TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
107
22 Quick Configuration Guide
This guide is meant as a practical tool to come to a first configuration and do a minimum set of
measurements and decisions for tuning the driver. It does not cover all advanced functionalities, but
concentrates on the basic function set to make a motor run smoothly. Once the motor runs, you may
decide to explore additional features, e.g. freewheeling and further functionality in more detail. A
current probe on one motor coil is a good aid to find the best settings, but it is not a must.
CURRENT SETTING AND FIRST STEPS WITH STEALTHCHOP
stealthChop
Current Setting
Configuration
Check hardware
GCONF
setup and motor
set en_pwm_mode
RMS current
Set GLOBALSCALER as
PWMCONF
required to reach
set pwm_autoscale,
maximum motor current
set pwm_autograd
at I_RUN=31
PWMCONF
Set I_RUN as desired up
to 31, I_HOLD 70% of
I_RUN or lower
Set I_HOLD_DELAY to 1
to 15 for smooth
standstill current decay
select PWM_FREQ with
regard to fCLK for 20-
40kHz PWM frequency
CHOPCONF
Set TPOWERDOWN up
to 255 for delayed
standstill current
reduction
Enable chopper using basic
config., e.g.: TOFF=5, TBL=2,
HSTART=4, HEND=0
Execute
automatic
tuning
Configure Chopper to
test current settings
procedure AT
Move the motor by
slowly accelerating
from 0 to VMAX
operation velocity
Select a velocity
threshold for switching
to spreadCycle chopper
and set TPWMTHRS
Is performance
good up to VMAX?
N
Y
SC2
Figure 22.1 Current setting and first steps with stealthChop
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
