Datasheet

TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 33
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5.2.1 DcStep Miniumum Velocity Register
DCSTEP MINIMUM VELOCITY REGISTER (0X33)
R/W
Addr
n
Register
Description / bit names
W
0x33
23
VDCMIN
Automatic commutation DcStep minimum velocity. Enable
DcStep by DCEN pin.
In this mode, the actual position is determined by the sensor-
less motor commutation and becomes fed back to the external
motion controller. In case the motor becomes heavily loaded,
VDCMIN is used as the minimum step velocity.
Hint: Also set DCCTRL parameters in order to operate DcStep.
(Only bits 22… 8 are used for value and for comparison)
Time reference t for VDCMIN: t = 2^24 / f
CLK