TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
66
PARAMETERS RELATED TO STEALTHCHOP
Parameter
en_spread_ General disable for use of stealthChop (register 1
cycle GCONF).
TPWMTHRS Specifies the upper velocity for operation in 0 …
Description
Setting Comment
Do not use stealthChop
stealthChop enabled
0
stealthChop is disabled if
stealthChop. Entry the TSTEP reading (time 1048575 TSTEP falls TPWMTHRS
between two microsteps) when operating at the
desired threshold velocity.
PWM_LIM
Limiting value for limiting the current jerk when 0 … 15
switching from spreadCycle to stealthChop. Reduce
the value to yield a lower current jerk.
Upper four bits of 8 bit
amplitude limit
(Default=12)
pwm_
autoscale
Enable automatic current scaling using current 0
Forward controlled mode
Automatic scaling with
current regulator
disable, use PWM_GRAD
from register instead
enable
measurement. If off, use forward controlled
1
0
1
velocity-based mode.
pwm_
autograd
Enable automatic tuning of PWM_GRAD_AUTO
PWM_FREQ PWM frequency selection. Use the lowest setting 0
fPWM=2/1024 fCLK
fPWM=2/683 fCLK
fPWM=2/512 fCLK
fPWM=2/410 fCLK
giving good results. The frequency measured at
1
2
3
each of the chopper outputs is half of the
effective chopper frequency fPWM
.
PWM_REG
PWM_OFS
User defined PWM amplitude regulation loop P- 1 … 15
coefficient. A higher value leads to a higher
adaptation speed when pwm_autoscale=1.
Results in 0.5 to 7.5 steps
for PWM_SCALE_AUTO
regulator per fullstep
User defined PWM amplitude (offset) for velocity 0 … 255 PWM_OFS=0 disables
based scaling and initialization value for automatic
tuning of PWM_OFFS_AUTO.
linear current scaling
based on current setting
PWM_GRAD User defined PWM amplitude (gradient) for 0 … 255
velocity based scaling and initialization value for
automatic tuning of PWM_GRAD_AUTO.
FREEWHEEL Stand still option when motor current setting is 0
Normal operation
zero (I_HOLD=0). Only available with stealthChop
enabled. The freewheeling option makes the
motor easy movable, while both coil short options
realize a passive brake.
1
2
3
Freewheeling
Coil short via LS drivers
Coil short cia HS drivers
PWM_SCALE Read back of the actual stealthChop voltage PWM -255 …
(read only) Scaling value
becomes frozen when
operating in spreadCycle
_AUTO
scaling correction as determined by the current 255
regulator. Shall regulate close to 0 during tuning.
PWM_GRAD Allow monitoring of the automatic tuning and 0 … 255 (read only)
_AUTO
PWM_OFS
_AUTO
TOFF
determination of initial values for PWM_OFS and
PWM_GRAD.
General enable for the motor driver, the actual 0
value does not influence stealthChop
Comparator blank time. This time needs to safely 0
Driver off
Driver enabled
16 tCLK
1 … 15
TBL
cover the switching event and the duration of the
ringing on the sense resistor. Choose a setting of
1 or 2 for typical applications. For higher
capacitive loads, 3 may be required. Lower
settings allow stealthChop to regulate down to
lower coil current values.
1
2
3
24 tCLK
36 tCLK
54 tCLK
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
