Datasheet

TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 58
www.trinamic.com
stallGuard2 reading
0=maximum load
motor current increment area
motor current reduction area
stall possible
SEMIN
SEMAX+SEMIN+1
Zeit
motor current
current setting I_RUN
(upper limit)
½ or ¼ I_RUN
(lower limit)
mechanical load
current increment due to
increased load
slow current reduction due
to reduced motor load
load angle optimized load angle optimized
load
angle
optimized
Figure 12.1 CoolStep adapts motor current to the load
Five more parameters control CoolStep and one status value is returned:
Parameter
Description
Range
Comment
SEUP
Sets the current increment step. The current
becomes incremented for each measured
StallGuard2 value below the lower threshold.
0…3
step width is
1, 2, 4, 8
SEDN
Sets the number of StallGuard2 readings above
the upper threshold necessary for each current
decrement of the motor current.
0…3
number of StallGuard2
measurements per
decrement:
32, 8, 2, 1
SEIMIN
Sets the lower motor current limit for CoolStep
operation by scaling the IRUN current setting.
Operate well above the minimum motor current
as determined for StealthChop current regulation.
0
0: 1/2 of IRUN
1
1: 1/4 of IRUN
TCOOLTHRS
Lower velocity threshold for switching on
CoolStep and stall output. Below this velocity
CoolStep becomes disabled (not used in STEP/DIR
mode). Adapt to the lower limit of the velocity
range where StallGuard2 gives a stable result.
1…
2^20-1
Specifies lower CoolStep
velocity by comparing
the threshold value to
TSTEP
TPWMTHRS
Upper velocity threshold value for CoolStep and
stop on stall. Above this velocity the driver
switches to SpreadCycle. This also disables
CoolStep and StallGuard.
1…
2^20-1
This setting typically is
used during chopper
mode configuration,
only.
Status
word
Description
Range
Comment
CSACTUAL
This status value provides the actual motor
current scale as controlled by CoolStep. The value
goes up to the IRUN value and down to the
portion of IRUN as specified by SEIMIN.
0…31
1/32, 2/32, … 32/32