Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 81
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22 Quick Configuration Guide
This guide is meant as a practical tool to come to a first configuration and do a minimum set of
measurements and decisions for tuning the TMC2130. It does not cover all advanced functionalities,
but concentrates on the basic function set to make a motor run smoothly. Once the motor runs, you
may decide to explore additional features, e.g. freewheeling and further functionality in more detail. A
current probe on one motor coil is a good aid to find the best settings, but it is not a must.
CURRENT SETTING AND FIRST STEPS WITH STEALTHCHOP
Current Setting
Sense Resistors
used?
GCONF
set internal_RsenseN
Analog Scaling?
Y
GCONF
set I_scale_analog
Y
CHOPCONF
set vsense for max.
180mV at sense resistor
(0R15: 1.1A peak)
Set I_RUN as desired up
to 31, I_HOLD 70% of
I_RUN or lower
N
Low Current range?
N
Y
GCONF
set en_pwm_mode
Set I_HOLD_DELAY to 1
to 15 for smooth
standstill current decay
Set TPOWERDOWN up
to 255 for delayed
standstill current
reduction
Configure Chopper to
test current settings
stealthChop
Configuration
PWMCONF
set pwm_autoscale, set
PWM_GRAD=1,
PWM_AMPL=255
PWMCONF
select PWM_FREQ with
regard to fCLK for about
35kHz PWM frequency
Make sure that no
step pulses are
generated
Check hardware
setup and motor
RMS current
CHOPCONF
Enable chopper using basic
config.: TOFF=4, TBL=2,
HSTART=4, HEND=0
Move the motor by
slowly accelerating
from 0 to VMAX
operation velocity
Is performance
good up to VMAX?
Select a velocity
threshold for switching
to spreadCycle chopper
and set TPWMTHRS
N
SC2
Y
Figure 22.1 Current setting and first steps with stealthChop