TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
75
10 Velocity Based Mode Control
The TMC5160 allows the configuration of different chopper modes and modes of operation for
optimum motor control. Depending on the motor load, the different modes can be optimized for
lowest noise & high precision, highest dynamics, or maximum torque at highest velocity. Some of the
features like coolStep or stallGuard2 are useful in a limited velocity range. A number of velocity
thresholds allow combining the different modes of operation within an application requiring a wide
velocity range.
Chopper mode
stealthChop
spreadCycle
const. Toff
option
option
option
option
option
option
option
v
VHIGH+Δ
VHIGH
VCOOLTHRS+Δ
VCOOLTHRS
VPWMTHRS+Δ
VPWMTHRS
0
t
current
I_RUN
I_HOLD
VACTUAL
~1/TSTEP
RMS current
TRINAMIC, B. Dwersteg, 14.3.14
coolStep current reduction
Figure 10.1 Choice of velocity dependent modes
Figure 10.1 shows all available thresholds and the required ordering. VPWMTHRS, VHIGH and
VCOOLTHRS are determined by the settings TPWMTHRS, THIGH and TCOOLTHRS. The velocity is
described by the time interval TSTEP between each two step pulses. This allows determination of the
velocity when an external step source is used. TSTEP always becomes normalized to 256
microstepping. This way, the thresholds do not have to be adapted when the microstep resolution is
changed. The thresholds represent the same motor velocity, independent of the microstep settings.
TSTEP becomes compared to these threshold values. A hysteresis of 1/16 TSTEP resp. 1/32 TSTEP is
applied to avoid continuous toggling of the comparison results when a jitter in the TSTEP
measurement occurs. The upper switching velocity is higher by 1/16, resp. 1/32 of the value set as
threshold. The stealthChop threshold TPWMTHRS is not shown. It can be included with VPWMTHRS <
VCOOLTHRS. The motor current can be programmed to a run and a hold level, dependent on the
standstill flag stst.
Using automatic velocity thresholds allows tuning the application for different velocity ranges.
Features like coolStep will integrate completely transparently in your setup. This way, once
parameterized, they do not require any activation or deactivation via software.
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
