Datasheet

TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 38
www.trinamic.com
5.3.2 CHOPCONF – Chopper Configuration
0X6C: CHOPCONF – CHOPPER CONFIGURATION
Bit
Name
Function
Comment
31
diss2vs
short to supply
protection disable
0: Short to VS protection is on
1: Short to VS protection is disabled
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 (useful for STEP/DIR operation, only)
27
mres3
MRES
micro step resolution
%0000:
Native 256 microstep setting. Normally use this setting
with the internal motion controller.
26
mres2
25
mres1
24
mres0
%0001 … %1000:
128, 64, 32, 16, 8, 4, 2, FULLSTEP
Reduced microstep resolution esp. 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
tpfd3
TPFD
passive fast decay time
TPFD allows dampening of motor mid-range resonances.
Passive fast decay time setting controls duration of the
fast decay phase inserted after bridge polarity change
N
CLK
= 128*TPFD
%0000: Disable
%0001 … %1111: 1 … 15
22
tpfd2
21
tpdf1
20
tpfd0
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
-
reserved
reserved, set to 0
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.
13
-
reserved
Reserved, set to 0
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