TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
SETTING UP DCSTEP
111
Configure dcStep Stall
Detection
Enable dcStep
CHOPCONF
DCCTRL
Set DC_SG to 1 + 1/16
the value of DC_TIME
Make sure, that TOFF is not less
than 3. Use lowest good TBL.
Set vhighfs and vhighchm
Set VDCMIN
to about 5% to 20% of
the desired operation
velocity
Set TCOOLTHRS
to match TSTEP at a velocity
slightly above VDCMIN for lower
stallGuard velocity limit
DCCTRL
Set DC_TIME depending on TBL:
%00: 17; %01: 25
SW_MODE
Enable sg_stop to stop
the motor upon stall
detection
%10: 37; %11: 55
Start the motor at the
targeted velocity VMAX and
try to apply load
Read out RAMP_STAT to
clear event_stop_sg and
restart the motor
Does the motor reach
VMAX and have good
N
Increase DC_TIME
Accelerate the motor from
torque?
0 to VMAX
Y
Decrease
Does the motor stop during
acceleration?
TCOOLTHRS to raise
the lower velocity
for stallGuard
Restart the motor and try to
slow it down to VDCMIN by
applying load
Y
N
Decrease DC_TIME
or increase TOFF
or increase VDCMIN
Slow down the motor to
VDCMIN by applying load.
Further increase load to
stall the motor.
Does the motor reach
VDCMIN without step loss?
N
Y
Finished or configure
dcStep stall detection
Does the motor stop upon
the first stall?
N
Increase DC_SG
Y
Finished
Figure 22.5 Setting up dcStep
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
