Datasheet

TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 22
www.trinamic.com
6.8 stallGuard2 Control Register (SGCSCONF)
SGCSCONF
stallGuard2™ and Current Setting
Bit
Name
Function
Comment
19
1
Register address bit
18
1
Register address bit
17
0
Register address bit
16
SFILT
stallGuard2 filter
enable
0: Standard mode, fastest response time.
1: Filtered mode, updated once for each four fullsteps to
compensate for variation in motor construction, highest
accuracy.
15
0
Reserved
14
SGT6
stallGuard2 threshold
value
The stallGuard2 threshold value controls the optimum
measurement range for readout. A lower value results in
a higher sensitivity and requires less torque to indicate
a stall. The value is a two’s complement signed integer.
Values below -10 are not recommended.
Range: -64 to +63
13
SGT5
12
SGT4
11
SGT3
10
SGT2
9
SGT1
8
SGT0
7
0
Reserved
6
0
Reserved
5
0
Reserved
4
CS4
Current scale
(scales digital
currents A and B)
Current scaling for SPI and step/direction operation.
%00000 … %11111: 1/32, 2/32, 3/32, … 32/32
This value is biased by 1 and divided by 32, so the
range is 1/32 to 32/32.
Example: CS=0 is 1/32 current
3
CS3
2
CS2
1
CS1
0
CS0