TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
88
motor current reduction area
current setting I_RUN
(upper limit)
SEMAX+SEMIN+1
SEMIN
½ or ¼ I_RUN
motor current increment area
stall possible
(lower limit)
0=maximum load
Zeit
load
angle
load angle optimized
load angle optimized
optimized
Figure 14.1 coolStep adapts motor current to the load
Five more parameters control coolStep and one status value is returned:
Parameter
Description
Range
Comment
SEUP
Sets the current increment step. The current 0…3
becomes incremented for each measured
stallGuard2 value below the lower threshold.
Sets the number of stallGuard2 readings above the 0…3
upper threshold necessary for each current
decrement of the motor current.
step width is
1, 2, 4, 8
SEDN
number of stallGuard2
measurements per
decrement:
32, 8, 2, 1
SEIMIN
Sets the lower motor current limit for coolStep 0
0: 1/2 of IRUN
1: 1/4 of IRUN
operation by scaling the IRUN current setting.
1
TCOOL
THRS
Lower velocity threshold for switching on 1…
coolStep and stop on stall. Below this velocity 2^20-1
coolStep becomes disabled (not used in STEP/DIR
mode). Adapt to the lower limit of the velocity
range where stallGuard2 gives a stable result.
Specifies lower coolStep
velocity by comparing
the threshold value to
TSTEP
Hint: May be adapted to disable coolStep during
acceleration and deceleration phase by setting
identical to VMAX.
THIGH
Upper velocity threshold value for coolStep and 1…
stop on stall. Above this velocity coolStep 2^20-1
becomes disabled. Adapt to the velocity range
where stallGuard2 gives a stable result.
Also controls additional
functions like switching
to fullstepping.
Status
word
Description
Range
Comment
This status value provides the actual motor
current scale as controlled by coolStep. The value
goes up to the IRUN value and down to the
portion of IRUN as specified by SEIMIN.
CSACTUAL
0…31
1/32, 2/32, … 32/32
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
