Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 30
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5.5 Motor Driver Registers
MICROSTEPPING CONTROL REGISTER SET (0X60…0X6B)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
W
0x60
32
MSLUT[0]
microstep
table entries
0…31
Each bit gives the difference between entry x
and entry x+1 when combined with the cor-
responding MSLUTSEL W bits:
0: W= %00: -1
%01: +0
%10: +1
%11: +2
1: W= %00: +0
%01: +1
%10: +2
%11: +3
This is the differential coding for the first
quarter of a wave. Start values for CUR_A and
CUR_B are stored for MSCNT position 0 in
START_SIN and START_SIN90.
ofs31, ofs30, …, ofs01, ofs00
…
ofs255, ofs254, …, ofs225, ofs224
32x 0 or 1
reset default=
sine wave
table
W
0x61
…
0x67
7
x
32
MSLUT[1...7]
microstep
table entries
32…255
7x
32x 0 or 1
reset default=
sine wave
table
W
0x68
32
MSLUTSEL
This register defines four segments within
each quarter MSLUT wave. Four 2 bit entries
determine the meaning of a 0 and a 1 bit in
the corresponding segment of MSLUT.
See separate table!
0<X1<X2<X3
reset default=
sine wave
table
W
0x69
8
+
8
MSLUTSTART
bit 7… 0: START_SIN
bit 23… 16: START_SIN90
START_SIN gives the absolute current at
microstep table entry 0.
START_SIN90 gives the absolute current for
microstep table entry at positions 256.
Start values are transferred to the microstep
registers CUR_A and CUR_B, whenever the
reference position MSCNT=0 is passed.
START_SIN
reset default
=0
START_SIN 90
reset default
=247
R
0x6A
10
MSCNT
Microstep counter. Indicates actual position
in the microstep table for CUR_A. CUR_B uses
an offset of 256 (2 phase motor).
Hint: Move to a position where MSCNT is
zero before re-initializing MSLUTSTART or
MSLUT and MSLUTSEL.
0…1023
R
0x6B
9
+
9
MSCURACT
bit 8… 0: CUR_A (signed):
Actual microstep current for
motor phase A as read from
MSLUT (not scaled by current)
bit 24… 16: CUR_B (signed):
Actual microstep current for
motor phase B as read from
MSLUT (not scaled by current)
+/-0...255