TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
76
Parameter
Description
Setting Comment
This flag indicates motor stand still in each operation
mode. This occurs 2^20 clocks after the last step pulse.
stst
0/1
Status bit, read only
TPOWER
DOWN
This is the delay time after stand still (stst) of the 0…255
motor to motor current power down. Time range
is about 0 to 4 seconds.
Time in multiples of 2^18
tCLK
TSTEP
Actual measured time between two 1/256 0…
microsteps derived from the step input frequency 1048575 Actual measured step time
Status register, read only.
in units of 1/fCLK. Measured value is (2^20)-1 in
case of overflow or stand still.
in multiple of tCLK
TPWMTHRS TSTEP ≥ TPWMTHRS
0…
Setting to control the
-
stealthChop PWM mode is enabled, if 1048575 upper velocity threshold
configured
dcStep is disabled
for operation in
stealthChop
-
TCOOLTHRS TCOOLTHRS ≥ TSTEP ≥ THIGH:
0…
Setting to control the
-
coolStep is enabled, if configured
1048575 lower velocity threshold
-
stealthChop voltage PWM mode is
disabled
for operation with
coolStep and stallGuard
TCOOLTHRS ≥ TSTEP
Stop on stall and stall output signal is
enabled, if configured
TSTEP ≤ THIGH:
-
THIGH
0…
Setting to control the
-
-
-
coolStep is disabled (motor runs with 1048575 upper threshold for
normal current scale)
operation with coolStep
and stallGuard as well as
optional high velocity step
mode
stealthChop voltage PWM mode is
disabled
If vhighchm is set, the chopper switches
to chm=1 with TFD=0 (constant off time
with slow decay, only).
-
If vhighfs is set, the motor operates in
fullstep mode and the stall detection
becomes switched over to dcStep stall
detection.
small_
hysteresis
Hysteresis for step frequency comparison based 0
Hysteresis is 1/16
Hysteresis is 1/32
on TSTEP (lower velocity threshold) and
(TSTEP*15/16)-1 respectively (TSTEP*31/32)-1 (upper
velocity threshold)
1
vhighfs
This bit enables switching to fullstep, when VHIGH 0
No switch to fullstep
is exceeded. Switching takes place only at 45°
1
Fullstep at high velocities
position. The fullstep target current uses the
current value from the microstep table at the 45°
position.
This bit enables switching to chm=1 and fd=0, when
VHIGH is exceeded. This way, a higher velocity can
be achieved. Can be combined with vhighfs=1. If set,
the TOFF setting automatically becomes doubled
during high velocity operation in order to avoid
doubling of the chopper frequency.
vhighchm
0
1
No change of chopper
mode
Classic const. Toff chopper
at high velocities
en_pwm_
mode
stealthChop voltage PWM enable flag (depending 0
No stealthChop
on velocity thresholds). Switch from off to on
1
StealthChop below
VPWMTHRS
state while in stand still, only.
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
