TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
108
TUNING STEALTHCHOP AND SPREADCYCLE
spreadCycle
Configuration
SC2
Try motion above
TPWMTRHRS, if
used
GCONF
en_pwm_mode=0
CHOPCONF
Coil current
overshoot upon
deceleration?
PWMCONF
decrease PWM_LIM (do
not go below about 5)
Enable chopper using basic
config.: TOFF=5, TBL=2,
HSTART=0, HEND=0
Y
N
Move the motor by
slowly accelerating
from 0 to VMAX
Go to motor stand
still and check
motor current at
IHOLD=IRUN
operation velocity
Monitor sine wave motor
coil currents with current
probe at low velocity
CHOPCONF, PWMCONF
decrease TBL or PWM
frequency and check
Stand still current
too high?
Y
impact on motor motion
N
Current zero
crossing smooth?
CHOPCONF
increase HEND (max. 15)
N
Optimize spreadCycle
configuration if TPWMTHRS
used
Y
Move motor very slowly or
try at stand still
CHOPCONF
Audible Chopper
noise?
decrease TOFF (min. 2),
try lower / higher TBL or
reduce motor current
Y
N
Move motor at medium
velocity or up to max.
velocity
CHOPCONF
decrease HEND and
increase HSTART (max.
7)
Audible Chopper
noise?
Y
Finished or enable
coolStep
Figure 22.2 Tuning stealthChop and spreadCycle
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
