TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15)
105
TUNING STEALTHCHOP AND SPREADCYCLE
spreadCycle
Configuration
SC2
Try motion with desired
acceleration and
deceleration (not exceeding
TPWMTRHRS)
GCONF
disable en_pwm_mode
CHOPCONF
Coil current
overshoot upon
deceleration?
PWMCONF
increase PWM_GRAD
(max. 15)
Enable chopper using basic
config.: TOFF=5, TBL=2,
HSTART=0, HEND=0
Y
N
Y
N
Move the motor by
slowly accelerating
from 0 to VMAX
Move slowly, try
different velocities
operation velocity
Monitor sine wave motor
coil currents with current
probe at low velocity
PWMCONF
change PWM_FREQ or
slightly drecrease
PWM_GRAD
Motor current
stable?
Y
Current zero
crossing smooth?
CHOPCONF
increase HEND (max. 15)
N
Try motion also
above TPWMTRHRS,
if used
Y
Move motor very slowly or
try at stand still
PWMCONF
decrease PWM_AMPL
(do not go below about
50)
Coil current
overshoot upon
deceleration?
CHOPCONF
N
Audible Chopper
noise?
set TOFF=4 (min. 4), try
lower / higher TBL or
reduce motor current
Y
Go to motor stand
still and check
motor current
Move motor at medium
velocity or up to max.
velocity
CHOPCONF, PWMCONF
decrease TBL or PWM
frequency and check
Stand still current
too high?
Y
CHOPCONF
decrease HEND and
increase HSTART (max.
7)
impact on motor motion
Audible Chopper
noise?
Y
N
Optimize spreadCycle
configuration if TPWMTHRS
used
Finished or Enable
coolStep
Figure 24.2 Tuning stealthChop and spreadCycle
www.trinamic.com
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
