Datasheet

TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 46
www.trinamic.com
stallGuard2 reading
0=maximum load
motor current increment area
motor current reduction area
stall possible
SEMIN
SEMAX+SEMIN+1
Zeit
motor current
current setting I_RUN
(upper limit)
½ or ¼ I_RUN
(lower limit)
mechanical load
current increment due to
increased load
slow current reduction due
to reduced motor load
load angle optimized load angle optimized
load
angle
optimized
Figure 11.1 coolStep adapts motor current to the load
Five more parameters control coolStep and one status value is returned:
Parameter
Description
Range
Comment
SEUP
Sets the current increment step. The current
becomes incremented for each measured
stallGuard2 value below the lower threshold.
0…3
step width is
1, 2, 4, 8
SEDN
Sets the number of stallGuard2 readings above the
upper threshold necessary for each current
decrement of the motor current.
0…3
number of stallGuard2
measurements per
decrement:
32, 8, 2, 1
SEIMIN
Sets the lower motor current limit for coolStep
operation by scaling the IRUN current setting.
0
0: 1/2 of IRUN
1
1: 1/4 of IRUN
Status
word
Description
Range
Comment
CSACTUAL
This status value provides the actual motor
current scale as controlled by coolStep. The value
goes up to the IRUN value and down to the
portion of IRUN as specified by SEIMIN.
0…31
1/32, 2/32, … 32/32