Datasheet

TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 26
www.trinamic.com
5.3 StallGuard Control
COOLSTEP AND STALLGUARD CONTROL REGISTER SET (0X14, 0X40…0X42)
R/W
Addr
n
Register
Description / bit names
W
0x14
20
TCOOLTHRS
TCOOLTHRS
This is the lower threshold velocity for switching on smart
energy CoolStep and StallGuard to DIAG output. (unsigned)
Set this parameter to disable CoolStep at low speeds, where it
cannot work reliably. The stall output signal become enabled
when exceeding this velocity. It becomes disabled again once
the velocity falls below this threshold.
TCOOLTHRS ≥ TSTEP > TPWMTHRS
- CoolStep is enabled, if configured (only with StealthChop)
- Stall output signal on pin DIAG is enabled
W
0x40
8
SGTHRS
SGTHRS
Detection threshold for stall. The StallGuard value SG_RESULT
becomes compared to the double of this threshold.
A stall is signaled with
SG_RESULT ≤ SGTHRS*2
R
0x41
10
SG_RESULT
StallGuard result. SG_RESULT becomes updated with each
fullstep, independent of TCOOLTHRS and SGTHRS. A higher
value signals a lower motor load and more torque headroom.
Intended for StealthChop mode, only. Bits 9 and 0 will always
show 0. Scaling to 10 bit is for compatibility to StallGuard2.
W
0x42
16
COOLCONF
CoolStep configuration
See separate table!