TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
53
6.5.4 PWMCONF – Voltage PWM Mode stealthChop
0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP
Bit Name
Function
Comment
31 PWM_LIM
PWM automatic scale
amplitude limit when
switching on
Limit for PWM_SCALE_AUTO when switching back from
spreadCycle to stealthChop. This value defines the upper
limit for bits 7 to 4 of the automatic current control
when switching back. It can be set to reduce the current
jerk during mode change back to stealthChop.
It does not limit PWM_GRAD or PWM_GRAD_AUTO offset.
(Default = 12)
30
29
28
27 PWM_REG Regulation loop
User defined maximum PWM amplitude change per half
wave when using pwm_autoscale=1. (1…15):
1: 0.5 increments (slowest regulation)
2: 1 increment
gradient
26
25
24
3: 1.5 increments
4: 2 increments (Reset default))
…
8: 4 increments
...
15: 7.5 increments (fastest regulation)
23
22
21
20
-
-
reserved
reserved
Allows different
set to 0
set to 0
freewheel1
freewheel0 standstill modes
Stand still option when motor current setting is zero
(I_HOLD=0).
%00: Normal operation
%01: Freewheeling
%10: Coil shorted using LS drivers
%11: Coil shorted using HS drivers
19 pwm_
autograd
PWM automatic
gradient adaptation
0
Fixed value for PWM_GRAD
(PWM_GRAD_AUTO = PWM_GRAD)
1
Automatic tuning (only with pwm_autoscale=1)
(Reset default)
PWM_GRAD_AUTO is initialized with PWM_GRAD
while pwm_autograd=0 and becomes optimized
automatically during motion.
Preconditions
1. PWM_OFS_AUTO has been automatically
initialized. This requires standstill at IRUN for
>130ms in order to a) detect standstill b) wait >
128 chopper cycles at IRUN and c) regulate
PWM_OFS_AUTO so that
-1 < PWM_SCALE_AUTO < 1
2. Motor running and 1.5 * PWM_OFS_AUTO <
PWM_SCALE_SUM < 4* PWM_OFS_AUTO and
PWM_SCALE_SUM < 255.
Time required for tuning PWM_GRAD_AUTO
About 8 fullsteps per change of +/-1.
Also enables use of reduced chopper frequency for
tuning PWM_OFS_AUTO.
18 pwm_
autoscale
PWM automatic
amplitude scaling
0
1
User defined feed forward PWM amplitude. The
current settings IRUN and IHOLD have no influence!
The resulting PWM amplitude (limited to 0…255) is:
PWM_OFS * ((CS_ACTUAL+1) / 32)
+ PWM_GRAD * 256 / TSTEP
Enable automatic current control (Reset default)
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