TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15)
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1.4 Moving and Controlling the Motor
1.4.1 Integrated Motion Controller
The integrated 32 bit motion controller automatically drives the motor to target positions, or
accelerates to target velocities. All motion parameters can be changed on the fly. The motion
controller recalculates immediately. A minimum set of configuration data consists of acceleration and
deceleration values and the maximum motion velocity. A start and stop velocity is supported as well
as a second acceleration and deceleration setting. The integrated motion controller supports
immediate reaction to mechanical reference switches and to the sensorless stall detection stallGuard2.
Benefits are:
Flexible ramp programming
Efficient use of motor torque for acceleration and deceleration allows higher machine throughput
Immediate reaction to stop and stall conditions
1.4.2 STEP/DIR Interface
The motor can optionally be controlled by a step and direction input. In this case, the motion
controller remains unused. Active edges on the STEP input can be rising edges or both rising and
falling edges as controlled by another mode bit (dedge). Using both edges cuts the toggle rate of the
STEP signal in half, which is useful for communication over slow interfaces such as optically isolated
interfaces. On each active edge, the state sampled from the DIR input determines whether to step
forward or back. Each step can be a fullstep or a microstep, in which there are 2, 4, 8, 16, 32, 64, 128,
or 256 microsteps per fullstep. A step impulse with a low state on DIR increases the microstep
counter and a high decreases the counter by an amount controlled by the microstep resolution. An
internal table translates the counter value into the sine and cosine values which control the motor
current for microstepping.
1.5 stealthChop Driver
stealthChop is a voltage chopper based principle. It guarantees absolutely quiet motor standstill and
silent slow motion, except for noise generated by ball bearings. stealthChop can be combined with
classic cycle-by-cycle chopper modes for best performance in all velocity ranges. Two additional
chopper modes are available: a traditional constant off-time mode and the spreadCycle mode. The
constant off-time mode provides high torque at highest velocity, while spreadCycle offers smooth
operation and good power efficiency over a wide range of speed and load. spreadCycle automatically
integrates a fast decay cycle and guarantees smooth zero crossing performance. The extremely
smooth motion of stealthChop is beneficial for many applications.
Programmable microstep shapes allow optimizing the motor performance for low cost motors.
Benefits of using stealthChop:
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Significantly improved microstepping with low cost motors
Motor runs smooth and quiet
Absolutely no standby noise
Reduced mechanical resonances yields improved torque
1.6 stallGuard2 – Mechanical Load Sensing
stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall
detection as well as other uses at loads below those which stall the motor, such as coolStep load-
adaptive current reduction. This gives more information on the drive allowing functions like
sensorless homing and diagnostics of the drive mechanics.
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
