Datasheet

TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 69
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Enable CoolStep
Move the motor at
desired operation
velocity
Does SG_RESULT change
significantly with changed
load?
Monitor SG_RESULT value
and check response with
mechanical load
Is coil
PWM_SCALE_SUM
<255 at VMAX?
Decrease velocity
(upper limit for
CoolStep)
N
Y
Increase velocity
(lower limit for
CoolStep)
N
COOLCONF
Enable coolStep basic config.: Set
SEMIN=1+1/16 SG_RESULT
Y
Set TCOOLTHRS
slightly above TSTEP at
the selected velocity for
lower velocity limit
Monitor CS_ACTUAL during
motion in velocity range
and check response with
mechanical load
Does CS_ACTUAL reach
IRUN with load before
motor stall?
Increase SEMIN or
choose narrower
velocity limits
N
C2
C2
Monitor CS_ACTUAL and
motor torque during rapid
mechanical load increment
within application limits
Does CS_ACTUAL reach
IRUN with load before
motor stall?
Increase SEUPN
Y
Finished
Y
Set SGTHRS
to ½ of the minimum
value seen at
SG_RESULT before stall.
Figure 16.3 Configuration for CoolStep in StealthChop mode