Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 8
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1.5 stealthChop Driver
stealthChop is a voltage chopper based principle. It guarantees absolutely quiet motor standstill and
silent slow motion, except for noise generated by ball bearings. stealthChop can be combined with
classic cycle-by-cycle chopper modes for best performance in all velocity ranges. Two additional
chopper modes are available: a traditional constant off-time mode and the spreadCycle mode. The
constant off-time mode provides high torque at highest velocity, while spreadCycle offers smooth
operation and good power efficiency over a wide range of speed and load. spreadCycle automatically
integrates a fast decay cycle and guarantees smooth zero crossing performance. The extremely
smooth motion of stealthChop is beneficial for many applications.
Programmable microstep shapes allow optimizing the motor performance for low cost motors.
Benefits of using stealthChop:
- Significantly improved microstepping with low cost motors
- Motor runs smooth and quiet
- Absolutely no standby noise
- Reduced mechanical resonances yields improved torque
1.6 stallGuard2 – Mechanical Load Sensing
stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall
detection as well as other uses at loads below those which stall the motor, such as coolStep load-
adaptive current reduction. This gives more information on the drive allowing functions like
sensorless homing and diagnostics of the drive mechanics.
1.7 coolStep – Load Adaptive Current Control
coolStep drives the motor at the optimum current. It uses the stallGuard2 load measurement
information to adjust the motor current to the minimum amount required in the actual load situation.
This saves energy and keeps the components cool.
Benefits are:
- Energy efficiency power consumption decreased up to 75%
- Motor generates less heat improved mechanical precision
- Less or no cooling improved reliability
- Use of smaller motor less torque reserve required → cheaper motor does the job
Figure 1.3 shows the efficiency gain of a 42mm stepper motor when using coolStep compared to
standard operation with 50% of torque reserve. coolStep is enabled above 60RPM in the example.
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
0 50 100 150 200 250 300 350
Efficiency
Velocity [RPM]
Efficiency with coolStep
Efficiency with 50% torque reserve
Figure 1.3 Energy efficiency with coolStep (example)