Datasheet

TMC2160 DATASHEET (Rev. 1.00 / 2018-JUL-30) 32
www.trinamic.com
VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F)
R/W
Addr
n
Register
Description / bit names
W
0x14
20
TCOOLTHRS
This is the lower threshold velocity for switching on smart
energy coolStep and stallGuard feature. (unsigned)
Set this parameter to disable coolStep at low speeds, where it
cannot work reliably. The stop on stall function (enable with
sg_stop when using internal motion controller) and the stall
output signal become enabled when exceeding this velocity. In
non-dcStep mode, it becomes disabled again once the velocity
falls below this threshold.
TCOOLTHRS ≥ TSTEP ≥ THIGH:
- coolStep is enabled, if configured
- stealthChop voltage PWM mode is disabled
TCOOLTHRS ≥ TSTEP
- Stop on stall is enabled, if configured
- Stall output signal (DIAG0/1) is enabled, if configured
W
0x15
20
THIGH
This velocity setting allows velocity dependent switching into
a different chopper mode and fullstepping to maximize torque.
(unsigned)
The stall detection feature becomes switched off for 2-3
electrical periods whenever passing THIGH threshold to
compensate for the effect of switching modes.
TSTEP ≤ THIGH:
- coolStep is disabled (motor runs with normal current
scale)
- stealthChop voltage PWM mode is disabled
- If vhighchm is set, the chopper switches to chm=1
with TFD=0 (constant off time with slow decay, only).
- If vhighfs is set, the motor operates in fullstep mode
and the stall detection becomes switched over to
dcStep stall detection.
RW
0x2D
9+9
XDIRECT
This register is used in direct coil current
mode, only (direct_mode = 1). It bypasses the
internal sequencer. Specifies signed coil A
current (bits 8..0) and coil B current (bits
24..16). In this mode, the current is scaled by
IHOLD setting. Velocity based current
regulation of stealthChop is not available in
this mode. The automatic stealthChop current
regulation will work only for low stepper
motor velocities.
2x
-255…+255
Microstep velocity time reference t for velocities: TSTEP = f
CLK
/ f
STEP