TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
58
Power Up
PWM_GRAD_AUTO becomes
initialized upon power up
Driver Enabled?
Y
N
N
Driver Enabled?
Y
N
Y
Issue (at least) a single step
pulse and stop again, to
power motor to run current
Standstill re-
duction enabled?
stealthChop2 regulates to nominal
current and stores result to
PWM_OFS_AUTO
AT#1
(Requires stand still for >130ms)
Stand still
PWM_
GRAD_AUTO
initialized from
CPU?
Y
N
Move the motor, e.g. for homing.
Include a constant, medium velocity
ramp segment.
AT#2
Homing
stealthChop2 regulates to nominal
current and optimizes PWM_GRAD_AUTO
(requires 8 fullsteps per change of 1,
typically a few 100 fullsteps in sum)
Store PWM_GRAD_AUTO to
CPU memory for faster
tuning procedure
stealthChop2 settings are optimized!
Option with interface
Ready
stealthChop2 keeps tuning during
subsequent motion and stand still periods
adapting to motor heating, supply
variations, etc.
Figure 7.2 stealthChop2 automatic tuning procedure
Attention
Modifying GLOBALSCALER or VS voltage invalidates the result of the automatic tuning process. Motor
current regulation cannot compensate significant changes until next AT#1 phase. Automatic tuning
adapts to changed conditions whenever AT#1 and AT#2 conditions are fulfilled in the later operation.
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
