Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 25
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5.1 General Configuration Registers
GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
RW
0x00
17
GCONF
Bit
GCONF – Global configuration flags
0
I_scale_analog
0: Normal operation, use internal reference voltage
1: Use voltage supplied to AIN as current reference
1
internal_Rsense
0: Normal operation
1: Internal sense resistors. Use current supplied into
AIN as reference for internal sense resistor
2
en_pwm_mode
1: stealthChop voltage PWM mode enabled
(depending on velocity thresholds). Switch from
off to on state while in stand still, only.
3
enc_commutation (Special mode - do not use, leave 0)
1: Enable commutation by full step encoder
(DCIN_CFG5 = ENC_A, DCEN_CFG4 = ENC_B)
4
shaft
1: Inverse motor direction
5
diag0_error
1: Enable DIAG0 active on driver errors:
Over temperature (ot), short to GND (s2g),
undervoltage chargepump (uv_cp)
DIAG0 always shows the reset-status, i.e. is active low
during reset condition.
6
diag0_otpw
1: Enable DIAG0 active on driver over temperature
prewarning (otpw)
7
diag0_stall
1: Enable DIAG0 active on motor stall (set
TCOOLTHRS before using this feature)
8
diag1_stall
1: Enable DIAG1 active on motor stall (set
TCOOLTHRS before using this feature)
9
diag1_index
1: Enable DIAG1 active on index position (microstep
look up table position 0)
10
diag1_onstate
1: Enable DIAG1 active when chopper is on (for the
coil which is in the second half of the fullstep)
11
diag1_steps_skipped
1: Enable output toggle when steps are skipped in
dcStep mode (increment of LOST_STEPS). Do not
enable in conjunction with other DIAG1 options.
12
diag0_int_pushpull
0: DIAG0 is open collector output (active low)
1: Enable DIAG0 push pull output (active high)
13
diag1_pushpull
0: DIAG1 is open collector output (active low)
1: Enable DIAG1 push pull output (active high)
14
small_hysteresis
0: Hysteresis for step frequency comparison is 1/16
1: Hysteresis for step frequency comparison is 1/32