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TMC5160-TA 参数 Datasheet PDF下载

TMC5160-TA图片预览
型号: TMC5160-TA
PDF下载: 下载PDF文件 查看货源
内容描述: [Universal high voltage controller/driver for two-phase bipolar stepper motor.]
分类和应用: 电动机控制
文件页数/大小: 133 页 / 2799 K
品牌: TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)  
99  
17.3 dcStep Integration with the Motion Controller  
dcStep requires only a few settings. It directly feeds back motor motion to the ramp generator, so  
that it becomes seamlessly integrated into the motion ramp, even if the motor becomes overloaded  
with respect to the target velocity. dcStep operates the motor in fullstep mode at the ramp generator  
target velocity VACTUAL or at reduced velocity if the motor becomes overloaded. It requires setting  
the minimum operation velocity VDCMIN. VDCMIN shall be set to the lowest operating velocity where  
dcStep gives a reliable detection of motor operation. The motor never stalls unless it becomes braked  
to a velocity below VDCMIN. In case the velocity should fall below this value, the motor would restart  
once its load is released, unless the stall detection becomes enabled (set sg_stop). Stall detection is  
covered by stallGuard2.  
v
dcStep active  
VMAX  
D
X
M
overload  
A
M
A
X
A
V1  
D
1
1
A
VDCMIN  
0
t
Nominal ramp profile  
Ramp profile with torque overload and same target position  
Figure 17.2 Velocity profile with impact by overload situation  
Hint  
dcStep requires that the phase polarity of the sine wave is positive within the MSCNT range 768 to  
255 and negative within 256 to 767. The cosine polarity must be positive from 0 to 511 and negative  
from 512 to 1023. A phase shift by 1 would disturb dcStep operation. Therefore it is advised to work  
with the default wave. Please refer chapter 18.2 for an initialization with the default table.  
17.4 Stall Detection in dcStep Mode  
While dcStep is able to decelerate the motor upon overload, it cannot avoid a stall in every operation  
situation. Once the motor is blocked, or it becomes decelerated below a motor dependent minimum  
velocity where the motor operation cannot safely be detected any more, the motor may stall and  
loose steps. In order to safely detect a step loss and avoid restarting of the motor, the stop on stall  
can be enabled (set flag sg_stop). In this case VACTUAL becomes set to zero once the motor is stalled.  
It remains stopped until reading the RAMP_STAT status flags. The flag event_stop_sg shows the active  
stop condition. A stallGuard2 load value also is available during dcStep operation. The range of values  
is limited to 0 to 255, in certain situations up to 511 will be read out. In order to enable stallGuard,  
also set TCOOLTHRS corresponding to a velocity slightly above VDCMIN or up to VMAX.  
Stall detection in this mode may trigger falsely due to resonances, when flywheel loads are loosely  
coupled to the motor axis.  
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