Datasheet

TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 33
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AT#1
Stand still
AT#2
Homing
Ready
Power Up
stealthChop2 regulates to nominal
current and stores result to
PWM_OFS_AUTO
(Requires stand still for >130ms)
N
PWM_GRAD_AUTO becomes
initialized with 16
Driver Enabled? N
Standstill re-
duction enabled?
Y
Issue (at least) a single step
pulse and stop again, to
power motor to run current
Y
Driver Enabled? N
Y
Move the motor, e.g. for homing.
Include a constant, medium velocity
ramp segment.
Store PWM_GRAD_AUTO
for faster tuning procedure
Option with UART
stealthChop2 regulates to nominal
current and optimizes PWM_GRAD_AUTO
(requires 8 fullsteps per change of 1,
typically a few 100 fullsteps in sum)
stealthChop2 settings are optimized!
stealthChop2 keeps tuning during
subsequent motion and stand still periods
adapting to motor heating, supply
variations, etc.
Figure 6.2 StealthChop2 automatic tuning procedure
Attention with varying supply voltage:
Modifying the supply voltage VS invalidates the result of the automatic tuning process. However,
automatic tuning adapts to changed conditions whenever AT#1 and AT#2 conditions are fulfilled.
This is no problem with sinking supply voltage, i.e. due to the battery running low, as the regulator
corrects by increasing the PWM value. However, with an increasing supply voltage, motor current
rises, as the lower regulator limit is given by the result of the las AT#1 phase. Take this into account,
when experimenting with a lab supply and modifying supply voltage.