Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 35
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0X6C: CHOPCONF – CHOPPER CONFIGURATION
Bit
Name
Function
Comment
13
rndtf
random TOFF time
0
Chopper off time is fixed as set by TOFF
1
Random mode, TOFF is random modulated by
dN
CLK
= -12 … +3 clocks.
12
disfdcc
fast decay mode
chm=1:
disfdcc=1 disables current comparator usage for termi-
nation of the fast decay cycle
11
fd3
TFD [3]
chm=1:
MSB of fast decay time setting TFD
10
hend3
HEND
hysteresis low value
OFFSET
sine wave offset
chm=0
%0000 … %1111:
Hysteresis is -3, -2, -1, 0, 1, …, 12
(1/512 of this setting adds to current setting)
This is the hysteresis value which becomes
used for the hysteresis chopper.
9
hend2
8
hend1
7
hend0
chm=1
%0000 … %1111:
Offset is -3, -2, -1, 0, 1, …, 12
This is the sine wave offset and 1/512 of the
value becomes added to the absolute value
of each sine wave entry.
6
hstrt2
HSTRT
hysteresis start value
added to HEND
chm=0
%000 … %111:
Add 1, 2, …, 8 to hysteresis low value HEND
(1/512 of this setting adds to current setting)
Attention: Effective HEND+HSTRT ≤ 16.
Hint: Hysteresis decrement is done each 16
clocks
5
hstrt1
4
hstrt0
TFD [2..0]
fast decay time setting
chm=1
Fast decay time setting (MSB: fd3):
%0000 … %1111:
Fast decay time setting TFD with
N
CLK
= 32*TFD (%0000: slow decay only)
3
toff3
TOFF off time
and driver enable
Off time setting controls duration of slow decay phase
N
CLK
= 12 + 32*TOFF
%0000: Driver disable, all bridges off
%0001: 1 – use only with TBL ≥ 2
%0010 … %1111: 2 … 15
2
toff2
1
toff1
0
toff0