Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 34
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5.5.2 CHOPCONF – Chopper Configuration
0X6C: CHOPCONF – CHOPPER CONFIGURATION
Bit
Name
Function
Comment
31
-
-
Reserved, set to 0
30
diss2g
short to GND
protection disable
0: Short to GND protection is on
1: Short to GND protection is disabled
29
dedge
enable double edge
step pulses
1: Enable step impulse at each step edge to reduce step
frequency requirement.
28
intpol
interpolation to 256
microsteps
1: The actual microstep resolution (MRES) becomes
extrapolated to 256 microsteps for smoothest motor
operation.
27
mres3
MRES
micro step resolution
%0000:
Native 256 microstep setting.
26
mres2
25
mres1
24
mres0
%0001 … %1000:
128, 64, 32, 16, 8, 4, 2, FULLSTEP
Reduced microstep resolution for STEP/DIR operation.
The resolution gives the number of microstep entries per
sine quarter wave.
The driver automatically uses microstep positions which
result in a symmetrical wave, when choosing a lower
microstep resolution.
step width=2^MRES [microsteps]
23
sync3
SYNC
PWM synchronization
clock
This register allows synchronization of the chopper for
both phases of a two phase motor in order to avoid the
occurrence of a beat, especially at low motor velocities. It
is automatically switched off above VHIGH.
%0000: Chopper sync function chopSync off
%0001 … %1111:
Synchronization with f
SYNC
= f
CLK
/(sync*64)
Hint: Set TOFF to a low value, so that the chopper cycle is
ended, before the next sync clock pulse occurs. Set for the
double desired chopper frequency for chm=0, for the
desired base chopper frequency for chm=1.
22
sync2
21
sync1
20
sync0
19
vhighchm
high velocity chopper
mode
This bit enables switching to chm=1 and fd=0, when VHIGH
is exceeded. This way, a higher velocity can be achieved.
Can be combined with vhighfs=1. If set, the TOFF setting
automatically becomes doubled during high velocity
operation in order to avoid doubling of the chopper
frequency.
18
vhighfs
high velocity fullstep
selection
This bit enables switching to fullstep, when VHIGH is
exceeded. Switching takes place only at 45° position.
The fullstep target current uses the current value from
the microstep table at the 45° position.
17
vsense
sense resistor voltage
based current scaling
0: Low sensitivity, high sense resistor voltage
1: High sensitivity, low sense resistor voltage
16
tbl1
TBL
blank time select
%00 … %11:
Set comparator blank time to 16, 24, 36 or 54 clocks
Hint: %01 or %10 is recommended for most applications
15
tbl0
14
chm
chopper mode
0
Standard mode (spreadCycle)
1
Constant off time with fast decay time.
Fast decay time is also terminated when the
negative nominal current is reached. Fast decay is
after on time.