Datasheet

TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 89
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SETTING UP DCSTEP
Enable dcStep
Does the motor reach
VMAX and have good
torque?
Start the motor at the
targeted velocity VMAX and
try to apply load
Increase DC_TIMEN
Y
CHOPCONF
Make sure, that TOFF is not less
than 3. Use lowest good TBL.
Set vhighfs and vhighchm
Set TCOOLTHRS
to match TSTEP at a velocity
slightly above VDCMIN for lower
stallGuard velocity limit
Set VDCMIN
to about 5% to 20% of
the desired operation
velocity
DCCTRL
Set DC_TIME depending on TBL:
%00: 17; %01: 25
%10: 37; %11: 55
Does the motor reach
VDCMIN without step loss?
Restart the motor and try to
slow it down to VDCMIN by
applying load
Decrease DC_TIME
or increase TOFF
or increase VDCMIN
N
Y
DCCTRL
Set DC_SG to 1 + 1/16
the value of DC_TIME
SW_MODE
Enable sg_stop to stop
the motor upon stall
detection
Finished or configure
dcStep stall detection
Configure dcStep Stall
Detection
Does the motor stop upon
the first stall?
Slow down the motor to
VDCMIN by applying load.
Further increase load to
stall the motor.
Increase DC_SGN
Y
Read out RAMP_STAT to
clear event_stop_sg and
restart the motor
Accelerate the motor from
0 to VMAX
Does the motor stop during
acceleration?
Decrease
TCOOLTHRS to raise
the lower velocity
for stallGuard
Y
N
Finished
Figure 18.4 Setting up DcStep (using TMC4361 as motion controller)