TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15)
112
CFG6_ENN: ENABLE PIN AND CONFIGURATION OF STANDSTILL POWER DOWN
CFG6
GND
Motor driver enable
Enable
Standstill power down
N
Registers
IRUN=31, IHOLD=31
VCC_IO
open
Disable
Enable
- (Driver disable)
Y, ramp down from 100% to IRUN=31, IHOLD=11,
34% motor current in 44M IHOLDDELAY=8
clock cycles (3 to 4 seconds) if
no step pulse for more than
1M clock cycles (standstill). In
combination with stealthChop,
be sure not to work with too
low overall current setting, as
regulation will not be able to
measure the motor current
after
stand
still
current
reduction. This will result in
very low motor current after
the stand-still period.
While the parameters for spreadCycle can be configured for good microstep performance, stealthChop
mode is configured with its power on default values (PWMCONF=0x00050480):
fPWM=2/683 fCLK (i.e. roughly 38kHz with internal clock)
pwm_autoscale=1
PWM_GRAD=4
PWM_AMPL=128
CFG0 and CFG4 settings do not influence the stealthChop configuration. This way, it is even possible
to switch between spreadCycle and stealthChop mode by simply switching CFG1 and CFG2.
Hint
Be sure to allow the motor to rest for at least 100ms (assuming a minimum of 10MHz fCLK) before
starting a motion using stealthChop. This will allow the current regulation to set the initial motor
current.
Example:
It is desired to do small motions in smooth and noiseless stealthChop mode. For quick motions,
spreadCycle is to be used. The controller can deliver 1/16 microstep step signals. Tie together CFG1
and CFG2 and drive them with a three state driver. Switch both to VCC_IO to operate in spreadCycle,
switch them to hi-Z (open) state for a motion in stealthChop.
www.trinamic.com
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
