TMC5031 DATASHEET (Rev. 1.11 / 2016-APR-28)
27
MOTOR DRIVER REGISTER SET (MOTOR 1: 0X60…0X6F, MOTOR 2: 0X70…0X7F)
R/W
Addr
0x6F
0x7F
n
Register
DRV_
STATUS
Description / bit names
stallGuard2 value and driver error flags
See separate table!
Range [Unit]
R
32
MIRCOSTEP 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
5.3.1 MSLUTSEL – Look up Table Segmentation Definition
0X68, 0X78: MSLUTSEL – LOOK UP TABLE SEGMENTATION DEFINITION
Bit Name
Function
Comment
31 X3
30
29
28
LUT segment 3 start
The sine wave look up table can be divided into up to
four segments using an individual step width control
entry Wx. The segment borders are selected by X1, X2
and X3.
27
26
25
24
23 X2
22
21
Segment 0 goes from 0 to X1-1.
Segment 1 goes from X1 to X2-1.
Segment 2 goes from X2 to X3-1.
Segment 3 goes from X3 to 255.
LUT segment 2 start
For defined response the values shall satisfy:
0<X1<X2<X3
20
19
18
17
16
15 X1
14
LUT segment 1 start
13
12
11
10
9
8
7
6
5
4
3
2
1
0
W3
W2
W1
W0
LUT width select from
ofs(X3) to ofs255
Width control bit coding W0…W3:
%00:
%01:
%10:
%11:
MSLUT entry 0, 1 select: -1, +0
MSLUT entry 0, 1 select: +0, +1
MSLUT entry 0, 1 select: +1, +2
MSLUT entry 0, 1 select: +2, +3
LUT width select from
ofs(X2) to ofs(X3-1)
LUT width select from
ofs(X1) to ofs(X2-1)
LUT width select from
ofs00 to ofs(X1-1)
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
