TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
28
6.1 General Configuration Registers
GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
Bit GCONF – Global configuration flags
recalibrate
1: Zero crossing recalibration during driver disable
(via ENN or via TOFF setting)
0
1
faststandstill
Timeout for step execution until standstill detection:
1:
Short time: 2^18 clocks
0:
Normal time: 2^20 clocks
2
3
en_pwm_mode
1: stealthChop voltage PWM mode enabled
(depending on velocity thresholds). Switch from
off to on state while in stand-still and at IHOLD=
nominal IRUN current, only.
multistep_filt
1:
Enable step input filtering for stealthChop
optimization with external step source (default=1)
4
5
shaft
1:
Inverse motor direction
diag0_error (only with SD_MODE=1)
1:
Enable DIAG0 active on driver errors:
Over temperature (ot), short to GND (s2g),
undervoltage chargepump (uv_cp)
DIAG0 always shows the reset-status, i.e. is active low
during reset condition.
6
7
diag0_otpw (only with SD_MODE=1)
RW
0x00
17
GCONF
1:
Enable DIAG0 active on driver over temperature
prewarning (otpw)
diag0_stall (with SD_MODE=1)
1:
Enable DIAG0 active on motor stall (set
TCOOLTHRS before using this feature)
diag0_step (with SD_MODE=0)
0:
1:
DIAG0 outputs interrupt signal
Enable DIAG0 as STEP output (dual edge
triggered steps) for external STEP/DIR driver
8
9
diag1_stall (with SD_MODE=1)
1:
Enable DIAG1 active on motor stall (set
TCOOLTHRS before using this feature)
diag1_dir (with SD_MODE=0)
0:
1:
DIAG1 outputs position compare signal
Enable DIAG1 as DIR output for external STEP/DIR
driver
diag1_index (only with SD_MODE=1)
1:
Enable DIAG1 active on index position (microstep
look up table position 0)
10 diag1_onstate (only with SD_MODE=1)
1:
Enable DIAG1 active when chopper is on (for the
coil which is in the second half of the fullstep)
11 diag1_steps_skipped (only with SD_MODE=1)
1:
Enable output toggle when steps are skipped in
dcStep mode (increment of LOST_STEPS). Do not
enable in conjunction with other DIAG1 options.
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