TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
34
6.2 Velocity Dependent Driver Feature Control Register Set
VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F)
R/W
Addr
n
Register
Description / bit names
Bit IHOLD_IRUN – Driver current control
4..0 IHOLD
Standstill current (0=1/32…31=32/32)
In combination with stealthChop mode, setting
IHOLD=0 allows to choose freewheeling or coil
short circuit for motor stand still.
12..8 IRUN
Motor run current (0=1/32…31=32/32)
5
+
Hint: Choose sense resistors in a way, that normal
W
0x10
5
IHOLD_IRUN
IRUN is 16 to 31 for best microstep performance.
+
4
19..16 IHOLDDELAY
Controls the number of clock cycles for motor
power down after a motion as soon as standstill is
detected (stst=1) and TPOWERDOWN has expired.
The smooth transition avoids a motor jerk upon
power down.
0:
instant power down
1..15:
Delay per current reduction step in multiple
of 2^18 clocks
TPOWERDOWN sets the delay time after stand still (stst) of the
motor to motor current power down. Time range is about 0 to
4 seconds.
Attention: A minimum setting of 2 is required to allow
automatic tuning of stealthChop PWM_OFFS_AUTO.
Reset Default = 10
TPOWER
DOWN
W
0x11
8
0…((2^8)-1) * 2^18 tCLK
Actual measured time between two 1/256 microsteps derived
from the step input frequency in units of 1/fCLK. Measured
value is (2^20)-1 in case of overflow or stand still.
All TSTEP related thresholds use a hysteresis of 1/16 of the
compare value to compensate for jitter in the clock or the step
frequency. The flag small_hysteresis modifies the hysteresis to
a smaller value of 1/32.
(Txxx*15/16)-1 or
(Txxx*31/32)-1 is used as a second compare value for each
comparison value.
R
0x12
20 TSTEP
This means, that the lower switching velocity equals the
calculated setting, but the upper switching velocity is higher as
defined by the hysteresis setting.
When working with the motion controller, the measured TSTEP
for a given velocity V is in the range
(224 / V) ≤ TSTEP ≤ 224 / V - 1.
In dcStep mode TSTEP will not show the mean velocity of the
motor, but the velocities for each microstep, which may not be
stable and thus does not represent the real motor velocity in
case it runs slower than the target velocity.
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