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TMC5161 参数 Datasheet PDF下载

TMC5161图片预览
型号: TMC5161
PDF下载: 下载PDF文件 查看货源
内容描述: [Compact, low power-dissipation Driver & Controller for two-phase stepper motors.]
分类和应用:
文件页数/大小: 129 页 / 2715 K
品牌: TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
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TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)  
101  
18 Sine-Wave Look-up Table  
The TMC5161 driver provides a programmable look-up table for storing the microstep current wave. As  
a default, the table is pre-programmed with a sine wave, which is a good starting point for most  
stepper motors. Reprogramming the table to a motor specific wave allows drastically improved  
microstepping especially with low-cost motors.  
18.1 User Benefits  
Microstepping  
Motor  
Torque  
extremely improved with low cost motors  
runs smooth and quiet  
reduced mechanical resonances yields improved torque  
18.2 Microstep Table  
In order to minimize required memory and the amount of data to be programmed, only a quarter of  
the wave becomes stored. The internal microstep table maps the microstep wave from 0° to 90°. It  
becomes symmetrically extended to 360°. When reading out the table the 10-bit microstep counter  
MSCNT addresses the fully extended wave table. The table is stored in an incremental fashion, using  
each one bit per entry. Therefore only 256 bits (ofs00 to ofs255) are required to store the quarter  
wave. These bits are mapped to eight 32 bit registers. Each ofs bit controls the addition of an  
inclination Wx or Wx+1 when advancing one step in the table. When Wx is 0, a 1 bit in the table at  
the actual microstep position means “add one” when advancing to the next microstep. As the wave  
can have a higher inclination than 1, the base inclinations Wx can be programmed to -1, 0, 1, or 2  
using up to four flexible programmable segments within the quarter wave. This way even negative  
inclination can be realized. The four inclination segments are controlled by the position registers X1  
to X3. Inclination segment 0 goes from microstep position 0 to X1-1 and its base inclination is  
controlled by W0, segment 1 goes from X1 to X2-1 with its base inclination controlled by W1, etc.  
When modifying the wave, care must be taken to ensure a smooth and symmetrical zero transition  
when the quarter wave becomes expanded to a full wave. The maximum resulting swing of the wave  
should be adjusted to a range of -248 to 248, in order to give the best possible resolution while  
leaving headroom for the hysteresis based chopper to add an offset.  
y
256  
248  
START_SIN90  
0
X1 X2 X3  
255 256  
START_SIN  
512  
768  
0
MSCNT  
LUT stores  
entries 0 to 255  
-248  
Figure 18.1 LUT programming example  
www.trinamic.com  
 
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