TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
54
0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP
Bit Name
Function
Comment
pwm_freq1
pwm_freq0
17
16
PWM frequency
selection
%00: fPWM=2/1024 fCLK (Reset default)
%01: fPWM=2/683 fCLK
%10: fPWM=2/512 fCLK
%11: fPWM=2/410 fCLK
15 PWM_
User defined amplitude Velocity dependent gradient for PWM amplitude:
gradient PWM_GRAD * 256 / TSTEP
GRAD
14
13
12
11
10
9
This value is added to PWM_AMPL to compensate for
the velocity-dependent motor back-EMF.
Use PWM_GRAD as initial value for automatic scaling to
speed up the automatic tuning process. To do this, set
PWM_GRAD to the determined, application specific value,
8
with
pwm_autoscale=0.
Only
afterwards,
set
pwm_autoscale=1. Enable stealthChop when finished.
Hint:
After initial tuning, the required initial value can be read
out from PWM_GRAD_AUTO.
7
6
5
4
3
2
1
0
PWM_
OFS
User defined amplitude User defined PWM amplitude offset (0-255) related to full
(offset)
motor current (CS_ACTUAL=31) in stand still.
(Reset default=30)
Use PWM_OFS as initial value for automatic scaling to
speed up the automatic tuning process. To do this, set
PWM_OFS to the determined, application specific value,
with
pwm_autoscale=0.
Only
afterwards,
set
pwm_autoscale=1. Enable stealthChop when finished.
PWM_OFS = 0 will disable scaling down motor current
below a motor specific lower measurement threshold.
This setting should only be used under certain
conditions, i.e. when the power supply voltage can vary
up and down by a factor of two or more. It prevents
the motor going out of regulation, but it also prevents
power down below the regulation limit.
PWM_OFS > 0 allows automatic scaling to low PWM duty
cycles even below the lower regulation threshold. This
allows low (standstill) current settings based on the
actual (hold) current scale (register IHOLD_IRUN).
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
