Datasheet

24 TMC223 DATASHEET (V. 1.00 / May 3rd, 2007)

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:

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