Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 84
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23 Getting Started
Please refer to the TMC2130 evaluation board to allow a quick start with the device and in order to
allow interactive tuning of the device setup in your application. It will guide you through the process
of correctly setting up all registers. The following example gives a minimum set of accesses allowing
moving a motor.
23.1 Initialization Example
SPI datagram example sequence to enable the driver for step and direction operation and initialize
the chopper for spreadCycle operation and for stealthChop at <60 RPM:
SPI send: 0xEC000100C3; // CHOPCONF: TOFF=3, HSTRT=4, HEND=1, TBL=2, CHM=0 (spreadCycle)
SPI send: 0x9000061F0A; // IHOLD_IRUN: IHOLD=10, IRUN=31 (max. current), IHOLDDELAY=6
SPI send: 0x910000000A; // TPOWERDOWN=10: Delay before power down in stand still
SPI send: 0x8000000004; // EN_PWM_MODE=1 enables stealthChop (with default PWM_CONF)
SPI send: 0x93000001F4; // TPWM_THRS=500 yields a switching velocity about 35000 = ca. 30RPM
SPI send: 0xF0000401C8; // PWM_CONF: AUTO=1, 2/1024 Fclk, Switch amplitude limit=200, Grad=1
Hint
Tune the configuration parameters for your motor and application for optimum performance.