TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
38
6.3.2 Ramp Generator Driver Feature Control Register Set
RAMP GENERATOR DRIVER FEATURE CONTROL REGISTER SET (0X30…0X36)
R/W
Addr
n
Register
Description / bit names
Automatic commutation dcStep becomes enabled above
velocity VDCMIN (unsigned) (only when using internal ramp
generator, not for STEP/DIR interface – in STEP/DIR mode,
dcStep becomes enabled by the external signal DCEN)
In this mode, the actual position is determined by the sensor-
less motor commutation and becomes fed back to XACTUAL. In
case the motor becomes heavily loaded, VDCMIN also is used
as the minimum step velocity. Activate stop on stall (sg_stop)
to detect step loss.
W
0x33
23 VDCMIN
0: Disable, dcStep off
|VACT| ≥ VDCMIN ≥ 256:
-
Triggers the same actions as exceeding THIGH setting.
-
Switches on automatic commutation dcStep
Hint: Also set DCCTRL parameters in order to operate dcStep.
(Only bits 22… 8 are used for value and for comparison)
Switch mode configuration
See separate table!
SW_MODE
RW
0x34
0x35
12
R+
WC
RAMP_STAT Ramp status and switch event status
14
See separate table!
Ramp generator latch position, latches XACTUAL upon a
programmable switch event (see SW_MODE).
R
0x36
32 XLATCH
Hint: The encoder position can be latched to ENC_LATCH
together with XLATCH to allow consistency checks.
Time reference t for velocities: t = 2^24 / fCLK
Time reference ta² for accelerations: ta² = 2^41 / (fCLK)²
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