Datasheet

TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 30
www.trinamic.com
6.3.2 COOLCONF – Smart Energy Control coolStep and stallGuard2
0X6D, 0X7D: COOLCONF – SMART ENERGY CONTROL COOLSTEP AND STALLGUARD2
Bit
Name
Function
Comment
…
-
reserved
set to 0
24
sfilt
stallGuard2 filter
enable
0
Standard mode, high time resolution for
stallGuard2
1
Filtered mode, stallGuard2 signal updated for each
four fullsteps only to compensate for motor pole
tolerances
23
-
reserved
set to 0
22
sgt6
stallGuard2 threshold
value
This signed value controls stallGuard2 level for stall
output and sets the optimum measurement range for
readout. A lower value gives a higher sensitivity. Zero is
the starting value working with most motors.
-64 to +63: A higher value makes stallGuard2 less
sensitive and requires more torque to
indicate a stall.
21
sgt5
20
sgt4
19
sgt3
18
sgt2
17
sgt1
16
sgt0
15
seimin
minimum current for
smart current control
0: 1/2 of current setting (IRUN)
1: 1/4 of current setting (IRUN)
14
sedn1
current down step
speed
%00: For each 32 stallGuard2 values decrease by one
%01: For each 8 stallGuard2 values decrease by one
%10: For each 2 stallGuard2 values decrease by one
%11: For each stallGuard2 value decrease by one
13
sedn0
12
-
reserved
set to 0
11
semax3
stallGuard2 hysteresis
value for smart current
control
If the stallGuard2 result is equal to or above
(SEMIN+SEMAX+1)*32, the motor current becomes
decreased to save energy.
%0000 … %1111: 0 … 15
10
semax2
9
semax1
8
semax0
7
-
reserved
set to 0
6
seup1
current up step width
Current increment steps per measured stallGuard2 value
%00 … %11: 1, 2, 4, 8
5
seup0
4
-
reserved
set to 0
3
semin3
minimum stallGuard2
value for smart current
control and
smart current enable
If the stallGuard2 result falls below SEMIN*32, the motor
current becomes increased to reduce motor load angle.
%0000: smart current control coolStep off
%0001 … %1111: 1 … 15
2
semin2
1
semin1
0
semin0