Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 59
www.trinamic.com
11 Velocity Based Mode Control
The TMC2130 allows the configuration of different chopper modes and modes of operation for
optimum motor control. Depending on the motor load, the different modes can be optimized for
lowest noise & high precision, highest dynamics, or maximum torque at highest velocity. Some of the
features like coolStep or stallGuard2 are useful in a limited velocity range. A number of velocity
thresholds allow combining the different modes of operation within an application requiring a wide
velocity range.
option
option
option
option
optionoption
option
microstep microstep
high velocity fullstep
microstep + coolStep microstep + coolStep
microstepping microstepping
motor stand still
motor going to standby
motor in standby motor in standby
v
t
VPWMTHRS+Δ
VPWMTHRS
0
VCOOLTHRS+Δ
VHIGH+Δ
VACTUAL
~1/TSTEP
VCOOLTHRS
VHIGH
current
TPOWERDOWN
RMS current
I_HOLD
I_RUN
dI * IHOLDDELAY
coolStep current reduction
stealthChop
spreadCycle
const. Toff
Chopper mode
TRINAMIC, B. Dwersteg, 14.3.14
Figure 11.1 Choice of velocity dependent modes
Figure 11.1 shows all available thresholds and the required ordering. VPWMTHRS, VHIGH and
VCOOLTHRS are determined by the settings TPWMTHRS, THIGH and TCOOLTHRS. The velocity is
described by the time interval TSTEP between each two step pulses. This allows determination of the
velocity when an external step source is used. TSTEP always becomes normalized to 256
microstepping. This way, the thresholds do not have to be adapted when the microstep resolution is
changed. The thresholds represent the same motor velocity, independent of the microstep settings.
TSTEP becomes compared to these threshold values. A hysteresis of 1/16 TSTEP resp. 1/32 TSTEP is
applied to avoid continuous toggling of the comparison results when a jitter in the TSTEP
measurement occurs. The upper switching velocity is higher by 1/16, resp. 1/32 of the value set as
threshold. The stealthChop threshold TPWMTHRS is not shown. It can be included with VPWMTHRS <
VCOOLTHRS. The motor current can be programmed to a run and a hold level, dependent on the
standstill flag stst.
Using automatic velocity thresholds allows tuning the application for different velocity ranges.
Features like coolStep will integrate completely transparently in your setup. This way, once
parameterized, they do not require any activation or deactivation via software.