Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 60
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Parameter
Description
Setting
Comment
stst
This flag indicates motor stand still in each operation
mode. This occurs 2^20 clocks after the last step pulse.
0/1
Status bit, read only
TPOWER
DOWN
This is the delay time after stand still (stst) of the
motor to motor current power down. Time range
is about 0 to 4 seconds.
0…255
Time in multiples of 2^18
t
CLK
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.
0…
1048575
Status register, read only.
Actual measured step time
in multiple of t
CLK
TPWMTHRS
TSTEP ≥ TPWMTHRS
- stealthChop PWM mode is enabled, if
configured
- dcStep is disabled
0…
1048575
Setting to control the
upper velocity threshold
for operation in
stealthChop
TCOOLTHRS
TCOOLTHRS ≥ TSTEP ≥ THIGH:
- coolStep is enabled, if configured
- stealthChop voltage PWM mode is
disabled
TCOOLTHRS ≥ TSTEP
- Stop on stall and stall output signal is
enabled, if configured
0…
1048575
Setting to control the
lower velocity threshold
for operation with
coolStep and stallGuard
THIGH
TSTEP ≤ THIGH:
- coolStep is disabled (motor runs with
normal current scale)
- stealthChop voltage PWM mode is
disabled
- If vhighchm is set, the chopper switches
to chm=1 with TFD=0 (constant off time
with slow decay, only).
- chopSync2 is switched off (SYNC=0)
- If vhighfs is set, the motor operates in
fullstep mode and the stall detection
becomes switched over to dcStep stall
detection.
0…
1048575
Setting to control the
upper threshold for
operation with coolStep
and stallGuard as well as
optional high velocity step
mode
small_
hysteresis
Hysteresis for step frequency comparison based
on TSTEP (lower velocity threshold) and
(TSTEP*15/16)-1 respectively (TSTEP*31/32)-1 (upper
velocity threshold)
0
Hysteresis is 1/16
1
Hysteresis is 1/32
vhighfs
This bit enables switching to fullstep, when VHIGH
is exceeded. Switching takes place only at 45°
position. The fullstep target current uses the
current value from the microstep table at the 45°
position.
0
No switch to fullstep
1
Fullstep at high velocities
vhighchm
This bit enables switching to chm=1 and fd=0, when
VHIGH is exceeded. This way, a higher velocity can
be achieved. Can be combined with vhighfs=1. If set,
the TOFF setting automatically becomes doubled
during high velocity operation in order to avoid
doubling of the chopper frequency.
0
No change of chopper
mode
1
Classic const. Toff chopper
at high velocities
en_pwm_
mode
stealthChop voltage PWM enable flag (depending
on velocity thresholds). Switch from off to on
state while in stand still, only.
0
No stealthChop
1
StealthChop below
VPWMTHRS