Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 24
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5 Register Mapping
This chapter gives an overview of the complete register set. Some of the registers bundling a number
of single bits are detailed in extra tables. The functional practical application of the settings is detailed
in dedicated chapters.
Note
- All registers become reset to 0 upon power up, unless otherwise noted.
- Add 0x80 to the address Addr for write accesses!
NOTATION OF HEXADECIMAL AND BINARY NUMBERS
0x
precedes a hexadecimal number, e.g. 0x04
%
precedes a multi-bit binary number, e.g. %100
NOTATION OF R/W FIELD
R
Read only
W
Write only
R/W
Read- and writable register
R+C
Clear upon read
OVERVIEW REGISTER MAPPING
REGISTER
DESCRIPTION
General Configuration Registers
These registers contain
- global configuration
- global status flags
- interface configuration
- and I/O signal configuration
Velocity Dependent Driver Feature Control Register
Set
This register set offers registers for
- driver current control
- setting thresholds for coolStep operation
- setting thresholds for different chopper modes
- setting thresholds for dcStep operation
Motor Driver Register Set
This register set offers registers for
- setting / reading out microstep table and
counter
- chopper and driver configuration
- coolStep and stallGuard2 configuration
- dcStep configuration
- reading out stallGuard2 values and driver error
flags
dcStep Minimum Velocity
Setting for minimum dcStep velocity