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TMC5161 Datasheet(PDF) 34 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC5161 Datasheet(HTML) 34 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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34 / 129 page  TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20) 34 www.trinamic.com 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 W 0x10 5 + 5 + 4 IHOLD_IRUN 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) Hint: Choose sense resistors in a way, that normal IRUN is 16 to 31 for best microstep performance. 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 W 0x11 8 TPOWER DOWN 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 0…((2^8)-1) * 2^18 tCLK R 0x12 20 TSTEP 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. 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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