Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 28
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VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F)
R/W
Addr
n
Register
Description / bit names
W
0x14
20
TCOOLTHRS
This is the lower threshold velocity for switching on smart
energy coolStep and stallGuard feature. (unsigned)
Set this parameter to disable coolStep at low speeds, where it
cannot work reliably. The stall detection and stallGuard output
signal becomes enabled when exceeding this velocity. In non-
dcStep mode, it becomes disabled again once the velocity falls
below this threshold.
TCOOLTHRS ≥ TSTEP ≥ THIGH:
- coolStep is enabled, if configured
- stealthChop voltage PWM mode is disabled
TCOOLTHRS ≥ TSTEP
- Stop on stall and stall output signal is enabled, if
configured
W
0x15
20
THIGH
This velocity setting allows velocity dependent switching into
a different chopper mode and fullstepping to maximize torque.
(unsigned)
The stall detection feature becomes switched off for 2-3
electrical periods whenever passing THIGH threshold to
compensate for the effect of switching modes.
TSTEP ≤ THIGH:
- coolStep is disabled (motor runs with normal current
scale)
- stealthChop voltage PWM mode is disabled
- If vhighchm is set, the chopper switches to chm=1
with TFD=0 (constant off time with slow decay, only).
- chopSync2 is switched off (SYNC=0)
- If vhighfs is set, the motor operates in fullstep mode
and the stall detection becomes switched over to
dcStep stall detection.
microstep velocity time reference t for velocities: TSTEP = f
CLK
/ f
STEP