Datasheet

TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 35
www.trinamic.com
DRIVER REGISTER SET (0X6C…0X7F)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
RW
0x6C
32
CHOPCONF
chopper and driver configuration
See separate table!
reset default=
0x10410150
W
0x6D
25
COOLCONF
CoolStep smart current control register
and StallGuard2 configuration
See separate table!
W
0x6E
24
DCCTRL
DcStep (DC) automatic commutation
configuration register (enable via pin DCEN
or via VDCMIN):
bit 9… 0: DC_TIME: Upper PWM on time
limit for commutation (DC_TIME *
1/f
CLK
). Set slightly above effective
blank time TBL.
bit 23… 16: DC_SG: Max. PWM on time for
step loss detection using DcStep
StallGuard2 in DcStep mode.
(DC_SG * 16/f
CLK
)
Set slightly higher than
DC_TIME/16
0=disable
Hint: Using a higher microstep resolution or
interpolated operation, DcStep delivers a
better stallGuard signal.
DC_SG is also available above VHIGH if
vhighfs is activated. For best result also set
vhighchm.
R
0x6F
32
DRV_
STATUS
StallGuard2 value and driver error flags
See separate table!
W
0x70
22
PWMCONF
Voltage PWM mode chopper configuration
See separate table!
reset default=
0xC40C001E
R
0x71
9+8
PWM_SCALE
Results of StealthChop amplitude regulator.
These values can be used to monitor
automatic PWM amplitude scaling (255=max.
voltage).
bit 7… 0
PWM_SCALE_SUM:
Actual PWM duty cycle. This
value is used for scaling the
values CUR_A and CUR_B read
from the sine wave table.
0…255
bit 24… 16
PWM_SCALE_AUTO:
9 Bit signed offset added to the
calculated PWM duty cycle. This
is the result of the automatic
amplitude regulation based on
current measurement.
signed
-255…+255
R
0x72
8+8
PWM_AUTO
These automatically generated values can be
read out in order to determine a default /
power up setting for PWM_GRAD and
PWM_OFS.
bit 7… 0
PWM_OFS_AUTO:
Automatically determined offset
value
0…255