth zero crossing performance.
Benefits of using stealthChop2:
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Significantly improved microstepping with low cost motors
Motor runs smooth and quiet
Absolutely no standby noise
Reduced mechanical resonance yields improved torque
1.7 stallGuard2 – Mechanical Load Sensing
stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall
detection as well as other uses at loads below those which stall the motor, such as coolStep load-
adaptive current reduction. This gives more information on the drive allowing functions like
sensorless homing and diagnostics of the drive mechanics.
1.8 coolStep – Load Adaptive Current Control
coolStep drives the motor at the optimum current. It uses the stallGuard2 load measurement
information to adjust the motor current to the minimum amount required in the actual load situation.
This saves energy and keeps the components cool.
Benefits are:
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Energy efficiency
Motor generates less heat
Less or no cooling
power consumption decreased up to 75%
improved mechanical precision
improved reliability
Use of smaller motor
less torque reserve required → cheaper motor does the job
Figure 1.4 shows the efficiency gain of a 42mm stepper motor when using coolStep compared to
standard operation with 50% of torque reserve. coolStep is enabled above 60RPM in the example.
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Efficiency with coolStep
0,8
0,7
0,6
0,5
0,4
0,3
0,2
0,1
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Efficiency with 50% torque reserve
Efficiency
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50
100
150
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250
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350
Velocity [RPM]
Figure 1.4 Energy efficiency with coolStep (example)
1.9 dcStep – Load Dependent Speed Control
dcStep allows the motor to run near its load limit and at its velocity limit without losing a step. If the
mechanical load on the motor increases to the stalling load, the motor automatically decreases
velocity so that it can still drive the load. With this feature, the motor will never stall. In addition to
the increased torque at a lower velocity, dynamic inertia will allow the motor to overcome mechanical
overloads by decelerating. dcStep directly integrates with the ramp generator, so that the target
position will be reached, even if the motor velocity needs to be decreased due to increased
mechanical load. A dynamic range of up to factor 10 or more can be covered by dcStep without any
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