Datasheet

TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 50
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STEP
Interpolated
microstep
Active edge (dedge=0) Active edge (dedge=0) Active edge (dedge=0)
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 32
Active edge (dedge=0)
STANDSTILL
(stst) active
33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
Motor
angle
52 53 54 55 56 57 58 59 60 61 62 63 64 65 6651
2^20 t
CLK
Figure 12.2 microPlyer microstep interpolation with rising STEP frequency
In Figure 12.2, the first STEP cycle is long enough to set the standstill bit stst. This bit is cleared on
the next STEP active edge. Then, the external STEP frequency increases. After one cycle at the higher
rate microPlyer adapts the interpolated microstep rate to the higher frequency. During the last cycle at
the slower rate, microPlyer did not generate all 16 microsteps, so there is a small jump in motor
angle between the first and second cycles at the higher rate.