TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15)
104
24 Quick Configuration Guide
This guide is meant as a practical tool to come to a first configuration and do a minimum set of
measurements and decisions for tuning the driver. It does not cover all advanced functionalities, but
concentrates on the basic function set to make a motor run smoothly. Once the motor runs, you may
decide to explore additional features, e.g. freewheeling and further functionality in more detail. A
current probe on one motor coil is a good aid to find the best settings, but it is not a must.
CURRENT SETTING AND FIRST STEPS WITH STEALTHCHOP
stealthChop
Current Setting
Configuration
Check hardware
GCONF
setup and motor
set en_pwm_mode
RMS current
PWMCONF
GCONF
set internal_Rsense
Sense Resistors
used?
set pwm_autoscale, set
PWM_GRAD=1,
N
Y
PWM_AMPL=255
Y
PWMCONF
select PWM_FREQ with
regard to fCLK for about
35kHz PWM frequency
GCONF
set I_scale_analog
Analog Scaling?
Make sure that no
step pulses are
generated
N
CHOPCONF
set vsense for max.
180mV at sense resistor
(0R15: 1.1A peak)
Low Current range?
N
Y
CHOPCONF
Enable chopper using basic
config.: TOFF=4, TBL=2,
HSTART=4, HEND=0
Set I_RUN as desired up
to 31, I_HOLD 70% of
I_RUN or lower
Set I_HOLD_DELAY to 1
to 15 for smooth
standstill current decay
Move the motor by
slowly accelerating
from 0 to VMAX
operation velocity
Set TPOWERDOWN up
to 255 for delayed
standstill current
reduction
Select a velocity
threshold for switching
to spreadCycle chopper
and set TPWMTHRS
Is performance
good up to VMAX?
N
Y
Configure Chopper to
test current settings
SC2
Figure 24.1 Current setting and first steps with stealthChop
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
