Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 82
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TUNING STEALTHCHOP AND SPREADCYCLE
SC2
Try motion with desired
acceleration and
deceleration (not exceeding
TPWMTRHRS)
PWMCONF
increase PWM_GRAD
(max. 15)
Coil current
overshoot upon
deceleration?
Y
Move slowly, try
different velocities
N
Motor current
stable?
PWMCONF
change PWM_FREQ or
slightly drecrease
PWM_GRAD
N
Try motion also
above TPWMTRHRS,
if used
Y
Coil current
overshoot upon
deceleration?
PWMCONF
decrease PWM_AMPL
(do not go below about
50)
Y
Optimize spreadCycle
configuration if TPWMTHRS
used
N
Go to motor stand
still and check
motor current
Stand still current
too high?
N
CHOPCONF, PWMCONF
decrease TBL or PWM
frequency and check
impact on motor motion
Y
GCONF
disable en_pwm_mode
spreadCycle
Configuration
CHOPCONF
Enable chopper using basic
config.: TOFF=5, TBL=2,
HSTART=0, HEND=0
Move the motor by
slowly accelerating
from 0 to VMAX
operation velocity
Monitor sine wave motor
coil currents with current
probe at low velocity
CHOPCONF
increase HEND (max. 15)
Current zero
crossing smooth?
N
Move motor very slowly or
try at stand still
CHOPCONF
set TOFF=4 (min. 4), try
lower / higher TBL or
reduce motor current
Audible Chopper
noise?
Y
Y
Move motor at medium
velocity or up to max.
velocity
Audible Chopper
noise?
CHOPCONF
decrease HEND and
increase HSTART (max.
7)
Y
Finished or Enable
coolStep
Figure 22.2 Tuning stealthChop and spreadCycle