TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
50
6.5.2 CHOPCONF – Chopper Configuration
0X6C: CHOPCONF – CHOPPER CONFIGURATION
Bit Name
Function
Comment
31 diss2vs
short to supply
protection disable
short to GND
protection disable
enable double edge
step pulses
0: Short to VS protection is on
1: Short to VS protection is disabled
0: Short to GND protection is on
30 diss2g
29 dedge
28 intpol
1: Short to GND protection is disabled
1: Enable step impulse at each step edge to reduce step
frequency requirement.
1: The actual microstep resolution (MRES) becomes
extrapolated to 256 microsteps for smoothest motor
operation (useful for STEP/DIR operation, only)
%0000:
Native 256 microstep setting. Normally use this setting
with the internal motion controller.
%0001 … %1000:
interpolation to 256
microsteps
27 mres3
26 mres2
25 mres1
24 mres0
MRES
micro step resolution
128, 64, 32, 16, 8, 4, 2, FULLSTEP
Reduced microstep resolution esp. for STEP/DIR operation.
The resolution gives the number of microstep entries per
sine quarter wave.
The driver automatically uses microstep positions which
result in a symmetrical wave, when choosing a lower
microstep resolution.
step width=2^MRES [microsteps]
23 tpfd3
22 tpfd2
21 tpdf1
20 tpfd0
TPFD
TPFD allows dampening of motor mid-range resonances.
passive fast decay time Passive fast decay time setting controls duration of the
fast decay phase inserted after bridge polarity change
NCLK= 128*TPFD
%0000: Disable
%0001 … %1111: 1 … 15
This bit enables switching to chm=1 and fd=0, when VHIGH
is exceeded. This way, a higher velocity can be achieved.
Can be combined with vhighfs=1. If set, the TOFF setting
automatically becomes doubled during high velocity
operation in order to avoid doubling of the chopper
frequency.
19 vhighchm high velocity chopper
mode
18 vhighfs
high velocity fullstep
selection
This bit enables switching to fullstep, when VHIGH is
exceeded. Switching takes place only at 45° position.
The fullstep target current uses the current value from
the microstep table at the 45° position.
17
-
reserved
reserved, set to 0
16 tbl1
15 tbl0
TBL
%00 … %11:
blank time select
Set comparator blank time to 16, 24, 36 or 54 clocks
Hint: %01 or %10 is recommended for most applications
14 chm
chopper mode
0
1
Standard mode (spreadCycle)
Constant off time with fast decay time.
Fast decay time is also terminated when the
negative nominal current is reached. Fast decay is
after on time.
13
-
reserved
Reserved, set to 0
12 disfdcc
fast decay mode
chm=1:
disfdcc=1 disables current comparator usage for termi-
nation of the fast decay cycle
chm=1:
11 fd3
TFD [3]
MSB of fast decay time setting TFD
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
