TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15)
34
VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F)
R/W
Addr
n
Register
Description / bit names
This is the lower threshold velocity for switching on smart
energy coolStep and stallGuard feature. (unsigned)
Set this parameter to disable coolStep at low speeds, where it
cannot work reliably. The stop on stall function (enable with
sg_stop when using internal motion controller) and the stall
output signal become enabled when exceeding this velocity. In
non-dcStep mode, it becomes disabled again once the velocity
falls below this threshold.
W
0x14
20 TCOOLTHRS
TCOOLTHRS ≥ TSTEP ≥ THIGH:
-
coolStep is enabled, if configured
-
stealthChop voltage PWM mode is disabled
TCOOLTHRS ≥ TSTEP
Stop on stall and stall output signal is enabled, if
configured
-
This velocity setting allows velocity dependent switching into
a different chopper mode and fullstepping to maximize torque.
(unsigned)
The stall detection feature becomes switched off for 2-3
electrical periods whenever passing THIGH threshold to
compensate for the effect of switching modes.
TSTEP ≤ THIGH:
W
0x15
20 THIGH
-
coolStep is disabled (motor runs with normal current
scale)
-
-
stealthChop voltage PWM mode is disabled
If vhighchm is set, the chopper switches to chm=1
with TFD=0 (constant off time with slow decay, only).
chopSync2 is switched off (SYNC=0)
If vhighfs is set, the motor operates in fullstep mode
and the stall detection becomes switched over to
dcStep stall detection.
-
-
Microstep velocity time reference t for velocities: TSTEP = fCLK / fSTEP
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