Datasheet

TMC222 DATASHEET (V. 1.11 / November 25, 2009) 23
Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG
5.3.2 Transition Irun to Ihold
At the end of a motor motion the actual coil currents Irun are maintained in the coils at their actual DC
level for a quarter of an electrical period (two half steps) at minimum velocity. Afterwards the currents
are then set to their hold values Ihold. The figure below illustrates the mechanism:
t
i
I = I
run
I = I
hold
Figure 12: Transition Irun to Ihold
Both currents Irun and Ihold are parameterizeable using the command SetMotorParam. 16 values are
available for Irun current and 16 values for Ihold current. The table below shows the corresponding
current values.
Irun / Ihold setting
(hexadecimal)
Peak Current
[mA]
0x0
59
0x1
71
0x2
84
0x3
100
0x4
119
0x5
141
0x6
168
0x7
200
0x8
238
0x9
283
0xA
336
0xB
400
0xC
476
0xD
566
0xE
673
0xF
800
Table 12: Irun / Ihold Settings